737 lines
19 KiB
C++
737 lines
19 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 <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 <random>
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#include <ftw.h>
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#include <zmq.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 "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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#include "cereal/gen/cpp/log.capnp.h"
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#define CAMERA_FPS 20
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#define SEGMENT_LENGTH 60
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#define LOG_ROOT "/data/media/0/realdata"
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#define ENABLE_LIDAR 0
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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) {
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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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struct LoggerdState {
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Context *ctx;
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LoggerState logger;
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std::mutex lock;
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std::condition_variable cv;
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char segment_path[4096];
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uint32_t last_frame_id;
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uint32_t rotate_last_frame_id;
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int rotate_segment;
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};
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LoggerdState s;
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#ifndef DISABLE_ENCODER
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void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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int err;
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if (front) {
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char *value;
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const int result = read_db_value("RecordFront", &value, NULL);
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if (result != 0) return;
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if (value[0] != '1') { free(value); return; }
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free(value);
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LOGW("recording front camera");
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set_thread_name("FrontCameraEncoder");
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} else {
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set_thread_name("RearCameraEncoder");
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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 = false;
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int encoder_segment = -1;
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int cnt = 0;
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PubSocket *idx_sock = PubSocket::create(s.ctx, front ? "frontEncodeIdx" : "encodeIdx");
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assert(idx_sock != NULL);
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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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if (front) {
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err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info);
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} else {
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err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
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}
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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, front ? "dcamera.hevc" : "fcamera.hevc", buf_info.width, buf_info.height, CAMERA_FPS, front ? 2500000 : 5000000, true, false);
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#ifndef QCOM2
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// TODO: fix qcamera on tici
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if (!front) {
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encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
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has_encoder_alt = true;
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}
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#endif
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encoder_inited = true;
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if (is_streaming) {
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encoder.zmq_ctx = zmq_ctx_new();
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encoder.stream_sock_raw = zmq_socket(encoder.zmq_ctx, ZMQ_PUB);
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assert(encoder.stream_sock_raw);
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zmq_bind(encoder.stream_sock_raw, "tcp://*:9002");
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}
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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, CAMERA_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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visionstream_destroy(&stream);
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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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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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bool should_rotate = false;
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std::unique_lock<std::mutex> lk(s.lock);
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if (!front) {
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// wait if log camera is older on back camera
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while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up.
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&& (extra.frame_id-s.last_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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s.cv.wait(lk);
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}
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should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment;
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} else {
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// front camera is best effort
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should_rotate = encoder_segment < s.rotate_segment;
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}
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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 (should_rotate) {
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LOG("rotate encoder to %s", s.segment_path);
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encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
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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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}
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}
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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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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto eidx = event.initEncodeIdx();
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eidx.setFrameId(extra.frame_id);
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eidx.setType(front ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
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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 words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
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printf("err sending encodeIdx pkt: %s\n", strerror(errno));
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}
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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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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto eidx = event.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 words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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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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delete idx_sock;
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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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#if ENABLE_LIDAR
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#include <netinet/in.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <arpa/inet.h>
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#define VELODYNE_DATA_PORT 2368
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#define VELODYNE_TELEMETRY_PORT 8308
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#define MAX_LIDAR_PACKET 2048
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int lidar_thread() {
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// increase kernel max buffer size
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system("sysctl -w net.core.rmem_max=26214400");
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set_thread_name("lidar");
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int sock;
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if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
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perror("cannot create socket");
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return -1;
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}
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int a = 26214400;
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if (setsockopt(sock, SOL_SOCKET, SO_RCVBUF, &a, sizeof(int)) == -1) {
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perror("cannot set socket opts");
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return -1;
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}
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struct sockaddr_in addr;
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memset(&addr, 0, sizeof(struct sockaddr_in));
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addr.sin_family = AF_INET;
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addr.sin_port = htons(VELODYNE_DATA_PORT);
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inet_aton("192.168.5.11", &(addr.sin_addr));
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if (bind(sock, (struct sockaddr *) &addr, sizeof(addr)) < 0) {
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perror("cannot bind LIDAR socket");
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return -1;
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}
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capnp::byte buf[MAX_LIDAR_PACKET];
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while (!do_exit) {
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// receive message
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struct sockaddr from;
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socklen_t fromlen = sizeof(from);
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int cnt = recvfrom(sock, (void *)buf, MAX_LIDAR_PACKET, 0, &from, &fromlen);
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if (cnt <= 0) {
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printf("bug in lidar recieve!\n");
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continue;
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}
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// create message for log
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capnp::MallocMessageBuilder msg;
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auto event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto lidar_pts = event.initLidarPts();
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// copy in the buffer
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// TODO: can we remove this copy? does it matter?
