openpilot_comma/selfdrive/loggerd/loggerd.cc

#include <cstdio>
#include <cstdlib>
#include <cstdint>
#include <cassert>
#include <unistd.h>
#include <signal.h>
#include <errno.h>
#include <poll.h>
#include <string.h>
#include <inttypes.h>
#include <libyuv.h>
#include <sys/resource.h>
#include <pthread.h>
#include <math.h>

#include <string>
#include <iostream>
#include <fstream>
#include <streambuf>
#include <thread>
#include <mutex>
#include <condition_variable>
#include <atomic>
#include <random>

#include <ftw.h>
#include <zmq.h>
#ifdef QCOM
#include <cutils/properties.h>
#endif

#include "common/version.h"
#include "common/timing.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/visionipc.h"
#include "common/utilpp.h"
#include "common/util.h"
#include "camerad/cameras/camera_common.h"
#include "logger.h"
#include "messaging.hpp"
#include "services.h"

#if !(defined(QCOM) || defined(QCOM2))
// no encoder on PC
#define DISABLE_ENCODER
#endif

#ifndef DISABLE_ENCODER
#include "encoder.h"
#include "raw_logger.h"
#endif

#define MAIN_BITRATE 5000000
#define QCAM_BITRATE 128000
#define MAIN_FPS 20
#ifndef QCOM2
#define MAX_CAM_IDX LOG_CAMERA_ID_DCAMERA
#define DCAM_BITRATE 2500000
#else
#define MAX_CAM_IDX LOG_CAMERA_ID_ECAMERA
#define DCAM_BITRATE MAIN_BITRATE
#endif

#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead

LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
  [LOG_CAMERA_ID_FCAMERA] = {
    .stream_type = VISION_STREAM_YUV,
    .filename = "fcamera.hevc",
    .frame_packet_name = "frame",
    .encode_idx_name = "encodeIdx",
    .fps = MAIN_FPS,
    .bitrate = MAIN_BITRATE,
    .is_h265 = true,
    .downscale = false,
    .has_qcamera = true
  },
  [LOG_CAMERA_ID_DCAMERA] = {
    .stream_type = VISION_STREAM_YUV_FRONT,
    .filename = "dcamera.hevc",
    .frame_packet_name = "frontFrame",
    .encode_idx_name = "frontEncodeIdx",
    .fps = MAIN_FPS, // on EONs, more compressed this way
    .bitrate = DCAM_BITRATE,
    .is_h265 = true,
    .downscale = false,
    .has_qcamera = false
  },
  [LOG_CAMERA_ID_ECAMERA] = {
    .stream_type = VISION_STREAM_YUV_WIDE,
    .filename = "ecamera.hevc",
    .frame_packet_name = "wideFrame",
    .encode_idx_name = "wideEncodeIdx",
    .fps = MAIN_FPS,
    .bitrate = MAIN_BITRATE,
    .is_h265 = true,
    .downscale = false,
    .has_qcamera = false
  },
  [LOG_CAMERA_ID_QCAMERA] = {
    .filename = "qcamera.ts",
    .fps = MAIN_FPS,
    .bitrate = QCAM_BITRATE,
    .is_h265 = false,
    .downscale = true,
#ifndef QCOM2
    .frame_width = 480, .frame_height = 360
#else
    .frame_width = 526, .frame_height = 330 // keep pixel count the same?
#endif
  },
};
#define SEGMENT_LENGTH 60

#define LOG_ROOT "/data/media/0/realdata"

#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
#define RAW_CLIP_FREQUENCY (randrange(61, 8*60)) // once every ~4 minutes

namespace {

double randrange(double a, double b) __attribute__((unused));
double randrange(double a, double b) {
  static std::mt19937 gen(millis_since_boot());

  std::uniform_real_distribution<> dist(a, b);
  return dist(gen);
}


volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
  do_exit = 1;
}

class RotateState {
public:
  SubSocket* fpkt_sock;
  uint32_t stream_frame_id, log_frame_id, last_rotate_frame_id;
  bool enabled, should_rotate;

