diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 755ca82220..c66b20c88e 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -1,6 +1,8 @@ # How to contribute -Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai). +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). + +Development is coordinated through [Discord](https://discord.comma.ai) and GitHub. ### Getting Started @@ -11,7 +13,8 @@ Our software is open source so you can solve your own problems without needing h ## What contributions are we looking for? -**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** +openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. ### What gets merged? @@ -27,24 +30,21 @@ All of these are examples of good PRs: ### What doesn't get merged? -* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful +* **style changes**: code is art, and it's up to the author to make it beautiful * **500+ line PRs**: clean it up, break it up into smaller PRs, or both * **PRs without a clear goal**: every PR must have a singular and clear goal -* **UI design changes**: we do not have a good review process for this yet +* **UI design**: we do not have a good review process for this yet * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. +* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged. ### First contribution -Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started. - -### What do I need to contribute? - -A lot of openpilot work requires only a PC, and some requires a comma device. -Most car-related contributions require access to that car, plus a comma device installed in the car. +[Bounties](https://comma.ai/bounties) are the best place to get started. +There's lot of bounties that don't require a comma 3/3X or a car. ## Pull Requests -Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. +Pull requests should be against the master branch. A good pull request has all of the following: * a clearly stated purpose diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index cdcb757c36..e43fc921c1 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -209,7 +209,7 @@ class CarInterface(CarInterfaceBase): # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC}) - ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS + ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 22342c0078..2a155717c0 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -73,6 +73,8 @@ lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CCFLAGS"].append("-Wno-unused") if arch != "Darwin": lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") +else: + lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib") lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long", build_files, LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e']) diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc index ed5ee62501..bc81d7de91 100644 --- a/selfdrive/pandad/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -10,6 +10,8 @@ #include "common/swaglog.h" #include "common/util.h" +const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr; + Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { // try USB first, then SPI try { @@ -219,7 +221,7 @@ bool Panda::can_receive(std::vector& out_vec) { return false; } - if (getenv("PANDAD_MAXOUT") != NULL) { + if (PANDAD_MAXOUT) { static uint8_t junk[RECV_SIZE]; handle->bulk_read(0xab, junk, RECV_SIZE - recv); } diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater index 7eb407988e..11ce7809d0 100755 --- a/system/hardware/tici/updater +++ b/system/hardware/tici/updater @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f74ea28934c6b9477a98dc6a38e6bfcd53e94e6af31dba5b6d11bc5310f7d995 -size 8135168 +oid sha256:8db3f973663e59921fcc9e5d5600a346c1e229a2e8481a874ef996d97303dc4e +size 16631712 diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index a7cf0e75c3..e768fb8d2c 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -148,6 +148,23 @@ if [ -f "/etc/os-release" ]; then if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then install_extra_packages fi + + if [[ -d "/etc/udev/rules.d/" ]]; then + # Setup panda udev rules + $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null < /dev/null < /dev/null || true + set -e } function op_venv() { op_before_cmd - bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") + + if [[ ! -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then + echo -e "No venv found in $OPENPILOT_ROOT" + return 1 + fi + + case $SHELL_NAME in + "zsh") + ZSHRC_DIR=$(mktemp -d 2>/dev/null || mktemp -d -t 'tmp_zsh') + echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate" >> $ZSHRC_DIR/.zshrc + ZDOTDIR=$ZSHRC_DIR zsh ;; + *) + bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") ;; + esac } function op_check() { diff --git a/tools/rerun/README.md b/tools/rerun/README.md index 0fd50e1562..dc0a901e60 100644 --- a/tools/rerun/README.md +++ b/tools/rerun/README.md @@ -5,53 +5,33 @@ Rerun is a tool to quickly visualize time series data. It supports all openpilot ## Usage ``` -usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name] +usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name] A helper to run rerun on openpilot routes +positional arguments: + route_or_segment_name + The route or segment name to plot (default: None) + options: - -h, --help show this help message and exit - --demo Use the demo route instead of providing one (default: False) - --qcam Log decimated driving camera (default: False) - --fcam Log driving camera (default: False) - --ecam Log wide camera (default: False) - --dcam Log driver monitoring camera (default: False) - --print_services List out openpilot services (default: False) - --services [SERVICES ...] Specify openpilot services that will be logged. No service will be logged if not specified. - To log all services include 'all' as one of your