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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#include <iostream>
#include <cassert>
#include <string>
#include <map>
#include "json11.hpp"
#include <systemd/sd-journal.h>
#include "common/timing.h"
#include "messaging.hpp"
int main(int argc, char *argv[]) {
PubMaster pm({"androidLog"});
sd_journal *journal;
assert(sd_journal_open(&journal, 0) >= 0);
assert(sd_journal_get_fd(journal) >= 0); // needed so sd_journal_wait() works properly if files rotate
assert(sd_journal_seek_tail(journal) >= 0);
int r;
while (true) {
r = sd_journal_next(journal);
assert(r >= 0);
// Wait for new message if we didn't receive anything
if (r == 0){
do {
r = sd_journal_wait(journal, (uint64_t)-1);
assert(r >= 0);
} while (r == SD_JOURNAL_NOP);
r = sd_journal_next(journal);
assert(r >= 0);
if (r == 0) continue; // Try again if we still didn't get anything
}
uint64_t timestamp = 0;
r = sd_journal_get_realtime_usec(journal, &timestamp);
assert(r >= 0);
const void *data;
size_t length;
std::map<std::string, std::string> kv;
SD_JOURNAL_FOREACH_DATA(journal, data, length){
std::string str((char*)data, length);
// Split "KEY=VALUE"" on "=" and put in map
std::size_t found = str.find("=");
if (found != std::string::npos){
kv[str.substr(0, found)] = str.substr(found + 1, std::string::npos);
}
}
capnp::MallocMessageBuilder msg;
cereal::Event::Builder event = msg.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
// Build message
auto androidEntry = event.initAndroidLog();
androidEntry.setTs(timestamp);
androidEntry.setMessage(json11::Json(kv).dump());
if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str()));
if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str()));
if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]);
pm.send("androidLog", msg);
}
sd_journal_close(journal);
return 0;
}