You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
131 lines
3.5 KiB
131 lines
3.5 KiB
#pragma once
|
|
|
|
#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"
|
|
#ifdef 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;
|
|
|
|
struct LogCameraInfo {
|
|
CameraType type;
|
|
const char *filename;
|
|
VisionStreamType stream_type;
|
|
int frame_width, frame_height;
|
|
int fps;
|
|
int bitrate;
|
|
bool is_h265;
|
|
bool downscale;
|
|
bool has_qcamera;
|
|
bool trigger_rotate;
|
|
bool enable;
|
|
bool record;
|
|
};
|
|
|
|
const LogCameraInfo cameras_logged[] = {
|
|
{
|
|
.type = RoadCam,
|
|
.stream_type = VISION_STREAM_ROAD,
|
|
.filename = "fcamera.hevc",
|
|
.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_DRIVER,
|
|
.filename = "dcamera.hevc",
|
|
.fps = MAIN_FPS,
|
|
.bitrate = DCAM_BITRATE,
|
|
.is_h265 = true,
|
|
.downscale = false,
|
|
.has_qcamera = false,
|
|
.trigger_rotate = true,
|
|
.enable = true,
|
|
.record = Params().getBool("RecordFront"),
|
|
},
|
|
{
|
|
.type = WideRoadCam,
|
|
.stream_type = VISION_STREAM_WIDE_ROAD,
|
|
.filename = "ecamera.hevc",
|
|
.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 {
|
|
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] = {};
|
|
};
|
|
|
|
bool sync_encoders(LoggerdState *s, CameraType cam_type, uint32_t frame_id);
|
|
bool trigger_rotate_if_needed(LoggerdState *s, int cur_seg, uint32_t frame_id);
|
|
void rotate_if_needed(LoggerdState *s);
|
|
void loggerd_thread();
|
|
|