  RotateState() : fpkt_sock(nullptr), stream_frame_id(0), log_frame_id(0),
                  last_rotate_frame_id(UINT32_MAX), enabled(false), should_rotate(false) {};

  void waitLogThread() {
    std::unique_lock<std::mutex> lk(fid_lock);
    while (stream_frame_id > log_frame_id           //if the log camera is older, wait for it to catch up.
           && (stream_frame_id - log_frame_id) < 8  // but if its too old then there probably was a discontinuity (visiond restarted)
           && !do_exit) {
      cv.wait(lk);
    }
  }

  void cancelWait() { cv.notify_one(); }

  void setStreamFrameId(uint32_t frame_id) {
    fid_lock.lock();
    stream_frame_id = frame_id;
    fid_lock.unlock();
    cv.notify_one();
  }

  void setLogFrameId(uint32_t frame_id) {
    fid_lock.lock();
    log_frame_id = frame_id;
    fid_lock.unlock();
    cv.notify_one();
  }

  void rotate() {
    if (!enabled) { return; }
    std::unique_lock<std::mutex> lk(fid_lock);
    should_rotate = true;
    last_rotate_frame_id = stream_frame_id;
  }

  void finish_rotate() {
    std::unique_lock<std::mutex> lk(fid_lock);
    should_rotate = false;
  }

private:
  std::mutex fid_lock;
  std::condition_variable cv;
};

struct LoggerdState {
  Context *ctx;
  LoggerState logger;
  char segment_path[4096];
  int rotate_segment;
  pthread_mutex_t rotate_lock;
  int num_encoder;
  std::atomic<int> rotate_seq_id;
  std::atomic<int> should_close;
  std::atomic<int> finish_close;

  RotateState rotate_state[LOG_CAMERA_ID_MAX-1];
};
LoggerdState s;

#ifndef DISABLE_ENCODER
void encoder_thread(RotateState *rotate_state, bool is_streaming, bool raw_clips, int cam_idx) {

  switch (cam_idx) {
    case LOG_CAMERA_ID_DCAMERA: {
      LOGW("recording front camera");
      set_thread_name("FrontCameraEncoder");
      break;
    }
    case LOG_CAMERA_ID_FCAMERA: {
      set_thread_name("RearCameraEncoder");
      break;
    }
    case LOG_CAMERA_ID_ECAMERA: {
      set_thread_name("WideCameraEncoder");
      break;
    }
    default: {
      LOGE("unexpected camera index provided");
      assert(false);
    }
  }

  VisionStream stream;

  bool encoder_inited = false;
  EncoderState encoder;
  EncoderState encoder_alt;
  bool has_encoder_alt = cameras_logged[cam_idx].has_qcamera;

  int encoder_segment = -1;
  int cnt = 0;
  rotate_state->enabled = true;
  pthread_mutex_lock(&s.rotate_lock);
  int my_idx = s.num_encoder;
  s.num_encoder += 1;
  pthread_mutex_unlock(&s.rotate_lock);

  PubSocket *idx_sock = PubSocket::create(s.ctx, cameras_logged[cam_idx].encode_idx_name);
  assert(idx_sock != NULL);

  LoggerHandle *lh = NULL;

  while (!do_exit) {
    VisionStreamBufs buf_info;
    int err = visionstream_init(&stream, cameras_logged[cam_idx].stream_type, false, &buf_info);
    if (err != 0) {
      LOGD("visionstream connect fail");
      usleep(100000);
      continue;
    }

    if (!encoder_inited) {
      LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
      encoder_init(&encoder, cameras_logged[cam_idx].filename,
                             buf_info.width,
                             buf_info.height,
                             cameras_logged[cam_idx].fps,
                             cameras_logged[cam_idx].bitrate,
                             cameras_logged[cam_idx].is_h265,
                             cameras_logged[cam_idx].downscale);

      if (has_encoder_alt) {
        encoder_init(&encoder_alt, cameras_logged[LOG_CAMERA_ID_QCAMERA].filename,
                                   cameras_logged[LOG_CAMERA_ID_QCAMERA].frame_width,
                                   cameras_logged[LOG_CAMERA_ID_QCAMERA].frame_height,
                                   cameras_logged[LOG_CAMERA_ID_QCAMERA].fps,
                                   cameras_logged[LOG_CAMERA_ID_QCAMERA].bitrate,
                                   cameras_logged[LOG_CAMERA_ID_QCAMERA].is_h265,
                                   cameras_logged[LOG_CAMERA_ID_QCAMERA].downscale);
      }

      encoder_inited = true;
      if (is_streaming) {
        encoder.zmq_ctx = zmq_ctx_new();
        encoder.stream_sock_raw = zmq_socket(encoder.zmq_ctx, ZMQ_PUB);
        assert(encoder.stream_sock_raw);
        zmq_bind(encoder.stream_sock_raw, "tcp://*:9002");
      }
    }

