sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 67 Packages Projects Releases Wiki Activity

loggerd: create encoder threads from cameras_logged (#21875)

Browse Source
pull/214/head
Dean Lee 4 years ago committed by GitHub
parent 603ad435be
commit d9baaf7eb9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 41 additions and 56 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      selfdrive/camerad/cameras/camera_common.h
  2. 78
      selfdrive/loggerd/loggerd.cc
  3. 7
      selfdrive/ui/replay/filereader.h

12
selfdrive/camerad/cameras/camera_common.h
Unescape View File

@ -28,11 +28,11 @@
#define UI_BUF_COUNT 4
#define LOG_CAMERA_ID_FCAMERA 0
#define LOG_CAMERA_ID_DCAMERA 1
#define LOG_CAMERA_ID_ECAMERA 2
#define LOG_CAMERA_ID_QCAMERA 3
#define LOG_CAMERA_ID_MAX 4
enum CameraType {
RoadCam = 0,
DriverCam,
WideRoadCam
};
const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
const bool env_send_road = getenv("SEND_ROAD") != NULL;
@ -49,6 +49,7 @@ typedef struct CameraInfo {
} CameraInfo;
typedef struct LogCameraInfo {
CameraType type;
const char* filename;
const char* frame_packet_name;
const char* encode_idx_name;
@ -60,6 +61,7 @@ typedef struct LogCameraInfo {
bool downscale;
bool has_qcamera;
bool trigger_rotate;
bool enable;
} LogCameraInfo;
typedef struct FrameMetadata {

