810 lines
24 KiB
C++
810 lines
24 KiB
C++
#include <cstdio>
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#include <cstdlib>
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#include <cstdint>
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#include <cassert>
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#include <unistd.h>
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#include <signal.h>
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#include <errno.h>
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#include <poll.h>
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#include <string.h>
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#include <inttypes.h>
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#include <libyuv.h>
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#include <sys/resource.h>
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#include <pthread.h>
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#include <string>
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#include <iostream>
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#include <fstream>
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#include <streambuf>
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#include <thread>
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#include <mutex>
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#include <condition_variable>
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#include <atomic>
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#include <random>
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#include <ftw.h>
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#ifdef QCOM
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#include <cutils/properties.h>
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#endif
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#include "common/version.h"
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#include "common/timing.h"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/visionipc.h"
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#include "common/utilpp.h"
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#include "common/util.h"
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#include "camerad/cameras/camera_common.h"
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#include "logger.h"
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#include "messaging.hpp"
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#include "services.h"
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#if !(defined(QCOM) || defined(QCOM2))
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// no encoder on PC
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#define DISABLE_ENCODER
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#endif
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#ifndef DISABLE_ENCODER
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#include "encoder.h"
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#include "raw_logger.h"
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#endif
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#define MAIN_BITRATE 5000000
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#define QCAM_BITRATE 128000
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#define MAIN_FPS 20
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#ifndef QCOM2
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#define MAX_CAM_IDX LOG_CAMERA_ID_DCAMERA
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#define DCAM_BITRATE 2500000
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#else
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#define MAX_CAM_IDX LOG_CAMERA_ID_ECAMERA
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#define DCAM_BITRATE MAIN_BITRATE
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#endif
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#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
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LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
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[LOG_CAMERA_ID_FCAMERA] = {
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.stream_type = VISION_STREAM_YUV,
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.filename = "fcamera.hevc",
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.frame_packet_name = "frame",
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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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.downscale = false,
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.has_qcamera = true
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},
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[LOG_CAMERA_ID_DCAMERA] = {
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.stream_type = VISION_STREAM_YUV_FRONT,
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.filename = "dcamera.hevc",
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.frame_packet_name = "frontFrame",
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.fps = MAIN_FPS, // on EONs, more compressed this way
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.bitrate = DCAM_BITRATE,
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.is_h265 = true,
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.downscale = false,
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.has_qcamera = false
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},
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[LOG_CAMERA_ID_ECAMERA] = {
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.stream_type = VISION_STREAM_YUV_WIDE,
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.filename = "ecamera.hevc",
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.frame_packet_name = "wideFrame",
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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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.downscale = false,
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.has_qcamera = false
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},
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[LOG_CAMERA_ID_QCAMERA] = {
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.filename = "qcamera.ts",
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.fps = MAIN_FPS,
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.bitrate = QCAM_BITRATE,
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.is_h265 = false,
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.downscale = true,
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#ifndef QCOM2
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.frame_width = 480, .frame_height = 360
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#else
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.frame_width = 526, .frame_height = 330 // keep pixel count the same?
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#endif
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},
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};
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#define SEGMENT_LENGTH 60
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#define LOG_ROOT "/data/media/0/realdata"
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#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
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#define RAW_CLIP_FREQUENCY (randrange(61, 8*60)) // once every ~4 minutes
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namespace {
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double randrange(double a, double b) __attribute__((unused));
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double randrange(double a, double b) {
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static std::mt19937 gen(millis_since_boot());
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std::uniform_real_distribution<> dist(a, b);
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return dist(gen);
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}
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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class RotateState {
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public:
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SubSocket* fpkt_sock;
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uint32_t stream_frame_id, log_frame_id, last_rotate_frame_id;
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bool enabled, should_rotate, initialized;
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RotateState() : fpkt_sock(nullptr), stream_frame_id(0), log_frame_id(0),
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last_rotate_frame_id(UINT32_MAX), enabled(false), should_rotate(false), initialized(false) {};
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void waitLogThread() {
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std::unique_lock<std::mutex> lk(fid_lock);
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while (stream_frame_id > log_frame_id //if the log camera is older, wait for it to catch up.