services (default: []) - --route [ROUTE] The route or segment name to plot (default: None) + -h, --help show this help message and exit + --demo Use the demo route instead of providing one (default: False) + --qcam Show low-res road camera (default: False) + --fcam Show driving camera (default: False) + --ecam Show wide camera (default: False) + --dcam Show driver monitoring camera (default: False) ``` Examples using route name to observe accelerometer and qcamera: -`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"` +`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"` Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)): -`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"` +`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"` ## Cautions: -- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data. - -- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage - -This example draws 13GB of memory: - -`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"` - - -## Openpilot services -To list all openpilot services: - -`./run.py --print_services` - -Examples including openpilot services: - -`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"` - -Examples including all services: - -`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"` +- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage ## Demo -`./run.py --services accelerometer carcontrol caroutput --qcam --demo` +`./run.sh --qcam --demo` diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py index 325fad18b8..8366a3c1cf 100644 --- a/tools/rerun/camera_reader.py +++ b/tools/rerun/camera_reader.py @@ -37,6 +37,7 @@ class _FrameReader: frame_sz = self.w * self.h * 3 // 2 proc = subprocess.Popen( ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"], + stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL ) @@ -84,9 +85,9 @@ class CameraReader: def _run_on_segment(self, func, i): return func(self._get_fr(i)) - def run_across_segments(self, num_processes, func): + def run_across_segments(self, num_processes, func, desc=None): with multiprocessing.Pool(num_processes) as pool: num_segs = len(self.seg_idxs) - for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs): + for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc): continue diff --git a/tools/rerun/run.py b/tools/rerun/run.py index 79055b6b7d..ffbee0a9a5 100755 --- a/tools/rerun/run.py +++ b/tools/rerun/run.py @@ -1,10 +1,12 @@ #!/usr/bin/env python3 + import sys import argparse import multiprocessing import rerun as rr import rerun.blueprint as rrb from functools import partial +from collections import defaultdict from cereal.services import SERVICE_LIST from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType @@ -20,19 +22,16 @@ RR_WIN = "openpilot logs" """ Relevant upstream Rerun issues: -- large time series: https://github.com/rerun-io/rerun/issues/5967 - loading videos directly: https://github.com/rerun-io/rerun/issues/6532 """ class Rerunner: - def __init__(self, route, segment_range, camera_config, enabled_services): - self.enabled_services = [s.lower() for s in enabled_services] - self.log_all = "all" in self.enabled_services + def __init__(self, route, segment_range, camera_config): self.lr = LogReader(route_or_segment_name) # hevc files don't have start_time. We get it from qcamera.ts start_time = 0 - dat = probe_packet_info(r.qcamera_paths()[0]) + dat = probe_packet_info(route.qcamera_paths()[0]) for d in dat: if d.startswith("pts_time="): start_time = float(d.split('=')[1]) @@ -49,34 +48,30 @@ class Rerunner: if dcam: self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs) - def _start_rerun(self): - self.blueprint = self._create_blueprint() - rr.init(RR_WIN, spawn=True) - def _create_blueprint(self): blueprint = None service_views = [] - log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all for topic in sorted(SERVICE_LIST.keys()): - if not self.log_all and topic.lower() not in self.enabled_services: - continue View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView - service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible)) + service_views.append(View(name=topic, origin=f"/{topic}/", visible=False)) rr.log(topic, rr.SeriesLine(name=topic), timeless=True) + center_view = [rrb.Vertical(*service_views, name="streams")] + if len(self.camera_readers): + center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras")) + blueprint = rrb.Blueprint( rrb.Horizontal( - rrb.Vertical(*service_views), - rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]), + *center_view ), rrb.SelectionPanel(expanded=False), - rrb.TimePanel(expanded=False) + rrb.TimePanel(expanded=False), ) return blueprint @staticmethod - def _log_msg(msg, parent_key=''): + def _parse_msg(msg, parent_key=''): stack = [(msg, parent_key)] while stack: current_msg, current_parent_key = stack.pop() @@ -84,40 +79,47 @@ class Rerunner: for index, item in enumerate(current_msg): new_key = f"{current_parent_key}/{index}" if isinstance(item, (int, float)): - rr.log(new_key, rr.Scalar(item)) + yield new_key, item elif isinstance(item, dict): stack.append((item, new_key)) elif isinstance(current_msg, dict): for key, value in current_msg.items(): new_key = f"{current_parent_key}/{key}" if isinstance(value, (int, float)): - rr.log(new_key, rr.Scalar(value)) + yield new_key, value elif isinstance(value, dict): stack.append((value, new_key)) elif isinstance(value, list): for index, item in enumerate(value): if isinstance(item, (int, float)): - rr.log(f"{new_key}/{index}", rr.Scalar(item)) + yield f"{new_key}/{index}", item else: pass # Not a plottable value @staticmethod @rr.shutdown_at_exit - def _process_log_msgs(blueprint, enabled_services, log_all, lr): + def _process_log_msgs(blueprint, lr): rr.init(RR_WIN) - rr.connect(default_blueprint=blueprint) + rr.connect() + rr.send_blueprint(blueprint) + log_msgs = defaultdict(lambda: defaultdict(list)) for msg in lr: - rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime) msg_type = msg.which() - if not log_all and msg_type.lower() not in enabled_services: + if msg_type == "thumbnail": continue - if msg_type != "thumbnail": - Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which()) - else: - rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail"))) + for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type): + log_msgs[entity_path]["times"].append(msg.logMonoTime / 1e9) + log_msgs[entity_path]["data"].append(dat) + + for entity_path, log_msg in log_msgs.items(): + rr.log_temporal_batch( + entity_path, + times=[rr.TimeSecondsBatch(RR_TIMELINE_NAME, log_msg["times"])], + components=[rr.components.ScalarBatch(log_msg["data"])] + ) return [] @@ -125,18 +127,22 @@ class Rerunner: @rr.shutdown_at_exit def _process_cam_readers(blueprint, cam_type, h, w, fr): rr.init(RR_WIN) - rr.connect(default_blueprint=blueprint) + rr.connect() + rr.send_blueprint(blueprint) for ts, frame in fr: rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9)) rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12)) def load_data(self): - self._start_rerun() - if len(self.enabled_services) > 0: - self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all)) + rr.init(RR_WIN, spawn=True) + + startup_blueprint = self._create_blueprint() + self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages") for cam_type, cr in self.camera_readers.items(): - cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w)) + cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type) + + rr.send_blueprint(self._create_blueprint()) if __name__ == '__main__': @@ -147,34 +153,28 @@ if __name__ == '__main__': parser.add_argument("--fcam", action="store_true", help="Show driving camera") parser.add_argument("--ecam", action="store_true", help="Show wide camera") parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera") - parser.add_argument("--print_services", action="store_true", help="List out openpilot services") - parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\ - No service will be logged if not specified.\ - To log all services include 'all' as one of your services") - parser.add_argument("--route", nargs='?', help="The route or segment name to plot") + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") args = parser.parse_args() - if not args.demo and not args.route: + if not args.demo and not args.route_or_segment_name: parser.print_help() sys.exit() - if args.print_services: - print("\n".join(SERVICE_LIST.keys())) - sys.exit() - camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam) + route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip() sr = SegmentRange(route_or_segment_name) r = Route(sr.route_name) - if len(sr.seg_idxs) > 10: - print("You're requesting more than 10 segments of the route, " + \ - "please be aware that might take a lot of memory") + hevc_requested = any(camera_config[1:]) + if len(sr.seg_idxs) > 1 and hevc_requested: + print("You're requesting more than 1 segment with hevc videos, " + \ + "please be aware that might take a lot of memory " + \ + "since rerun isn't yet well supported for high resolution video logging") response = input("Do you wish to continue? (Y/n): ") if response.strip().lower() != "y": sys.exit() - rerunner = Rerunner(r, sr, camera_config, args.services) + rerunner = Rerunner(r, sr, camera_config) rerunner.load_data() diff --git a/tools/rerun/run.sh b/tools/rerun/run.sh new file mode 100755 index 0000000000..25190411d1 --- /dev/null +++ b/tools/rerun/run.sh @@ -0,0 +1,9 @@ +#! /bin/bash + +# TODO: remove this file once Rerun has interface to set log message level +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +RUST_LOG=warn $DIR/run.py $@ + diff --git a/tools/setup.sh b/tools/setup.sh index 24b5b2707f..2dc1144900 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -44,6 +44,7 @@ function sentry_send_event() { PLATFORM=$(uname -s) ARCH=$(uname -m) + SYSTEM=$(uname -a) if [[ $PLATFORM == "Darwin" ]]; then OS="macos" elif [[ $PLATFORM == "Linux" ]]; then @@ -60,7 +61,7 @@ function sentry_send_event() { BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA")) COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA")) - curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\" } }" \ + curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" } }" \ -H 'Content-Type: application/json' \ -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \ $SENTRY_URL 2> /dev/null diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py index 10900b60ff..8358846f3a 100644 --- a/tools/webcam/camera.py +++ b/tools/webcam/camera.py @@ -11,6 +11,7 @@ class Camera: self.cur_frame_id = 0 self.container = av.open(camera_id) + assert self.container.streams.video, f"Can't open video stream for camera {camera_id}" self.video_stream = self.container.streams.video[0] self.W = self.video_stream.codec_context.width self.H = self.video_stream.codec_context.height diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index d0b879a086..47dddfce98 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -26,7 +26,6 @@ class Camerad: self.cameras = [] for c in CAMERAS: cam = Camera(c.msg_name, c.stream_type, c.cam_id) - assert cam.cap.isOpened(), f"Can't find camera {c}" self.cameras.append(cam) self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H) @@ -47,11 +46,10 @@ class Camerad: def camera_runner(self, cam): rk = Ratekeeper(20, None) - while cam.cap.isOpened(): - for yuv in cam.read_frames(): - self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type) - cam.cur_frame_id += 1 - rk.keep_time() + for yuv in cam.read_frames(): + self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type) + cam.cur_frame_id += 1 + rk.keep_time() def run(self): threads = []