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loggerd: create encoder threads from cameras_logged (#21875)

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pull/22081/head
Dean Lee 4 years ago committed by GitHub
parent 603ad435be
commit d9baaf7eb9
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3 changed files with 41 additions and 56 deletions
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  1. 12
      selfdrive/camerad/cameras/camera_common.h
  2. 78
      selfdrive/loggerd/loggerd.cc
  3. 7
      selfdrive/ui/replay/filereader.h

12
selfdrive/camerad/cameras/camera_common.h
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@ -28,11 +28,11 @@
#define UI_BUF_COUNT 4
#define LOG_CAMERA_ID_FCAMERA 0
#define LOG_CAMERA_ID_DCAMERA 1
#define LOG_CAMERA_ID_ECAMERA 2
#define LOG_CAMERA_ID_QCAMERA 3
#define LOG_CAMERA_ID_MAX 4
enum CameraType {
RoadCam = 0,
DriverCam,
WideRoadCam
};
const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
const bool env_send_road = getenv("SEND_ROAD") != NULL;
@ -49,6 +49,7 @@ typedef struct CameraInfo {
} CameraInfo;
typedef struct LogCameraInfo {
CameraType type;
const char* filename;
const char* frame_packet_name;
const char* encode_idx_name;
@ -60,6 +61,7 @@ typedef struct LogCameraInfo {
bool downscale;
bool has_qcamera;
bool trigger_rotate;
bool enable;
} LogCameraInfo;
typedef struct FrameMetadata {

78
selfdrive/loggerd/loggerd.cc
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@ -42,7 +42,6 @@ namespace {
constexpr int MAIN_FPS = 20;
const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
const int MAX_CAM_IDX = Hardware::TICI() ? LOG_CAMERA_ID_ECAMERA : LOG_CAMERA_ID_DCAMERA;
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
@ -51,8 +50,9 @@ const int SEGMENT_LENGTH = getenv("LOGGERD_TEST") ? atoi(getenv("LOGGERD_SEGMENT
ExitHandler do_exit;
LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
[LOG_CAMERA_ID_FCAMERA] = {
const LogCameraInfo cameras_logged[] = {
{
.type = RoadCam,
.stream_type = VISION_STREAM_YUV_BACK,
.filename = "fcamera.hevc",
.frame_packet_name = "roadCameraState",
@ -61,9 +61,11 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.is_h265 = true,
.downscale = false,
.has_qcamera = true,
.trigger_rotate = true
.trigger_rotate = true,
.enable = true,
},
[LOG_CAMERA_ID_DCAMERA] = {
{
.type = DriverCam,
.stream_type = VISION_STREAM_YUV_FRONT,
.filename = "dcamera.hevc",
.frame_packet_name = "driverCameraState",
@ -73,8 +75,10 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.downscale = false,
.has_qcamera = false,
.trigger_rotate = Hardware::TICI(),
.enable = !Hardware::PC() && Params().getBool("RecordFront"),
},
[LOG_CAMERA_ID_ECAMERA] = {
{
.type = WideRoadCam,
.stream_type = VISION_STREAM_YUV_WIDE,
.filename = "ecamera.hevc",
.frame_packet_name = "wideRoadCameraState",
@ -83,18 +87,19 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.is_h265 = true,
.downscale = false,
.has_qcamera = false,
.trigger_rotate = true
},
[LOG_CAMERA_ID_QCAMERA] = {
.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?
.trigger_rotate = true,
.enable = 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;
@ -110,9 +115,7 @@ struct LoggerdState {
};
LoggerdState s;
void encoder_thread(int cam_idx) {
assert(cam_idx < LOG_CAMERA_ID_MAX-1);
const LogCameraInfo &cam_info = cameras_logged[cam_idx];
void encoder_thread(const LogCameraInfo &cam_info) {
set_thread_name(cam_info.filename);
int cnt = 0, cur_seg = -1;
@ -135,12 +138,9 @@ void encoder_thread(int cam_idx) {
// main encoder
encoders.push_back(new Encoder(cam_info.filename, buf_info.width, buf_info.height,
cam_info.fps, cam_info.bitrate, cam_info.is_h265, cam_info.downscale));
// qcamera encoder
if (cam_info.has_qcamera) {
LogCameraInfo &qcam_info = cameras_logged[LOG_CAMERA_ID_QCAMERA];
encoders.push_back(new Encoder(qcam_info.filename,
qcam_info.frame_width, qcam_info.frame_height,
encoders.push_back(new Encoder(qcam_info.filename, qcam_info.frame_width, qcam_info.frame_height,
qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265, qcam_info.downscale));
}
}
@ -167,7 +167,7 @@ void encoder_thread(int cam_idx) {
cur_seg = s.rotate_segment;
cnt = 0;
LOGW("camera %d rotate encoder to %s", cam_idx, s.segment_path);
LOGW("camera %d rotate encoder to %s", cam_info.type, s.segment_path);
for (auto &e : encoders) {
e->encoder_close();
e->encoder_open(s.segment_path);
@ -191,15 +191,15 @@ void encoder_thread(int cam_idx) {
if (i == 0 && out_id != -1) {
MessageBuilder msg;
// this is really ugly
auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initDriverEncodeIdx() :
(cam_idx == LOG_CAMERA_ID_ECAMERA ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
auto eidx = cam_info.type == DriverCam ? msg.initEvent().initDriverEncodeIdx() :
(cam_info.type == WideRoadCam ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
eidx.setFrameId(extra.frame_id);
eidx.setTimestampSof(extra.timestamp_sof);
eidx.setTimestampEof(extra.timestamp_eof);
if (Hardware::TICI()) {
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);
eidx.setType(cam_info.type == DriverCam ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
}
eidx.setEncodeId(encode_idx);
eidx.setSegmentNum(cur_seg);
@ -294,32 +294,18 @@ int main(int argc, char** argv) {
qlog_states[sock] = {.counter = 0, .freq = it.decimation};
}
Params params;
// init logger
logger_init(&s.logger, "rlog", true);
logger_rotate();
params.put("CurrentRoute", s.logger.route_name);
Params().put("CurrentRoute", s.logger.route_name);
// init encoders
s.last_camera_seen_tms = millis_since_boot();
// TODO: create these threads dynamically on frame packet presence
std::vector<std::thread> encoder_threads;
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_FCAMERA));
if (cameras_logged[LOG_CAMERA_ID_FCAMERA].trigger_rotate) {
s.max_waiting += 1;
}
if (!Hardware::PC() && params.getBool("RecordFront")) {
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_DCAMERA));
if (cameras_logged[LOG_CAMERA_ID_DCAMERA].trigger_rotate) {
s.max_waiting += 1;
}
}
if (Hardware::TICI()) {
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_ECAMERA));
if (cameras_logged[LOG_CAMERA_ID_ECAMERA].trigger_rotate) {
s.max_waiting += 1;
for (const auto &ci : cameras_logged) {
if (ci.enable) {
encoder_threads.push_back(std::thread(encoder_thread, ci));
if (ci.trigger_rotate) s.max_waiting++;
}
}

7
selfdrive/ui/replay/filereader.h
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@ -13,6 +13,8 @@
#include "cereal/gen/cpp/log.capnp.h"
#include "selfdrive/camerad/cameras/camera_common.h"
class FileReader : public QObject {
Q_OBJECT
@ -31,11 +33,6 @@ private:
QUrl url_;
};
enum CameraType {
RoadCam = 0,
DriverCam,
WideRoadCam
};
const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
const int MAX_CAMERAS = std::size(ALL_CAMERAS);

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