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loggerd: split loggerd.cc into three files

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old-commit-hash: 75dd0d6296
commatwo_master
Dean Lee 3 years ago committed by GitHub
parent 5d990ad509
commit 987f87cc0e
5 changed files with 144 additions and 140 deletions
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  1. 2
      release/files_common
  2. 4
      selfdrive/loggerd/SConscript
  3. 140
      selfdrive/loggerd/loggerd.cc
  4. 118
      selfdrive/loggerd/loggerd.h
  5. 20
      selfdrive/loggerd/main.cc

2
release/files_common
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@ -306,6 +306,8 @@ selfdrive/loggerd/omx_encoder.h
selfdrive/loggerd/logger.cc
selfdrive/loggerd/logger.h
selfdrive/loggerd/loggerd.cc
selfdrive/loggerd/loggerd.h
selfdrive/loggerd/main.cc
selfdrive/loggerd/bootlog.cc
selfdrive/loggerd/raw_logger.cc
selfdrive/loggerd/raw_logger.h

4
selfdrive/loggerd/SConscript
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@ -7,7 +7,7 @@ libs = [logger_lib, common, cereal, messaging, visionipc,
'avformat', 'avcodec', 'swscale', 'avutil',
'yuv', 'bz2', 'OpenCL']
src = ['loggerd.cc']
src = ['main.cc', 'loggerd.cc']
if arch in ["aarch64", "larch64"]:
src += ['omx_encoder.cc']
libs += ['OmxCore', 'gsl', 'CB'] + gpucommon
@ -24,7 +24,7 @@ if arch == "Darwin":
del libs[libs.index('OpenCL')]
env['FRAMEWORKS'] = ['OpenCL']
env.Program(src, LIBS=libs)
env.Program('loggerd', src, LIBS=libs)
env.Program('bootlog.cc', LIBS=libs)
if GetOption('test'):

140
selfdrive/loggerd/loggerd.cc
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@ -1,128 +1,7 @@
#include <ftw.h>
#include <pthread.h>
#include <sys/resource.h>
#include <unistd.h>
#include <atomic>
#include <cassert>
#include <cerrno>
#include <condition_variable>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <mutex>
#include <random>
#include <string>
#include <thread>
#include <unordered_map>
#include "cereal/messaging/messaging.h"
#include "cereal/services.h"
#include "cereal/visionipc/visionipc.h"
#include "cereal/visionipc/visionipc_client.h"
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/loggerd/encoder.h"
#include "selfdrive/loggerd/logger.h"
#if defined(QCOM) || defined(QCOM2)
#include "selfdrive/loggerd/omx_encoder.h"
#define Encoder OmxEncoder
#else
#include "selfdrive/loggerd/raw_logger.h"
#define Encoder RawLogger
#endif
namespace {
constexpr int MAIN_FPS = 20;
const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
#include "selfdrive/loggerd/loggerd.h"
ExitHandler do_exit;
const LogCameraInfo cameras_logged[] = {
{
.type = RoadCam,
.stream_type = VISION_STREAM_YUV_BACK,
.filename = "fcamera.hevc",
.frame_packet_name = "roadCameraState",
.fps = MAIN_FPS,
.bitrate = MAIN_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = true,
.trigger_rotate = true,
.enable = true,
.record = true,
},
{
.type = DriverCam,
.stream_type = VISION_STREAM_YUV_FRONT,
.filename = "dcamera.hevc",
.frame_packet_name = "driverCameraState",
.fps = MAIN_FPS, // on EONs, more compressed this way
.bitrate = DCAM_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = false,
.trigger_rotate = Hardware::TICI(),
.enable = !Hardware::PC(),
.record = Params().getBool("RecordFront"),
},
{
.type = WideRoadCam,
.stream_type = VISION_STREAM_YUV_WIDE,
.filename = "ecamera.hevc",
.frame_packet_name = "wideRoadCameraState",
.fps = MAIN_FPS,
.bitrate = MAIN_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = false,
.trigger_rotate = true,
.enable = Hardware::TICI(),
.record = Hardware::TICI(),
},
};
const LogCameraInfo qcam_info = {
.filename = "qcamera.ts",
.fps = MAIN_FPS,
.bitrate = 256000,
.is_h265 = false,
.downscale = true,
.frame_width = Hardware::TICI() ? 526 : 480,
.frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
};
struct LoggerdState {
Context *ctx;
LoggerState logger = {};
char segment_path[4096];
std::mutex rotate_lock;
std::condition_variable rotate_cv;
std::atomic<int> rotate_segment;
std::atomic<double> last_camera_seen_tms;
std::atomic<int> ready_to_rotate; // count of encoders ready to rotate
int max_waiting = 0;
double last_rotate_tms = 0.; // last rotate time in ms
// Sync logic for startup
std::atomic<int> encoders_ready = 0;
std::atomic<uint32_t> start_frame_id = 0;
bool camera_ready[WideRoadCam + 1] = {};
bool camera_synced[WideRoadCam + 1] = {};
};
LoggerdState s;
// Handle initial encoder syncing by waiting for all encoders to reach the same frame id
@ -306,20 +185,7 @@ void rotate_if_needed() {
}
}
} // namespace
int main(int argc, char** argv) {
if (Hardware::EON()) {
setpriority(PRIO_PROCESS, 0, -20);
} else if (Hardware::TICI()) {
int ret;
ret = set_core_affinity({0, 1, 2, 3});
assert(ret == 0);
// TODO: why does this impact camerad timings?
//ret = set_realtime_priority(1);
//assert(ret == 0);
}
void loggerd_thread() {
clear_locks();
// setup messaging
@ -397,6 +263,4 @@ int main(int argc, char** argv) {
for (auto &[sock, qs] : qlog_states) delete sock;
delete poller;
delete s.ctx;
return 0;
}