    // dont log a raw clip in the first minute
    double rawlogger_start_time = seconds_since_boot()+RAW_CLIP_FREQUENCY;
    int rawlogger_clip_cnt = 0;
    RawLogger *rawlogger = NULL;

    if (raw_clips) {
      rawlogger = new RawLogger("prcamera", buf_info.width, buf_info.height, MAIN_FPS);
    }

    while (!do_exit) {
      VIPCBufExtra extra;
      VIPCBuf* buf = visionstream_get(&stream, &extra);
      if (buf == NULL) {
        LOG("visionstream get failed");
        break;
      }

      //uint64_t current_time = nanos_since_boot();
      //uint64_t diff = current_time - extra.timestamp_eof;
      //double msdiff = (double) diff / 1000000.0;
      // printf("logger latency to tsEof: %f\n", msdiff);

      { // all the rotation stuff

        pthread_mutex_lock(&s.rotate_lock);
        pthread_mutex_unlock(&s.rotate_lock);

        // wait if camera pkt id is older than stream
        rotate_state->waitLogThread();

        if (do_exit) break;

        // rotate the encoder if the logger is on a newer segment
        if (rotate_state->should_rotate) {
          if (rotate_state->last_rotate_frame_id == 0) {
            rotate_state->last_rotate_frame_id = extra.frame_id - 1;
          }
          while (s.rotate_seq_id != my_idx && !do_exit) { usleep(1000); }
          LOGW("camera %d rotate encoder to %s.", cam_idx, s.segment_path);
          encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
          s.rotate_seq_id = (my_idx + 1) % s.num_encoder;
          if (has_encoder_alt) {
            encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
          }
          if (raw_clips) {
            rawlogger->Rotate(s.segment_path, s.rotate_segment);
          }
          encoder_segment = s.rotate_segment;
          if (lh) {
            lh_close(lh);
          }
          lh = logger_get_handle(&s.logger);

          pthread_mutex_lock(&s.rotate_lock);
          s.should_close += 1;
          pthread_mutex_unlock(&s.rotate_lock);

          while(s.should_close > 0 && s.should_close < s.num_encoder && !do_exit) { usleep(1000); }

          pthread_mutex_lock(&s.rotate_lock);
          s.should_close = s.should_close == s.num_encoder ? 1 - s.num_encoder : s.should_close + 1;

          encoder_close(&encoder);
          encoder_open(&encoder, encoder.next_path);
          encoder.segment = encoder.next_segment;
          encoder.rotating = false;
          if (has_encoder_alt) {
            encoder_close(&encoder_alt);
            encoder_open(&encoder_alt, encoder_alt.next_path);
            encoder_alt.segment = encoder_alt.next_segment;
            encoder_alt.rotating = false;
          }
          s.finish_close += 1;
          pthread_mutex_unlock(&s.rotate_lock);

          while(s.finish_close > 0 && s.finish_close < s.num_encoder && !do_exit) { usleep(1000); }
          s.finish_close = 0;

          rotate_state->finish_rotate();
        }
      }

      rotate_state->setStreamFrameId(extra.frame_id);

      uint8_t *y = (uint8_t*)buf->addr;
      uint8_t *u = y + (buf_info.width*buf_info.height);
      uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
      {
        // encode hevc
        int out_segment = -1;
        int out_id = encoder_encode_frame(&encoder,
                                          y, u, v,
                                          buf_info.width, buf_info.height,
                                          &out_segment, &extra);
        if (has_encoder_alt) {
          int out_segment_alt = -1;
          encoder_encode_frame(&encoder_alt,
                               y, u, v,
                               buf_info.width, buf_info.height,
                               &out_segment_alt, &extra);
        }

        // publish encode index
        MessageBuilder msg;
        auto eidx = msg.initEvent().initEncodeIdx();
        eidx.setFrameId(extra.frame_id);
  #ifdef QCOM2
        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);
  #endif

        eidx.setEncodeId(cnt);
        eidx.setSegmentNum(out_segment);
        eidx.setSegmentId(out_id);

        auto bytes = msg.toBytes();

        if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
          printf("err sending encodeIdx pkt: %s\n", strerror(errno));
        }
        if (lh) {
          lh_log(lh, bytes.begin(), bytes.size(), false);
        }
      }

      if (raw_clips) {
        double ts = seconds_since_boot();
        if (ts > rawlogger_start_time) {
          // encode raw if in clip
          int out_segment = -1;
          int out_id = rawlogger->LogFrame(cnt, y, u, v, &out_segment);

          if (rawlogger_clip_cnt == 0) {
            LOG("starting raw clip in seg %d", out_segment);
          }

