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102 lines
2.4 KiB
102 lines
2.4 KiB
#pragma once
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#include <unistd.h>
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#include <atomic>
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#include <cassert>
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#include <cerrno>
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#include <condition_variable>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <unordered_map>
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#include "cereal/messaging/messaging.h"
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#include "cereal/services.h"
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#include "cereal/visionipc/visionipc.h"
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#include "cereal/visionipc/visionipc_client.h"
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#include "system/camerad/cameras/camera_common.h"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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#include "selfdrive/loggerd/encoder/encoder.h"
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#include "selfdrive/loggerd/logger.h"
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#ifdef QCOM2
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#include "selfdrive/loggerd/encoder/v4l_encoder.h"
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#define Encoder V4LEncoder
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#else
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#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
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#define Encoder FfmpegEncoder
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#endif
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constexpr int MAIN_FPS = 20;
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const int MAIN_BITRATE = 10000000;
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const int DCAM_BITRATE = MAIN_BITRATE;
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#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
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const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
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const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
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struct LogCameraInfo {
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CameraType type;
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const char *filename;
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VisionStreamType stream_type;
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int frame_width, frame_height;
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int fps;
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int bitrate;
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bool is_h265;
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bool has_qcamera;
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bool record;
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};
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const LogCameraInfo cameras_logged[] = {
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{
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.type = RoadCam,
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.stream_type = VISION_STREAM_ROAD,
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.filename = "fcamera.hevc",
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.fps = MAIN_FPS,
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.bitrate = MAIN_BITRATE,
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.is_h265 = true,
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.has_qcamera = true,
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.record = true,
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.frame_width = 1928,
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.frame_height = 1208,
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},
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{
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.type = DriverCam,
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.stream_type = VISION_STREAM_DRIVER,
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.filename = "dcamera.hevc",
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.fps = MAIN_FPS,
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.bitrate = DCAM_BITRATE,
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.is_h265 = true,
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.has_qcamera = false,
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.record = Params().getBool("RecordFront"),
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.frame_width = 1928,
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.frame_height = 1208,
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},
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{
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.type = WideRoadCam,
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.stream_type = VISION_STREAM_WIDE_ROAD,
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.filename = "ecamera.hevc",
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.fps = MAIN_FPS,
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.bitrate = MAIN_BITRATE,
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.is_h265 = true,
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.has_qcamera = false,
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.record = true,
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.frame_width = 1928,
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.frame_height = 1208,
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},
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};
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const LogCameraInfo qcam_info = {
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.filename = "qcamera.ts",
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.fps = MAIN_FPS,
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.bitrate = 256000,
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.is_h265 = false,
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.record = true,
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.frame_width = 526,
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.frame_height = 330,
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};
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