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loggerd

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pull/2047/head
ZwX1616 5 years ago
parent 4f503005a5
commit 7576b79420
1 changed files with 46 additions and 33 deletions
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  1. 79
      selfdrive/loggerd/loggerd.cc

79
selfdrive/loggerd/loggerd.cc
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@ -90,20 +90,23 @@ struct LoggerdState {
LoggerdState s; LoggerdState s;
#ifndef DISABLE_ENCODER #ifndef DISABLE_ENCODER
void encoder_thread(bool is_streaming, bool raw_clips, bool front) { void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
int err; int err;
if (front) { if (cam_idx == 2) {
char *value; // TODO: add this back
/*char *value;
const int result = read_db_value("RecordFront", &value, NULL); const int result = read_db_value("RecordFront", &value, NULL);
if (result != 0) return; if (result != 0) return;
if (value[0] != '1') { free(value); return; } if (value[0] != '1') { free(value); return; }
free(value); free(value);
LOGW("recording front camera"); LOGW("recording front camera");*/
set_thread_name("FrontCameraEncoder"); set_thread_name("FrontCameraEncoder");
} else { } else if (cam_idx == 0) {
set_thread_name("RearCameraEncoder"); set_thread_name("RearCameraEncoder");
} else if (cam_idx == 1) {
set_thread_name("WideCameraEncoder");
} }
VisionStream stream; VisionStream stream;
@ -116,17 +119,20 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
int encoder_segment = -1; int encoder_segment = -1;
int cnt = 0; int cnt = 0;
PubSocket *idx_sock = PubSocket::create(s.ctx, front ? "frontEncodeIdx" : "encodeIdx"); // TODO: add this back
assert(idx_sock != NULL); // PubSocket *idx_sock = PubSocket::create(s.ctx, front ? "frontEncodeIdx" : "encodeIdx");
// assert(idx_sock != NULL);
LoggerHandle *lh = NULL; LoggerHandle *lh = NULL;
while (!do_exit) { while (!do_exit) {
VisionStreamBufs buf_info; VisionStreamBufs buf_info;
if (front) { if (cam_idx == 2) {
err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info); err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info);
} else { } else if (cam_idx == 0) {
err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info); err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
} else if (cam_idx == 1) {
err = visionstream_init(&stream, VISION_STREAM_YUV_WIDE, false, &buf_info);
} }
if (err != 0) { if (err != 0) {
LOGD("visionstream connect fail"); LOGD("visionstream connect fail");
@ -136,11 +142,11 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
if (!encoder_inited) { if (!encoder_inited) {
LOGD("encoder init %dx%d", buf_info.width, buf_info.height); LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
encoder_init(&encoder, front ? "dcamera.hevc" : "fcamera.hevc", buf_info.width, buf_info.height, CAMERA_FPS, front ? 2500000 : 5000000, true, false); encoder_init(&encoder, cam_idx == 2 ? "dcamera.hevc" : (cam_idx == 1 ? "ecamera.hevc" : "fcamera.hevc"), buf_info.width, buf_info.height, CAMERA_FPS, cam_idx > 0 ? 2500000 : 5000000, true, false);
#ifndef QCOM2 #ifndef QCOM2
// TODO: fix qcamera on tici // TODO: fix qcamera on tici
if (!front) { if (cam_idx == 0) {
encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true); encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
has_encoder_alt = true; has_encoder_alt = true;
} }
@ -184,7 +190,7 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
{ {
bool should_rotate = false; bool should_rotate = false;
std::unique_lock<std::mutex> lk(s.lock); std::unique_lock<std::mutex> lk(s.lock);
if (!front) { if (cam_idx==0) {
// wait if log camera is older on back camera // wait if log camera is older on back camera
while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up. while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up.
&& (extra.frame_id-s.last_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted) && (extra.frame_id-s.last_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
@ -235,25 +241,27 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
&out_segment_alt, &extra); &out_segment_alt, &extra);
} }
// TODO: add this back
// publish encode index // publish encode index
capnp::MallocMessageBuilder msg; //capnp::MallocMessageBuilder msg;
cereal::Event::Builder event = msg.initRoot<cereal::Event>(); //cereal::Event::Builder event = msg.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot()); //event.setLogMonoTime(nanos_since_boot());
auto eidx = event.initEncodeIdx(); //auto eidx = event.initEncodeIdx();
eidx.setFrameId(extra.frame_id); //eidx.setFrameId(extra.frame_id);
eidx.setType(front ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C); //eidx.setType(front ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
eidx.setEncodeId(cnt); //eidx.setEncodeId(cnt);
eidx.setSegmentNum(out_segment); //eidx.setSegmentNum(out_segment);
eidx.setSegmentId(out_id); //eidx.setSegmentId(out_id);
auto words = capnp::messageToFlatArray(msg); //auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes(); //auto bytes = words.asBytes();
if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
printf("err sending encodeIdx pkt: %s\n", strerror(errno)); //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 (lh) {
} // lh_log(lh, bytes.begin(), bytes.size(), false);
//}
} }
if (raw_clips) { if (raw_clips) {
@ -313,7 +321,8 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
visionstream_destroy(&stream); visionstream_destroy(&stream);
} }
delete idx_sock; // TODO: add this back
//delete idx_sock;
if (encoder_inited) { if (encoder_inited) {
LOG("encoder destroy"); LOG("encoder destroy");
@ -638,10 +647,13 @@ int main(int argc, char** argv) {
#ifndef DISABLE_ENCODER #ifndef DISABLE_ENCODER
// rear camera // rear camera
std::thread encoder_thread_handle(encoder_thread, is_streaming, false, false); std::thread encoder_thread_handle(encoder_thread, is_streaming, false, 0);
// front camera // front camera
std::thread front_encoder_thread_handle(encoder_thread, false, false, true); std::thread front_encoder_thread_handle(encoder_thread, false, false, 2);
// wide camera
std::thread wide_encoder_thread_handle(encoder_thread, false, false, 1);
#endif #endif
#if ENABLE_LIDAR #if ENABLE_LIDAR
@ -718,6 +730,7 @@ int main(int argc, char** argv) {
#ifndef DISABLE_ENCODER #ifndef DISABLE_ENCODER
front_encoder_thread_handle.join(); front_encoder_thread_handle.join();
wide_encoder_thread_handle.join();
encoder_thread_handle.join(); encoder_thread_handle.join();
LOGW("encoder joined"); LOGW("encoder joined");
#endif #endif

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