remove raw logger (#2719)

* remove raw logger

* no raw_clips

* only remove raw clips

* cleanup

selfdrive/loggerd/SConscript

@@ -5,12 +5,13 @@ libs = ['zmq', 'capnp', 'kj', 'z',
   'avformat', 'avcodec', 'swscale', 'avutil',
   'yuv', 'bz2', common, cereal, messaging, visionipc]
 
+if arch in ["aarch64", "larch64"]:
+  src += ['encoder.c']
+  libs += ['OmxVenc', 'OmxCore']
   if arch == "aarch64":
-  src += ['encoder.c', 'raw_logger.cc']
+    libs += ['cutils']
-  libs += ['OmxVenc', 'OmxCore', 'cutils']
+  else:
-elif arch == "larch64":
+    libs += ['pthread']
-  src += ['encoder.c', 'raw_logger.cc']
-  libs += ['OmxVenc', 'OmxCore', 'pthread']
 else:
   libs += ['pthread']
 

selfdrive/loggerd/loggerd.cc

@@ -47,7 +47,6 @@
 
 #ifndef DISABLE_ENCODER
 #include "encoder.h"
-#include "raw_logger.h"
 #endif
 
 #define MAIN_BITRATE 5000000
@@ -111,8 +110,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
 
 #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 {
 
@@ -202,7 +199,7 @@ struct LoggerdState {
 LoggerdState s;
 
 #ifndef DISABLE_ENCODER
-void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
+void encoder_thread(RotateState *rotate_state, int cam_idx) {
 
   switch (cam_idx) {
     case LOG_CAMERA_ID_DCAMERA: {
@@ -272,15 +269,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
       encoder_inited = true;
     }
 
-    // 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);
@@ -317,9 +305,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
           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);
@@ -399,44 +384,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
         }
       }
 
-      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++;
     }
 
@@ -445,11 +392,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
       lh = NULL;
     }
 
-    if (raw_clips) {
-      rawlogger->Close();
-      delete rawlogger;
-    }
-
     visionstream_destroy(&stream);
   }
 
@@ -675,17 +617,17 @@ int main(int argc, char** argv) {
   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], false, LOG_CAMERA_ID_FCAMERA);
+  std::thread encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_FCAMERA], LOG_CAMERA_ID_FCAMERA);
   s.rotate_state[LOG_CAMERA_ID_FCAMERA].enabled = true;
   // 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, LOG_CAMERA_ID_DCAMERA);
+    front_encoder_thread_handle = std::thread(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_DCAMERA], LOG_CAMERA_ID_DCAMERA);
     s.rotate_state[LOG_CAMERA_ID_DCAMERA].enabled = true;
   }
   #ifdef QCOM2
   // wide camera
-  std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], false, LOG_CAMERA_ID_ECAMERA);
+  std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], LOG_CAMERA_ID_ECAMERA);
   s.rotate_state[LOG_CAMERA_ID_ECAMERA].enabled = true;
   #endif
 #endif