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&& (stream_frame_id - log_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
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&& !do_exit) {
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cv.wait(lk);
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}
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}
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void cancelWait() { cv.notify_one(); }
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void setStreamFrameId(uint32_t frame_id) {
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fid_lock.lock();
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stream_frame_id = frame_id;
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fid_lock.unlock();
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cv.notify_one();
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}
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void setLogFrameId(uint32_t frame_id) {
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fid_lock.lock();
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log_frame_id = frame_id;
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fid_lock.unlock();
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cv.notify_one();
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}
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void rotate() {
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if (!enabled) { return; }
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std::unique_lock<std::mutex> lk(fid_lock);
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should_rotate = true;
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last_rotate_frame_id = stream_frame_id;
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}
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void finish_rotate() {
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std::unique_lock<std::mutex> lk(fid_lock);
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should_rotate = false;
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}
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private:
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std::mutex fid_lock;
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std::condition_variable cv;
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};
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struct LoggerdState {
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Context *ctx;
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LoggerState logger;
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char segment_path[4096];
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int rotate_segment;
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pthread_mutex_t rotate_lock;
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int num_encoder;
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std::atomic<int> rotate_seq_id;
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std::atomic<int> should_close;
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std::atomic<int> finish_close;
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RotateState rotate_state[LOG_CAMERA_ID_MAX-1];
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};
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LoggerdState s;
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#ifndef DISABLE_ENCODER
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void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
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switch (cam_idx) {
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case LOG_CAMERA_ID_DCAMERA: {
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LOGW("recording front camera");
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set_thread_name("FrontCameraEncoder");
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break;
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}
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case LOG_CAMERA_ID_FCAMERA: {
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set_thread_name("RearCameraEncoder");
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break;
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}
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case LOG_CAMERA_ID_ECAMERA: {
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set_thread_name("WideCameraEncoder");
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break;
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}
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default: {
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LOGE("unexpected camera index provided");
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assert(false);
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}
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}
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VisionStream stream;
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bool encoder_inited = false;
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EncoderState encoder;
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EncoderState encoder_alt;
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bool has_encoder_alt = cameras_logged[cam_idx].has_qcamera;
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int encoder_segment = -1;
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int cnt = 0;
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pthread_mutex_lock(&s.rotate_lock);