          // publish encode index
          MessageBuilder msg;
          auto eidx = msg.initEvent().initEncodeIdx();
          eidx.setFrameId(extra.frame_id);
          eidx.setType(cereal::EncodeIndex::Type::FULL_LOSSLESS_CLIP);
          eidx.setEncodeId(cnt);
          eidx.setSegmentNum(out_segment);
          eidx.setSegmentId(out_id);

          auto bytes = msg.toBytes();
          if (lh) {
            lh_log(lh, bytes.begin(), bytes.size(), false);
          }

          // close rawlogger if clip ended
          rawlogger_clip_cnt++;
          if (rawlogger_clip_cnt >= RAW_CLIP_LENGTH) {
            rawlogger->Close();

            rawlogger_clip_cnt = 0;
            rawlogger_start_time = ts+RAW_CLIP_FREQUENCY;

            LOG("ending raw clip in seg %d, next in %.1f sec", out_segment, rawlogger_start_time-ts);
          }
        }
      }

      cnt++;
    }

    if (lh) {
      lh_close(lh);
      lh = NULL;
    }

    if (raw_clips) {
      rawlogger->Close();
      delete rawlogger;
    }

    visionstream_destroy(&stream);
  }

  delete idx_sock;

  if (encoder_inited) {
    LOG("encoder destroy");
    encoder_close(&encoder);
    encoder_destroy(&encoder);
  }

  if (has_encoder_alt) {
    LOG("encoder alt destroy");
    encoder_close(&encoder_alt);
    encoder_destroy(&encoder_alt);
  }
}
#endif

}

void append_property(const char* key, const char* value, void *cookie) {
  std::vector<std::pair<std::string, std::string> > *properties =
    (std::vector<std::pair<std::string, std::string> > *)cookie;

  properties->push_back(std::make_pair(std::string(key), std::string(value)));
}

kj::Array<capnp::word> gen_init_data() {
  MessageBuilder msg;
  auto init = msg.initEvent().initInitData();

  init.setDeviceType(cereal::InitData::DeviceType::NEO);
  init.setVersion(capnp::Text::Reader(COMMA_VERSION));

  std::ifstream cmdline_stream("/proc/cmdline");
  std::vector<std::string> kernel_args;
  std::string buf;
  while (cmdline_stream >> buf) {
    kernel_args.push_back(buf);
  }

  auto lkernel_args = init.initKernelArgs(kernel_args.size());
  for (int i=0; i<kernel_args.size(); i++) {
    lkernel_args.set(i, kernel_args[i]);
  }

  init.setKernelVersion(util::read_file("/proc/version"));

#ifdef QCOM
  {
    std::vector<std::pair<std::string, std::string> > properties;
    property_list(append_property, (void*)&properties);

    auto lentries = init.initAndroidProperties().initEntries(properties.size());
    for (int i=0; i<properties.size(); i++) {
      auto lentry = lentries[i];
      lentry.setKey(properties[i].first);
      lentry.setValue(properties[i].second);
    }
  }
#endif

  const char* dongle_id = getenv("DONGLE_ID");
  if (dongle_id) {
    init.setDongleId(std::string(dongle_id));
  }

  const char* clean = getenv("CLEAN");
  if (!clean) {
    init.setDirty(true);
  }

  std::vector<char> git_commit = read_db_bytes("GitCommit");
  if (git_commit.size() > 0) {
    init.setGitCommit(capnp::Text::Reader(git_commit.data(), git_commit.size()));
  }

  std::vector<char> git_branch = read_db_bytes("GitBranch");
  if (git_branch.size() > 0) {
    init.setGitBranch(capnp::Text::Reader(git_branch.data(), git_branch.size()));
  }

  std::vector<char> git_remote = read_db_bytes("GitRemote");
  if (git_remote.size() > 0) {
    init.setGitRemote(capnp::Text::Reader(git_remote.data(), git_remote.size()));
  }

  init.setPassive(read_db_bool("Passive"));
  {
    // log params
    std::map<std::string, std::string> params;
    read_db_all(&params);
    auto lparams = init.initParams().initEntries(params.size());
    int i = 0;
    for (auto& kv : params) {
      auto lentry = lparams[i];
      lentry.setKey(kv.first);
      lentry.setValue(kv.second);
      i++;
    }
  }
  return capnp::messageToFlatArray(msg);
}

static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
  const char* dot = strrchr(fpath, '.');
  if (dot && strcmp(dot, ".lock") == 0) {
    unlink(fpath);
  }
  return 0;
}

static void clear_locks() {
  ftw(LOG_ROOT, clear_locks_fn, 16);
}

static void bootlog() {
  int err;

