retropilot
/
openpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

refactor qlog_counter (#19626)

albatross
Dean Lee 2021-01-04 18:33:35 +08:00 committed by GitHub
parent 37a43124c0
commit 041fbbf725
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 10 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
selfdrive/loggerd/loggerd.cc
View File

@ -583,8 +583,10 @@ int main(int argc, char** argv) {
std::vector<SubSocket*> socks;
std::map<SubSocket*, int> qlog_counter;
std::map<SubSocket*, int> qlog_freqs;
typedef struct QlogState {
int counter, freq;
} QlogState;
std::map<SubSocket*, QlogState> qlog_states;
for (const auto& it : services) {
std::string name = it.name;
@ -598,9 +600,8 @@ int main(int argc, char** argv) {
for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
if (name == cameras_logged[cid].frame_packet_name) { s.rotate_state[cid].fpkt_sock = sock; }
}
qlog_counter[sock] = (it.decimation == -1) ? -1 : 0;
qlog_freqs[sock] = it.decimation;
qlog_states[sock] = {.counter = (it.decimation == -1) ? -1 : 0,
.freq = it.decimation};
}
}
@ -650,12 +651,12 @@ int main(int argc, char** argv) {
delete last_msg;
last_msg = msg;
logger_log(&s.logger, (uint8_t*)msg->getData(), msg->getSize(), qlog_counter[sock] == 0);
QlogState& qs = qlog_states[sock];
logger_log(&s.logger, (uint8_t*)msg->getData(), msg->getSize(), qs.counter == 0);
if (qlog_counter[sock] != -1) {
if (qs.counter != -1) {
//printf("%p: %d/%d\n", socks[i], qlog_counter[socks[i]], qlog_freqs[socks[i]]);
qlog_counter[sock]++;
qlog_counter[sock] %= qlog_freqs[sock];
qs.counter = (qs.counter + 1) % qs.freq;
}
bytes_count += msg->getSize();
msg_count++;