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int my_idx = s.num_encoder;
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s.num_encoder += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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LoggerHandle *lh = NULL;
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while (!do_exit) {
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VisionStreamBufs buf_info;
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int err = visionstream_init(&stream, cameras_logged[cam_idx].stream_type, false, &buf_info);
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if (err != 0) {
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LOGD("visionstream connect fail");
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usleep(100000);
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continue;
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}
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if (!encoder_inited) {
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LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
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encoder_init(&encoder, cameras_logged[cam_idx].filename,
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buf_info.width,
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buf_info.height,
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cameras_logged[cam_idx].fps,
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cameras_logged[cam_idx].bitrate,
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cameras_logged[cam_idx].is_h265,
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cameras_logged[cam_idx].downscale);
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if (has_encoder_alt) {
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encoder_init(&encoder_alt, cameras_logged[LOG_CAMERA_ID_QCAMERA].filename,
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cameras_logged[LOG_CAMERA_ID_QCAMERA].frame_width,
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cameras_logged[LOG_CAMERA_ID_QCAMERA].frame_height,
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cameras_logged[LOG_CAMERA_ID_QCAMERA].fps,
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cameras_logged[LOG_CAMERA_ID_QCAMERA].bitrate,
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cameras_logged[LOG_CAMERA_ID_QCAMERA].is_h265,
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cameras_logged[LOG_CAMERA_ID_QCAMERA].downscale);
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}
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encoder_inited = true;
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}
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// dont log a raw clip in the first minute
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double rawlogger_start_time = seconds_since_boot()+RAW_CLIP_FREQUENCY;
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int rawlogger_clip_cnt = 0;
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RawLogger *rawlogger = NULL;
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if (raw_clips) {
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rawlogger = new RawLogger("prcamera", buf_info.width, buf_info.height, MAIN_FPS);
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}
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while (!do_exit) {
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VIPCBufExtra extra;
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VIPCBuf* buf = visionstream_get(&stream, &extra);
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if (buf == NULL) {
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LOG("visionstream get failed");
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break;
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}
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//uint64_t current_time = nanos_since_boot();
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//uint64_t diff = current_time - extra.timestamp_eof;
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//double msdiff = (double) diff / 1000000.0;
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// printf("logger latency to tsEof: %f\n", msdiff);
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{ // all the rotation stuff
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pthread_mutex_lock(&s.rotate_lock);
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pthread_mutex_unlock(&s.rotate_lock);
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// wait if camera pkt id is older than stream
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rotate_state->waitLogThread();
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if (do_exit) break;
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// rotate the encoder if the logger is on a newer segment
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if (rotate_state->should_rotate) {
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if (!rotate_state->initialized) {
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rotate_state->last_rotate_frame_id = extra.frame_id - 1;
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rotate_state->initialized = true;
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}
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while (s.rotate_seq_id != my_idx && !do_exit) { usleep(1000); }
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LOGW("camera %d rotate encoder to %s.", cam_idx, s.segment_path);
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encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
