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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/system/loggerd
Dean Lee c0c00e1997
loggerd: check `userFlag` outside the while loop (#29095) 		2 years ago
..
encoder encoder: remove function `publisher_init`, init PubMaster in constructor (#28980) 2 years ago
tests deleter: preserve flagged segments (#28814) 2 years ago
tools loggerd: move to system/ (#27534) 2 years ago
.gitignore loggerd: move to system/ (#27534) 2 years ago
README.md loggerd: move to system/ (#27534) 2 years ago
SConscript loggerd: move to system/ (#27534) 2 years ago
__init__.py loggerd: move to system/ (#27534) 2 years ago
bootlog.cc log current bootlog (#27645) 2 years ago
config.py loggerd: add types to tests and use pathlib (#28943) 2 years ago
deleter.py deleter: preserve flagged segments (#28814) 2 years ago
encoderd.cc encoderd: get avaiable streams from vipc server (#28935) 2 years ago
logger.cc logger: use reference in range based loop (#28894) 2 years ago
logger.h loggerd: move to system/ (#27534) 2 years ago
loggerd.cc loggerd: check `userFlag` outside the while loop (#29095) 2 years ago
loggerd.h deleter: preserve flagged segments (#28814) 2 years ago
uploader.py uploader: check upload key value (#28206) 2 years ago
video_writer.cc loggerd: move to system/ (#27534) 2 years ago
video_writer.h loggerd: move to system/ (#27534) 2 years ago
xattr_cache.py loggerd: add types to tests and use pathlib (#28943) 2 years ago

README.md

loggerd

openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.

Check out our python library for reading openpilot logs. Also checkout our tools to replay and view your data. These are the same tools we use to debug and develop openpilot.

log types

For each segment, openpilot records the following log types:

rlog.bz2

rlogs contain all the messages passed amongst openpilot's processes. See cereal/services.py for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.

{f,e,d}camera.hevc

Each camera stream is H.265 encoded and written to its respective file.

  • fcamera.hevc is the road camera
  • ecamera.hevc is the wide road camera
  • dcamera.hevc is the driver camera

qlog.bz2 & qcamera.ts

qlogs are a decimated subset of the rlogs. Check out cereal/services.py for the decimation.

qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in comma connect is from the qcameras.

qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.