  {
    auto words = gen_init_data();
    auto bytes = words.asBytes();
    logger_init(&s.logger, "bootlog", bytes.begin(), bytes.size(), false);
  }

  err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
  assert(err == 0);
  LOGW("bootlog to %s", s.segment_path);

  {
    MessageBuilder msg;
    auto boot = msg.initEvent().initBoot();

    boot.setWallTimeNanos(nanos_since_epoch());

    std::string lastKmsg = util::read_file("/sys/fs/pstore/console-ramoops");
    boot.setLastKmsg(capnp::Data::Reader((const kj::byte*)lastKmsg.data(), lastKmsg.size()));

    std::string lastPmsg = util::read_file("/sys/fs/pstore/pmsg-ramoops-0");
    boot.setLastPmsg(capnp::Data::Reader((const kj::byte*)lastPmsg.data(), lastPmsg.size()));

    auto bytes = msg.toBytes();
    logger_log(&s.logger, bytes.begin(), bytes.size(), false);
  }

  logger_close(&s.logger);
}

int main(int argc, char** argv) {
  int err;

  if (argc > 1 && strcmp(argv[1], "--bootlog") == 0) {
    bootlog();
    return 0;
  }

  int segment_length = SEGMENT_LENGTH;
  if (getenv("LOGGERD_TEST")) {
    segment_length = atoi(getenv("LOGGERD_SEGMENT_LENGTH"));
  }
  bool record_front = true;
#ifndef QCOM2
  record_front = read_db_bool("RecordFront");
#endif

  setpriority(PRIO_PROCESS, 0, -12);

  clear_locks();

  signal(SIGINT, (sighandler_t)set_do_exit);
  signal(SIGTERM, (sighandler_t)set_do_exit);

  s.ctx = Context::create();
  Poller * poller = Poller::create();

  // subscribe to all services

  std::vector<SubSocket*> socks;

  std::map<SubSocket*, int> qlog_counter;
  std::map<SubSocket*, int> qlog_freqs;

  for (const auto& it : services) {
    std::string name = it.name;

    if (it.should_log) {
      SubSocket * sock = SubSocket::create(s.ctx, name);
      assert(sock != NULL);
      poller->registerSocket(sock);
      socks.push_back(sock);

      for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
        if (name == cameras_logged[cid].frame_packet_name) { s.rotate_state[cid].fpkt_sock = sock; }
      }

      qlog_counter[sock] = (it.decimation == -1) ? -1 : 0;
      qlog_freqs[sock] = it.decimation;
    }
  }

  {
    auto words = gen_init_data();
    auto bytes = words.asBytes();
    logger_init(&s.logger, "rlog", bytes.begin(), bytes.size(), true);
  }

  bool is_streaming = false;
  bool is_logging = true;

  if (argc > 1 && strcmp(argv[1], "--stream") == 0) {
    is_streaming = true;
  } else if (argc > 1 && strcmp(argv[1], "--only-stream") == 0) {
    is_streaming = true;
    is_logging = false;
  }

  s.rotate_seq_id = 0;
  s.should_close = 0;
  s.finish_close = 0;
  s.num_encoder = 0;
  pthread_mutex_init(&s.rotate_lock, NULL);
#ifndef DISABLE_ENCODER
  // rear camera
  std::thread encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_FCAMERA], is_streaming, false, LOG_CAMERA_ID_FCAMERA);
  // front camera
  std::thread front_encoder_thread_handle;
  if (record_front) {
    front_encoder_thread_handle = std::thread(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_DCAMERA], false, false, LOG_CAMERA_ID_DCAMERA);
  }
  #ifdef QCOM2
  // wide camera
  std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], false, false, LOG_CAMERA_ID_ECAMERA);
  #endif
#endif

  uint64_t msg_count = 0;
  uint64_t bytes_count = 0;
  kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);

  double start_ts = seconds_since_boot();
  double last_rotate_tms = millis_since_boot();
  double last_camera_seen_tms = millis_since_boot();
  uint32_t last_seen_log_frame_id[LOG_CAMERA_ID_MAX-1] = {0};
  uint32_t last_seen_log_frame_id_max = 0;
  while (!do_exit) {
   for (auto sock : poller->poll(100 * 1000)) {
     Message * last_msg = nullptr;
      while (true) {
        Message * msg = sock->receive(true);
        if (msg == NULL){
          break;
        }
        delete last_msg;
        last_msg = msg;