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s.rotate_seq_id = (my_idx + 1) % s.num_encoder;
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if (has_encoder_alt) {
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encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
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}
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if (raw_clips) {
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rawlogger->Rotate(s.segment_path, s.rotate_segment);
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}
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encoder_segment = s.rotate_segment;
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if (lh) {
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lh_close(lh);
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}
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lh = logger_get_handle(&s.logger);
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pthread_mutex_lock(&s.rotate_lock);
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s.should_close += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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while(s.should_close > 0 && s.should_close < s.num_encoder && !do_exit) { usleep(1000); }
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pthread_mutex_lock(&s.rotate_lock);
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s.should_close = s.should_close == s.num_encoder ? 1 - s.num_encoder : s.should_close + 1;
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encoder_close(&encoder);
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encoder_open(&encoder, encoder.next_path);
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encoder.segment = encoder.next_segment;
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encoder.rotating = false;
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if (has_encoder_alt) {
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encoder_close(&encoder_alt);
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encoder_open(&encoder_alt, encoder_alt.next_path);
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encoder_alt.segment = encoder_alt.next_segment;
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encoder_alt.rotating = false;
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}
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s.finish_close += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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while(s.finish_close > 0 && s.finish_close < s.num_encoder && !do_exit) { usleep(1000); }
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s.finish_close = 0;
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rotate_state->finish_rotate();
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}
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}
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rotate_state->setStreamFrameId(extra.frame_id);
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uint8_t *y = (uint8_t*)buf->addr;
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uint8_t *u = y + (buf_info.width*buf_info.height);
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uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
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{
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// encode hevc
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int out_segment = -1;
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int out_id = encoder_encode_frame(&encoder,
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y, u, v,
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buf_info.width, buf_info.height,
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&out_segment, &extra);
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if (has_encoder_alt) {
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int out_segment_alt = -1;
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encoder_encode_frame(&encoder_alt,
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y, u, v,
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buf_info.width, buf_info.height,
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&out_segment_alt, &extra);
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}
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// publish encode index
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MessageBuilder msg;
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// this is really ugly
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auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initFrontEncodeIdx() :
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(cam_idx == LOG_CAMERA_ID_ECAMERA ? msg.initEvent().initWideEncodeIdx() : msg.initEvent().initEncodeIdx());
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eidx.setFrameId(extra.frame_id);
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eidx.setTimestampSof(extra.timestamp_sof);
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eidx.setTimestampEof(extra.timestamp_eof);
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#ifdef QCOM2
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eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
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#else
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eidx.setType(cam_idx == LOG_CAMERA_ID_DCAMERA ? cereal::EncodeIndex::Type::FRONT:cereal::EncodeIndex::Type::FULL_H_E_V_C);
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#endif