78
selfdrive/loggerd/loggerd.cc
Unescape View File

@ -42,7 +42,6 @@ namespace {
constexpr int MAIN_FPS = 20;
const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
const int MAX_CAM_IDX = Hardware::TICI() ? LOG_CAMERA_ID_ECAMERA : LOG_CAMERA_ID_DCAMERA;
const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
@ -51,8 +50,9 @@ const int SEGMENT_LENGTH = getenv("LOGGERD_TEST") ? atoi(getenv("LOGGERD_SEGMENT
ExitHandler do_exit;
LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
[LOG_CAMERA_ID_FCAMERA] = {
const LogCameraInfo cameras_logged[] = {
{
.type = RoadCam,
.stream_type = VISION_STREAM_YUV_BACK,
.filename = "fcamera.hevc",
.frame_packet_name = "roadCameraState",
@ -61,9 +61,11 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.is_h265 = true,
.downscale = false,
.has_qcamera = true,
.trigger_rotate = true
.trigger_rotate = true,
.enable = true,
},
[LOG_CAMERA_ID_DCAMERA] = {
{
.type = DriverCam,
.stream_type = VISION_STREAM_YUV_FRONT,
.filename = "dcamera.hevc",
.frame_packet_name = "driverCameraState",
@ -73,8 +75,10 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.downscale = false,
.has_qcamera = false,
.trigger_rotate = Hardware::TICI(),
.enable = !Hardware::PC() && Params().getBool("RecordFront"),
},
[LOG_CAMERA_ID_ECAMERA] = {
{
.type = WideRoadCam,
.stream_type = VISION_STREAM_YUV_WIDE,
.filename = "ecamera.hevc",
.frame_packet_name = "wideRoadCameraState",
@ -83,18 +87,19 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.is_h265 = true,
.downscale = false,
.has_qcamera = false,
.trigger_rotate = true
},
[LOG_CAMERA_ID_QCAMERA] = {
.filename = "qcamera.ts",
.fps = MAIN_FPS,
.bitrate = 256000,
.is_h265 = false,
.downscale = true,
.frame_width = Hardware::TICI() ? 526 : 480,
.frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
.trigger_rotate = true,
.enable = Hardware::TICI(),
},
};
const LogCameraInfo qcam_info = {
.filename = "qcamera.ts",
.fps = MAIN_FPS,
.bitrate = 256000,
.is_h265 = false,
.downscale = true,
.frame_width = Hardware::TICI() ? 526 : 480,
.frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
};
struct LoggerdState {
Context *ctx;
@ -110,9 +115,7 @@ struct LoggerdState {
};
LoggerdState s;
void encoder_thread(int cam_idx) {
assert(cam_idx < LOG_CAMERA_ID_MAX-1);
const LogCameraInfo &cam_info = cameras_logged[cam_idx];
void encoder_thread(const LogCameraInfo &cam_info) {
set_thread_name(cam_info.filename);
int cnt = 0, cur_seg = -1;
@ -135,12 +138,9 @@ void encoder_thread(int cam_idx) {
// main encoder
encoders.push_back(new Encoder(cam_info.filename, buf_info.width, buf_info.height,
cam_info.fps, cam_info.bitrate, cam_info.is_h265, cam_info.downscale));
// qcamera encoder
if (cam_info.has_qcamera) {
LogCameraInfo &qcam_info = cameras_logged[LOG_CAMERA_ID_QCAMERA];
encoders.push_back(new Encoder(qcam_info.filename,
qcam_info.frame_width, qcam_info.frame_height,
encoders.push_back(new Encoder(qcam_info.filename, qcam_info.frame_width, qcam_info.frame_height,
qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265, qcam_info.downscale));
}
}
@ -167,7 +167,7 @@ void encoder_thread(int cam_idx) {
cur_seg = s.rotate_segment;
cnt = 0;
LOGW("camera %d rotate encoder to %s", cam_idx, s.segment_path);
LOGW("camera %d rotate encoder to %s", cam_info.type, s.segment_path);
for (auto &e : encoders) {
e->encoder_close();
e->encoder_open(s.segment_path);
@ -191,15 +191,15 @@ void encoder_thread(int cam_idx) {
if (i == 0 && out_id != -1) {
MessageBuilder msg;
// this is really ugly
auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initDriverEncodeIdx() :
(cam_idx == LOG_CAMERA_ID_ECAMERA ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
auto eidx = cam_info.type == DriverCam ? msg.initEvent().initDriverEncodeIdx() :
(cam_info.type == WideRoadCam ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
eidx.setFrameId(extra.frame_id);
eidx.setTimestampSof(extra.timestamp_sof);
eidx.setTimestampEof(extra.timestamp_eof);
if (Hardware::TICI()) {
eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
} else {
eidx.setType(cam_idx == LOG_CAMERA_ID_DCAMERA ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
eidx.setType(cam_info.type == DriverCam ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
}
eidx.setEncodeId(encode_idx);
eidx.setSegmentNum(cur_seg);
@ -294,32 +294,18 @@ int main(int argc, char** argv) {
qlog_states[sock] = {.counter = 0, .freq = it.decimation};
}
Params params;
// init logger
logger_init(&s.logger, "rlog", true);
logger_rotate();
params.put("CurrentRoute", s.logger.route_name);
Params().put("CurrentRoute", s.logger.route_name);
// init encoders
s.last_camera_seen_tms = millis_since_boot();
// TODO: create these threads dynamically on frame packet presence
std::vector<std::thread> encoder_threads;
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_FCAMERA));
if (cameras_logged[LOG_CAMERA_ID_FCAMERA].trigger_rotate) {
s.max_waiting += 1;
}
if (!Hardware::PC() && params.getBool("RecordFront")) {
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_DCAMERA));
if (cameras_logged[LOG_CAMERA_ID_DCAMERA].trigger_rotate) {
s.max_waiting += 1;
}
}
if (Hardware::TICI()) {
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_ECAMERA));
if (cameras_logged[LOG_CAMERA_ID_ECAMERA].trigger_rotate) {
s.max_waiting += 1;
for (const auto &ci : cameras_logged) {
if (ci.enable) {
encoder_threads.push_back(std::thread(encoder_thread, ci));
if (ci.trigger_rotate) s.max_waiting++;
}
}

7
selfdrive/ui/replay/filereader.h
Unescape View File

@ -13,6 +13,8 @@
#include "cereal/gen/cpp/log.capnp.h"
#include "selfdrive/camerad/cameras/camera_common.h"
class FileReader : public QObject {
Q_OBJECT
@ -31,11 +33,6 @@ private:
QUrl url_;
};
enum CameraType {
RoadCam = 0,
DriverCam,
WideRoadCam
};
const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
const int MAX_CAMERAS = std::size(ALL_CAMERAS);

Write Preview
Loading…
Cancel
Save