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121 lines
3.6 KiB
121 lines
3.6 KiB
#pragma once
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#include <unistd.h>
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#include <atomic>
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#include <cassert>
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#include <cerrno>
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#include <condition_variable>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <unordered_map>
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#include <utility>
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#include "cereal/messaging/messaging.h"
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#include "cereal/services.h"
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#include "cereal/visionipc/visionipc.h"
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#include "cereal/visionipc/visionipc_client.h"
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#include "system/camerad/cameras/camera_common.h"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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#include "system/loggerd/encoder/encoder.h"
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#include "system/loggerd/logger.h"
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#ifdef QCOM2
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#include "system/loggerd/encoder/v4l_encoder.h"
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#define Encoder V4LEncoder
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#else
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#include "system/loggerd/encoder/ffmpeg_encoder.h"
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#define Encoder FfmpegEncoder
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#endif
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constexpr int MAIN_FPS = 20;
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const int MAIN_BITRATE = 10000000;
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#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
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const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
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const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
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class EncoderInfo {
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public:
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const char *publish_name;
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const char *filename;
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bool record = true;
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int frame_width = 1928;
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int frame_height = 1208;
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int fps = MAIN_FPS;
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int bitrate = MAIN_BITRATE;
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cereal::EncodeIndex::Type encode_type = cereal::EncodeIndex::Type::FULL_H_E_V_C;
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::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
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void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
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};
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class LogCameraInfo {
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public:
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const char *thread_name;
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int fps = MAIN_FPS;
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CameraType type;
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VisionStreamType stream_type;
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std::vector<EncoderInfo> encoder_infos;
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};
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const EncoderInfo main_road_encoder_info = {
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.publish_name = "roadEncodeData",
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.filename = "fcamera.hevc",
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.get_encode_data_func = &cereal::Event::Reader::getRoadEncodeData,
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.set_encode_idx_func = &cereal::Event::Builder::setRoadEncodeIdx,
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};
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const EncoderInfo main_wide_road_encoder_info = {
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.publish_name = "wideRoadEncodeData",
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.filename = "ecamera.hevc",
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.get_encode_data_func = &cereal::Event::Reader::getWideRoadEncodeData,
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.set_encode_idx_func = &cereal::Event::Builder::setWideRoadEncodeIdx,
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};
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const EncoderInfo main_driver_encoder_info = {
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.publish_name = "driverEncodeData",
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.filename = "dcamera.hevc",
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.record = Params().getBool("RecordFront"),
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.get_encode_data_func = &cereal::Event::Reader::getDriverEncodeData,
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.set_encode_idx_func = &cereal::Event::Builder::setDriverEncodeIdx,
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};
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const EncoderInfo qcam_encoder_info = {
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.publish_name = "qRoadEncodeData",
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.filename = "qcamera.ts",
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.bitrate = 256000,
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.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
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.frame_width = 526,
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.frame_height = 330,
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.get_encode_data_func = &cereal::Event::Reader::getQRoadEncodeData,
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.set_encode_idx_func = &cereal::Event::Builder::setQRoadEncodeIdx,
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};
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const LogCameraInfo road_camera_info{
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.thread_name = "road_cam_encoder",
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.type = RoadCam,
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.stream_type = VISION_STREAM_ROAD,
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.encoder_infos = {main_road_encoder_info, qcam_encoder_info}
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};
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const LogCameraInfo wide_road_camera_info{
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.thread_name = "wide_road_cam_encoder",
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.type = WideRoadCam,
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.stream_type = VISION_STREAM_WIDE_ROAD,
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.encoder_infos = {main_wide_road_encoder_info}
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};
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const LogCameraInfo driver_camera_info{
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.thread_name = "driver_cam_encoder",
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.type = DriverCam,
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.stream_type = VISION_STREAM_DRIVER,
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.encoder_infos = {main_driver_encoder_info}
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};
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const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
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