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eidx.setEncodeId(cnt);
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eidx.setSegmentNum(out_segment);
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eidx.setSegmentId(out_id);
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auto bytes = msg.toBytes();
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if (lh) {
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lh_log(lh, bytes.begin(), bytes.size(), false);
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}
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}
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if (raw_clips) {
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double ts = seconds_since_boot();
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if (ts > rawlogger_start_time) {
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// encode raw if in clip
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int out_segment = -1;
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int out_id = rawlogger->LogFrame(cnt, y, u, v, &out_segment);
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if (rawlogger_clip_cnt == 0) {
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LOG("starting raw clip in seg %d", out_segment);
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}
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// publish encode index
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MessageBuilder msg;
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auto eidx = msg.initEvent().initEncodeIdx();
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eidx.setFrameId(extra.frame_id);
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eidx.setType(cereal::EncodeIndex::Type::FULL_LOSSLESS_CLIP);
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eidx.setEncodeId(cnt);
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eidx.setSegmentNum(out_segment);
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eidx.setSegmentId(out_id);
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auto bytes = msg.toBytes();
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if (lh) {
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lh_log(lh, bytes.begin(), bytes.size(), false);
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}
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// close rawlogger if clip ended
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rawlogger_clip_cnt++;
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if (rawlogger_clip_cnt >= RAW_CLIP_LENGTH) {
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rawlogger->Close();
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rawlogger_clip_cnt = 0;
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rawlogger_start_time = ts+RAW_CLIP_FREQUENCY;
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LOG("ending raw clip in seg %d, next in %.1f sec", out_segment, rawlogger_start_time-ts);
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}
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}
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}
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cnt++;
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}
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if (lh) {
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lh_close(lh);
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lh = NULL;
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}
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if (raw_clips) {
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rawlogger->Close();
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delete rawlogger;
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}
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visionstream_destroy(&stream);
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}
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if (encoder_inited) {
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LOG("encoder destroy");
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encoder_close(&encoder);
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encoder_destroy(&encoder);
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}
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if (has_encoder_alt) {
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LOG("encoder alt destroy");
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encoder_close(&encoder_alt);
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encoder_destroy(&encoder_alt);
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}
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}
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#endif
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}
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void append_property(const char* key, const char* value, void *cookie) {
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std::vector<std::pair<std::string, std::string> > *properties =
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(std::vector<std::pair<std::string, std::string> > *)cookie;
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properties->push_back(std::make_pair(std::string(key), std::string(value)));
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}
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kj::Array<capnp::word> gen_init_data() {
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MessageBuilder msg;
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auto init = msg.initEvent().initInitData();
