From 6d3dc46b8ff9046c507c57fa1c60e7f68cb95914 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 5 Oct 2020 15:41:17 -0700
Subject: [PATCH] transient considerations (#2276)

old-commit-hash: 55351859a73f412fdd52b2166298f9ed354ce6c1
---
 selfdrive/loggerd/loggerd.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 687c9cfb83..bbd1aa1f4a 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -232,7 +232,6 @@ void encoder_thread(RotateState *rotate_state, bool is_streaming, bool raw_clips
 
   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;
@@ -683,14 +682,17 @@ int main(int argc, char** argv) {
 #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);
+  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, false, 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, false, LOG_CAMERA_ID_ECAMERA);
+  s.rotate_state[LOG_CAMERA_ID_ECAMERA].enabled = true;
   #endif
 #endif
 
@@ -770,7 +772,7 @@ int main(int argc, char** argv) {
         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].should_rotate) && (s.rotate_state[cid].last_rotate_frame_id != UINT32_MAX)) ||
                           (!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