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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 5ab1fc7674
encoder: reduce memory allocations and copying (#28704) 		1 year ago
..
encoder encoder: reduce memory allocations and copying (#28704) 1 year ago
tests swaglog.py goes in common/ (#30631) 1 year ago
.gitignore loggerd: move to system/ (#27534) 2 years ago
README.md loggerd: move to system/ (#27534) 2 years ago
SConscript Minimal build (#29600) 2 years ago
__init__.py loggerd: move to system/ (#27534) 2 years ago
bootlog.cc System: use paths for download folders too (#29818) 2 years ago
config.py Pytest: more post-test path cleanup (#30556) 1 year ago
deleter.py swaglog.py goes in common/ (#30631) 1 year ago
encoderd.cc encoderd: remove unnecessary calls to ` encoder_close()` on exit. (#28970) 2 years ago
logger.cc loggerd: c++ LoggerState (#25869) 1 year ago
logger.h loggerd: c++ LoggerState (#25869) 1 year ago
loggerd.cc loggerd: c++ LoggerState (#25869) 1 year ago
loggerd.h cpplint: `build/include_what_you_use` (#29556) 2 years ago
uploader.py swaglog.py goes in common/ (#30631) 1 year ago
video_writer.cc encoder/VideoWriter: remove unnecessary call to `avcodec_close` (#29039) 2 years ago
video_writer.h encoder/VideoWriter: remove unnecessary call to `avcodec_close` (#29039) 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.