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init.setDeviceType(cereal::InitData::DeviceType::NEO);
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init.setVersion(capnp::Text::Reader(COMMA_VERSION));
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std::ifstream cmdline_stream("/proc/cmdline");
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std::vector<std::string> kernel_args;
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std::string buf;
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while (cmdline_stream >> buf) {
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kernel_args.push_back(buf);
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}
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auto lkernel_args = init.initKernelArgs(kernel_args.size());
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for (int i=0; i<kernel_args.size(); i++) {
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lkernel_args.set(i, kernel_args[i]);
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}
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init.setKernelVersion(util::read_file("/proc/version"));
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#ifdef QCOM
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{
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std::vector<std::pair<std::string, std::string> > properties;
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property_list(append_property, (void*)&properties);
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auto lentries = init.initAndroidProperties().initEntries(properties.size());
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for (int i=0; i<properties.size(); i++) {
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auto lentry = lentries[i];
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lentry.setKey(properties[i].first);
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lentry.setValue(properties[i].second);
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}
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}
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#endif
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const char* dongle_id = getenv("DONGLE_ID");
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if (dongle_id) {
|
|
init.setDongleId(std::string(dongle_id));
|
|
}
|
|
|
|
const char* clean = getenv("CLEAN");
|
|
if (!clean) {
|
|
init.setDirty(true);
|
|
}
|
|
Params params = Params();
|
|
|
|
std::vector<char> git_commit = params.read_db_bytes("GitCommit");
|
|
if (git_commit.size() > 0) {
|
|
init.setGitCommit(capnp::Text::Reader(git_commit.data(), git_commit.size()));
|
|
}
|
|
|
|
std::vector<char> git_branch = params.read_db_bytes("GitBranch");
|
|
if (git_branch.size() > 0) {
|
|
init.setGitBranch(capnp::Text::Reader(git_branch.data(), git_branch.size()));
|
|
}
|
|
|
|
std::vector<char> git_remote = params.read_db_bytes("GitRemote");
|
|
if (git_remote.size() > 0) {
|
|
init.setGitRemote(capnp::Text::Reader(git_remote.data(), git_remote.size()));
|
|
}
|
|
|
|
init.setPassive(params.read_db_bool("Passive"));
|
|
{
|
|
// log params
|
|
std::map<std::string, std::string> params_map;
|
|
params.read_db_all(¶ms_map);
|
|
auto lparams = init.initParams().initEntries(params_map.size());
|
|
int i = 0;
|
|
for (auto& kv : params_map) {
|
|
auto lentry = lparams[i];
|
|
lentry.setKey(kv.first);
|
|
lentry.setValue(kv.second);
|
|
i++;
|
|
}
|
|
}
|
|
return capnp::messageToFlatArray(msg);
|
|
}
|
|
|
|
static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
|
|
const char* dot = strrchr(fpath, '.');
|
|
if (dot && strcmp(dot, ".lock") == 0) {
|
|
unlink(fpath);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static void clear_locks() {
|
|
ftw(LOG_ROOT, clear_locks_fn, 16);
|
|
}
|
|
|
|
static void bootlog() {
|
|
int err;
|
|
|
|
{
|
|
auto words = gen_init_data();
|
|
auto bytes = words.asBytes();
|
|
logger_init(&s.logger, "bootlog", bytes.begin(), bytes.size(), false);
|
|
}
|
|
|
|
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
|
assert(err == 0);
|
|
LOGW("bootlog to %s", s.segment_path);
|
|
|
|
{
|
|
MessageBuilder msg;
|
|
auto boot = msg.initEvent().initBoot();
|
|
|
|
boot.setWallTimeNanos(nanos_since_epoch());
|
|
|
|
std::string lastKmsg = util::read_file("/sys/fs/pstore/console-ramoops");
|
|
boot.setLastKmsg(capnp::Data::Reader((const kj::byte*)lastKmsg.data(), lastKmsg.size()));
|
|
|
|
std::string lastPmsg = util::read_file("/sys/fs/pstore/pmsg-ramoops-0");
|
|
boot.setLastPmsg(capnp::Data::Reader((const kj::byte*)lastPmsg.data(), lastPmsg.size()));
|
|
|
|
std::string launchLog = util::read_file("/tmp/launch_log");
|
|
boot.setLaunchLog(capnp::Text::Reader(launchLog.data(), launchLog.size()));
|
|
|
|
auto bytes = msg.toBytes();
|
|
logger_log(&s.logger, bytes.begin(), bytes.size(), false);
|
|
}
|
|
|
|
logger_close(&s.logger);
|
|
}
|
|
|
|
int main(int argc, char** argv) {
|
|
int err;
|
|
|
|
#ifdef QCOM
|
|
setpriority(PRIO_PROCESS, 0, -12);
|
|
#endif
|
|
|
|
if (argc > 1 && strcmp(argv[1], "--bootlog") == 0) {
|
|
bootlog();
|
|
return 0;
|
|
}
|
|
|
|
int segment_length = SEGMENT_LENGTH;
|
|
if (getenv("LOGGERD_TEST")) {
|
|
segment_length = atoi(getenv("LOGGERD_SEGMENT_LENGTH"));
|
|
}
|
|
bool record_front = true;
|
|
#ifndef QCOM2
|
|
record_front = Params().read_db_bool("RecordFront");
|
|
#endif
|
|
|
|
clear_locks();
|
|
|
|
signal(SIGINT, (sighandler_t)set_do_exit);
|
|
signal(SIGTERM, (sighandler_t)set_do_exit);
|
|
|
|
s.ctx = Context::create();
|
|