118
selfdrive/loggerd/loggerd.h
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@ -0,0 +1,118 @@
#pragma once
#include <ftw.h>
#include <unistd.h>
#include <atomic>
#include <cassert>
#include <cerrno>
#include <condition_variable>
#include <mutex>
#include <string>
#include <thread>
#include <unordered_map>
#include "cereal/messaging/messaging.h"
#include "cereal/services.h"
#include "cereal/visionipc/visionipc.h"
#include "cereal/visionipc/visionipc_client.h"
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/loggerd/encoder.h"
#include "selfdrive/loggerd/logger.h"
#if defined(QCOM) || defined(QCOM2)
#include "selfdrive/loggerd/omx_encoder.h"
#define Encoder OmxEncoder
#else
#include "selfdrive/loggerd/raw_logger.h"
#define Encoder RawLogger
#endif
constexpr int MAIN_FPS = 20;
const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
const LogCameraInfo cameras_logged[] = {
{
.type = RoadCam,
.stream_type = VISION_STREAM_YUV_BACK,
.filename = "fcamera.hevc",
.frame_packet_name = "roadCameraState",
.fps = MAIN_FPS,
.bitrate = MAIN_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = true,
.trigger_rotate = true,
.enable = true,
.record = true,
},
{
.type = DriverCam,
.stream_type = VISION_STREAM_YUV_FRONT,
.filename = "dcamera.hevc",
.frame_packet_name = "driverCameraState",
.fps = MAIN_FPS, // on EONs, more compressed this way
.bitrate = DCAM_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = false,
.trigger_rotate = Hardware::TICI(),
.enable = !Hardware::PC(),
.record = Params().getBool("RecordFront"),
},
{
.type = WideRoadCam,
.stream_type = VISION_STREAM_YUV_WIDE,
.filename = "ecamera.hevc",
.frame_packet_name = "wideRoadCameraState",
.fps = MAIN_FPS,
.bitrate = MAIN_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = false,
.trigger_rotate = true,
.enable = Hardware::TICI(),
.record = Hardware::TICI(),
},
};
const LogCameraInfo qcam_info = {
.filename = "qcamera.ts",
.fps = MAIN_FPS,
.bitrate = 256000,
.is_h265 = false,
.downscale = true,
.frame_width = Hardware::TICI() ? 526 : 480,
.frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
};
struct LoggerdState {
Context *ctx;
LoggerState logger = {};
char segment_path[4096];
std::mutex rotate_lock;
std::condition_variable rotate_cv;
std::atomic<int> rotate_segment;
std::atomic<double> last_camera_seen_tms;
std::atomic<int> ready_to_rotate; // count of encoders ready to rotate
int max_waiting = 0;
double last_rotate_tms = 0.; // last rotate time in ms
// Sync logic for startup
std::atomic<int> encoders_ready = 0;
std::atomic<uint32_t> start_frame_id = 0;
bool camera_ready[WideRoadCam + 1] = {};
bool camera_synced[WideRoadCam + 1] = {};
};
void loggerd_thread();

20
selfdrive/loggerd/main.cc
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@ -0,0 +1,20 @@
#include "selfdrive/loggerd/loggerd.h"
#include <sys/resource.h>
int main(int argc, char** argv) {
if (Hardware::EON()) {
setpriority(PRIO_PROCESS, 0, -20);
} else if (Hardware::TICI()) {
int ret;
ret = set_core_affinity({0, 1, 2, 3});
assert(ret == 0);
// TODO: why does this impact camerad timings?
//ret = set_realtime_priority(1);
//assert(ret == 0);
}
loggerd_thread();
return 0;
}
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