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93 lines
2.5 KiB
93 lines
2.5 KiB
#!/usr/bin/env python
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import os
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import json
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import zmq
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import common.realtime as realtime
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from common.services import service_list
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from selfdrive.swaglog import cloudlog
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import selfdrive.messaging as messaging
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import uploader
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from logger import Logger
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from selfdrive.loggerd.config import ROOT, SEGMENT_LENGTH
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def gen_init_data(gctx):
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msg = messaging.new_message()
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kernel_args = open("/proc/cmdline", "r").read().strip().split(" ")
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msg.initData.kernelArgs = kernel_args
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msg.initData.gctx = json.dumps(gctx)
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if os.getenv('DONGLE_ID'):
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msg.initData.dongleId = os.getenv('DONGLE_ID')
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return msg.to_bytes()
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def main(gctx=None):
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logger = Logger(ROOT, gen_init_data(gctx))
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context = zmq.Context()
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poller = zmq.Poller()
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# we push messages to visiond to rotate image recordings
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vision_control_sock = context.socket(zmq.PUSH)
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vision_control_sock.connect("tcp://127.0.0.1:8001")
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# register listeners for all services
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for service in service_list.itervalues():
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if service.should_log and service.port is not None:
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messaging.sub_sock(context, service.port, poller)
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uploader.clear_locks(ROOT)
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cur_dir, cur_part = logger.start()
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try:
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cloudlog.info("starting in dir %r", cur_dir)
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rotate_msg = messaging.log.LogRotate.new_message()
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rotate_msg.segmentNum = cur_part
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rotate_msg.path = cur_dir
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vision_control_sock.send(rotate_msg.to_bytes())
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last_rotate = realtime.sec_since_boot()
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while True:
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polld = poller.poll(timeout=1000)
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for sock, mode in polld:
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if mode != zmq.POLLIN:
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continue
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dat = sock.recv()
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# print "got", len(dat), realtime.sec_since_boot()
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# logevent = log_capnp.Event.from_bytes(dat)
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# print str(logevent)
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logger.log_data(dat)
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t = realtime.sec_since_boot()
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if (t - last_rotate) > SEGMENT_LENGTH:
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last_rotate += SEGMENT_LENGTH
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cur_dir, cur_part = logger.rotate()
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cloudlog.info("rotated to %r", cur_dir)
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rotate_msg = messaging.log.LogRotate.new_message()
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rotate_msg.segmentNum = cur_part
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rotate_msg.path = cur_dir
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vision_control_sock.send(rotate_msg.to_bytes())
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finally:
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cloudlog.info("loggerd exiting...")
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# tell visiond to stop logging
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rotate_msg = messaging.log.LogRotate.new_message()
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rotate_msg.segmentNum = -1
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rotate_msg.path = "/dev/null"
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vision_control_sock.send(rotate_msg.to_bytes())
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# stop logging
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logger.stop()
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if __name__ == "__main__":
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main()
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