Poller * poller = Poller::create();
|
|
|
|
// subscribe to all services
|
|
|
|
std::vector<SubSocket*> socks;
|
|
|
|
std::map<SubSocket*, int> qlog_counter;
|
|
std::map<SubSocket*, int> qlog_freqs;
|
|
|
|
for (const auto& it : services) {
|
|
std::string name = it.name;
|
|
|
|
if (it.should_log) {
|
|
SubSocket * sock = SubSocket::create(s.ctx, name);
|
|
assert(sock != NULL);
|
|
poller->registerSocket(sock);
|
|
socks.push_back(sock);
|
|
|
|
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;
|
|
}
|
|
}
|
|
|
|
{
|
|
auto words = gen_init_data();
|
|
auto bytes = words.asBytes();
|
|
logger_init(&s.logger, "rlog", bytes.begin(), bytes.size(), true);
|
|
}
|
|
|
|
s.rotate_seq_id = 0;
|
|
s.should_close = 0;
|
|
s.finish_close = 0;
|
|
s.num_encoder = 0;
|
|
pthread_mutex_init(&s.rotate_lock, NULL);
|
|
#ifndef DISABLE_ENCODER
|
|
// rear camera
|
|
std::thread encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_FCAMERA], false, LOG_CAMERA_ID_FCAMERA);
|
|
s.rotate_state[LOG_CAMERA_ID_FCAMERA].enabled = true;
|
|
// front camera
|
|
std::thread front_encoder_thread_handle;
|
|
if (record_front) {
|
|
front_encoder_thread_handle = std::thread(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_DCAMERA], false, LOG_CAMERA_ID_DCAMERA);
|
|
s.rotate_state[LOG_CAMERA_ID_DCAMERA].enabled = true;
|
|
}
|
|
#ifdef QCOM2
|
|
// wide camera
|
|
std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], false, LOG_CAMERA_ID_ECAMERA);
|
|
s.rotate_state[LOG_CAMERA_ID_ECAMERA].enabled = true;
|
|
#endif
|
|
#endif
|
|
|
|
uint64_t msg_count = 0;
|
|
uint64_t bytes_count = 0;
|
|
kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
|
|
|
|
double start_ts = seconds_since_boot();
|
|
double last_rotate_tms = millis_since_boot();
|
|
double last_camera_seen_tms = millis_since_boot();
|
|
while (!do_exit) {
|
|
for (auto sock : poller->poll(100 * 1000)) {
|
|
Message * last_msg = nullptr;
|
|
while (true) {
|
|
Message * msg = sock->receive(true);
|
|
if (msg == NULL){
|
|
break;
|
|
}
|
|
delete last_msg;
|
|
last_msg = msg;
|
|
|
|
logger_log(&s.logger, (uint8_t*)msg->getData(), msg->getSize(), qlog_counter[sock] == 0);
|
|
|
|
if (qlog_counter[sock] != -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];
|
|
}
|
|
bytes_count += msg->getSize();
|
|
msg_count++;
|
|
}
|
|
|
|
if (last_msg) {
|
|
int fpkt_id = -1;
|
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
|
|
if (sock == s.rotate_state[cid].fpkt_sock) {fpkt_id=cid; break;}
|
|
}
|
|
if (fpkt_id>=0) {
|
|
// track camera frames to sync to encoder
|
|
// only process last frame
|
|
const uint8_t* data = (uint8_t*)last_msg->getData();
|
|
const size_t len = last_msg->getSize();
|
|
const size_t size = len / sizeof(capnp::word) + 1;
|
|
if (buf.size() < size) {
|
|
buf = kj::heapArray<capnp::word>(size);
|
|
}
|
|
memcpy(buf.begin(), data, len);
|
|
|
|
capnp::FlatArrayMessageReader cmsg(buf);
|
|
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
|
|
|
if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {
|
|
s.rotate_state[fpkt_id].setLogFrameId(event.getFrame().getFrameId());
|
|
} else if (fpkt_id == LOG_CAMERA_ID_DCAMERA) {
|
|
s.rotate_state[fpkt_id].setLogFrameId(event.getFrontFrame().getFrameId());
|
|
} else if (fpkt_id == LOG_CAMERA_ID_ECAMERA) {
|
|
s.rotate_state[fpkt_id].setLogFrameId(event.getWideFrame().getFrameId());
|
|
}
|
|
last_camera_seen_tms = millis_since_boot();
|
|
}
|
|
delete last_msg;
|
|
}
|
|
}
|
|
|
|
double ts = seconds_since_boot();
|
|
double tms = millis_since_boot();
|
|
|
|
bool new_segment = false;
|
|
|
|
if (s.logger.part > -1) {
|
|
new_segment = true;
|
|
if (tms - last_camera_seen_tms <= NO_CAMERA_PATIENCE && s.num_encoder > 0) {
|
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
|
|
// this *should* be redundant on tici since all camera frames are synced
|
|
new_segment &= (((s.rotate_state[cid].stream_frame_id >= s.rotate_state[cid].last_rotate_frame_id + segment_length * MAIN_FPS) &&
|
|
(!s.rotate_state[cid].should_rotate) && (s.rotate_state[cid].initialized)) ||
|
|
(!s.rotate_state[cid].enabled));
|
|
#ifndef QCOM2
|
|
break; // only look at fcamera frame id if not QCOM2
|
|
#endif
|
|
}
|
|
} else {
|
|
new_segment &= tms - last_rotate_tms > segment_length * 1000;
|
|
if (new_segment) { LOGW("no camera packet seen. auto rotated"); }
|
|
}
|
|
} else if (s.logger.part == -1) {
|
|
// always starts first segment immediately
|
|
new_segment = true;
|
|
}
|
|
|
|
if (new_segment) {
|
|
pthread_mutex_lock(&s.rotate_lock);
|
|
last_rotate_tms = millis_since_boot();
|
|
|
|
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
|
assert(err == 0);
|
|
if (s.logger.part == 0) { LOGW("logging to %s", s.segment_path); }
|
|
LOGW("rotated to %s", s.segment_path);
|
|
|
|
// rotate the encoders
|
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) { s.rotate_state[cid].rotate(); }
|
|
pthread_mutex_unlock(&s.rotate_lock);
|
|
}
|
|
|
|
if ((msg_count%1000) == 0) {
|
|
LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count*1.0/(ts-start_ts), bytes_count*0.001/(ts-start_ts));
|
|
}
|
|
}
|
|
|
|
LOGW("joining threads");
|
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) { s.rotate_state[cid].cancelWait(); }
|
|
|
|
#ifndef DISABLE_ENCODER
|
|
#ifdef QCOM2
|
|
wide_encoder_thread_handle.join();
|
|
#endif
|
|
if (record_front) {
|
|
front_encoder_thread_handle.join();
|
|
}
|
|
encoder_thread_handle.join();
|
|
LOGW("encoder joined");
|
|
#endif
|
|
|
|
logger_close(&s.logger);
|
|
|
|
for (auto s : socks){
|
|
delete s;
|
|
}
|
|
|
|
delete poller;
|
|
delete s.ctx;
|
|
return 0;
|
|
}
|