        logger_log(&s.logger, (uint8_t*)msg->getData(), msg->getSize(), qlog_counter[sock] == 0);

        if (qlog_counter[sock] != -1) {
          //printf("%p: %d/%d\n", socks[i], qlog_counter[socks[i]], qlog_freqs[socks[i]]);
          qlog_counter[sock]++;
          qlog_counter[sock] %= qlog_freqs[sock];
        }
        bytes_count += msg->getSize();
        msg_count++;
      }
      
      if (last_msg) {
        int fpkt_id = -1;
        for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
          if (sock == s.rotate_state[cid].fpkt_sock) {fpkt_id=cid; break;}
        }
        if (fpkt_id>=0) {
          // track camera frames to sync to encoder
          // only process last frame
          const uint8_t* data = (uint8_t*)last_msg->getData();
          const size_t len = last_msg->getSize();
          const size_t size = len / sizeof(capnp::word) + 1;
          if (buf.size() < size) {
            buf = kj::heapArray<capnp::word>(size);
          }
          memcpy(buf.begin(), data, len);

          capnp::FlatArrayMessageReader cmsg(buf);
          cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();

          if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {
            s.rotate_state[fpkt_id].setLogFrameId(event.getFrame().getFrameId());
          } else if (fpkt_id == LOG_CAMERA_ID_DCAMERA) {
            s.rotate_state[fpkt_id].setLogFrameId(event.getFrontFrame().getFrameId());
          } else if (fpkt_id == LOG_CAMERA_ID_ECAMERA) {
            s.rotate_state[fpkt_id].setLogFrameId(event.getWideFrame().getFrameId());
          }
          last_seen_log_frame_id[fpkt_id] = s.rotate_state[fpkt_id].log_frame_id;
          last_seen_log_frame_id_max = fmax(last_seen_log_frame_id_max, s.rotate_state[fpkt_id].log_frame_id);
          last_camera_seen_tms = millis_since_boot();
        }
        delete last_msg;
      }
    }

    double ts = seconds_since_boot();
    double tms = millis_since_boot();

    bool new_segment = false;

    if (s.logger.part > -1) {
      new_segment = true;
      if (tms - last_camera_seen_tms <= NO_CAMERA_PATIENCE) {
        for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
          // this *should* be redundant on tici since all camera frames are synced
          new_segment &= (((s.rotate_state[cid].stream_frame_id >= s.rotate_state[cid].last_rotate_frame_id + segment_length * MAIN_FPS) &&
                           (!s.rotate_state[cid].should_rotate)) ||
                          (!s.rotate_state[cid].enabled));
          if (last_seen_log_frame_id[cid] + 2 < last_seen_log_frame_id_max) { LOGW("camera %d lags behind", cid); }
#ifndef QCOM2
          break; // only look at fcamera frame id if not QCOM2
#endif
        }
      } else {
        new_segment &= tms - last_rotate_tms > segment_length * 1000;
        if (new_segment) { LOGW("no camera packet seen. auto rotated"); }
      }
    } else if (s.logger.part == -1) {
      // always starts first segment immediately
      new_segment = true;
    }

    if (new_segment) {
      pthread_mutex_lock(&s.rotate_lock);
      last_rotate_tms = millis_since_boot();

      // rotate the log
      if (is_logging) {
        err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
        assert(err == 0);
        if (s.logger.part == 0) { LOGW("logging to %s", s.segment_path); }
        LOGW("rotated to %s", s.segment_path);
      }
      // rotate the encoders
      for (int cid=0;cid<=MAX_CAM_IDX;cid++) { s.rotate_state[cid].rotate(); }
      pthread_mutex_unlock(&s.rotate_lock);
    }

    if ((msg_count%1000) == 0) {
      LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count*1.0/(ts-start_ts), bytes_count*0.001/(ts-start_ts));
    }
  }

  LOGW("joining threads");
  for (int cid=0;cid<=MAX_CAM_IDX;cid++) { s.rotate_state[cid].cancelWait(); }

#ifndef DISABLE_ENCODER
#ifdef QCOM2
  wide_encoder_thread_handle.join();
#endif
  if (record_front) {
    front_encoder_thread_handle.join();
  }
  encoder_thread_handle.join();
  LOGW("encoder joined");
#endif

  logger_close(&s.logger);

  for (auto s : socks){
    delete s;
  }

  delete poller;
  delete s.ctx;
  return 0;
}