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kj::ArrayPtr<capnp::byte> bufferPtr = kj::arrayPtr(buf, cnt);
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lidar_pts.setPkt(bufferPtr);
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// log it
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auto words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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logger_log(&s.logger, bytes.begin(), bytes.size());
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}
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return 0;
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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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capnp::MallocMessageBuilder msg;
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auto event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto init = event.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) {
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init.setDongleId(std::string(dongle_id));
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}
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const char* clean = getenv("CLEAN");
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if (!clean) {
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init.setDirty(true);
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}
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char* git_commit = NULL;
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size_t size;
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read_db_value("GitCommit", &git_commit, &size);
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if (git_commit) {
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init.setGitCommit(capnp::Text::Reader(git_commit, size));
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}
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char* git_branch = NULL;
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read_db_value("GitBranch", &git_branch, &size);
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if (git_branch) {
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init.setGitBranch(capnp::Text::Reader(git_branch, size));
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}
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char* git_remote = NULL;
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read_db_value("GitRemote", &git_remote, &size);
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if (git_remote) {
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init.setGitRemote(capnp::Text::Reader(git_remote, size));
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}
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char* passive = NULL;
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read_db_value("Passive", &passive, NULL);
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init.setPassive(passive && strlen(passive) && passive[0] == '1');
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{
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// log params
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std::map<std::string, std::string> params;
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read_db_all(¶ms);
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auto lparams = init.initParams().initEntries(params.size());
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int i = 0;
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for (auto& kv : params) {
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auto lentry = lparams[i];
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lentry.setKey(kv.first);
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lentry.setValue(kv.second);
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i++;
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}
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}
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auto words = capnp::messageToFlatArray(msg);
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if (git_commit) {
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free((void*)git_commit);
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}
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if (git_branch) {
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free((void*)git_branch);
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}
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if (git_remote) {
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free((void*)git_remote);
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}
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if (passive) {
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free((void*)passive);
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}
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return words;
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}
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static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
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const char* dot = strrchr(fpath, '.');
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if (dot && strcmp(dot, ".lock") == 0) {
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unlink(fpath);
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}
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return 0;
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}
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static void clear_locks() {
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ftw(LOG_ROOT, clear_locks_fn, 16);
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}
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static void bootlog() {
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int err;
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{
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auto words = gen_init_data();
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auto bytes = words.asBytes();
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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);
|
|
|
|
{
|
|
capnp::MallocMessageBuilder msg;
|
|
auto event = msg.initRoot<cereal::Event>();
|
|
event.setLogMonoTime(nanos_since_boot());
|
|
|
|
auto boot = event.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()));
|
|
|
|
auto words = capnp::messageToFlatArray(msg);
|
|
auto bytes = words.asBytes();
|
|
logger_log(&s.logger, bytes.begin(), bytes.size(), false);
|
|
}
|
|
|
|
logger_close(&s.logger);
|
|
}
|
|
|
|
int main(int argc, char** argv) {
|
|
int err;
|
|
|
|
if (argc > 1 && strcmp(argv[1], "--bootlog") == 0) {
|
|
bootlog();
|
|
return 0;
|
|
}
|
|
|
|
setpriority(PRIO_PROCESS, 0, -12);
|
|
|
|
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
|
|
|
|
SubSocket *frame_sock = NULL;
|
|
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);
|
|
|
|
if (name == "frame") {
|
|
frame_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);
|
|
}
|
|
|
|
bool is_streaming = false;
|
|
bool is_logging = true;
|
|
|
|
if (argc > 1 && strcmp(argv[1], "--stream") == 0) {
|
|
is_streaming = true;
|
|
} else if (argc > 1 && strcmp(argv[1], "--only-stream") == 0) {
|
|
is_streaming = true;
|
|
is_logging = false;
|
|
}
|
|
|
|
if (is_logging) {
|
|
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
|
assert(err == 0);
|
|
LOGW("logging to %s", s.segment_path);
|
|
}
|
|
|
|
double start_ts = seconds_since_boot();
|
|
double last_rotate_ts = start_ts;
|
|
|
|
#ifndef DISABLE_ENCODER
|
|
// rear camera
|
|
std::thread encoder_thread_handle(encoder_thread, is_streaming, false, false);
|
|
|
|
// front camera
|
|
std::thread front_encoder_thread_handle(encoder_thread, false, false, true);
|
|
#endif
|
|
|
|
#if ENABLE_LIDAR
|
|
std::thread lidar_thread_handle(lidar_thread);
|
|
#endif
|
|
|
|
uint64_t msg_count = 0;
|
|
uint64_t bytes_count = 0;
|
|
|
|
while (!do_exit) {
|
|
for (auto sock : poller->poll(100 * 1000)){
|
|
while (true) {
|
|
Message * msg = sock->receive(true);
|
|
if (msg == NULL){
|
|
break;
|
|
}
|
|
|
|
uint8_t* data = (uint8_t*)msg->getData();
|
|
size_t len = msg->getSize();
|
|
|
|
if (sock == frame_sock) {
|
|
// track camera frames to sync to encoder
|
|
auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
|
|
memcpy(amsg.begin(), data, len);
|
|
|
|
capnp::FlatArrayMessageReader cmsg(amsg);
|
|
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
|
if (event.isFrame()) {
|
|
std::unique_lock<std::mutex> lk(s.lock);
|
|
s.last_frame_id = event.getFrame().getFrameId();
|
|
lk.unlock();
|
|
s.cv.notify_all();
|
|
}
|
|
}
|
|
|
|
logger_log(&s.logger, data, len, qlog_counter[sock] == 0);
|
|
delete msg;
|
|
|
|
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 += len;
|
|
msg_count++;
|
|
}
|
|
}
|
|
|
|
double ts = seconds_since_boot();
|
|
if (ts - last_rotate_ts > SEGMENT_LENGTH) {
|
|
// rotate the log
|
|
|
|
last_rotate_ts += SEGMENT_LENGTH;
|
|
|
|
std::lock_guard<std::mutex> guard(s.lock);
|
|
s.rotate_last_frame_id = s.last_frame_id;
|
|
|
|
if (is_logging) {
|
|
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
|
assert(err == 0);
|
|
LOGW("rotated to %s", s.segment_path);
|
|
}
|
|
}
|
|
|
|
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");
|
|
s.cv.notify_all();
|
|
|
|
|
|
#ifndef DISABLE_ENCODER
|
|
front_encoder_thread_handle.join();
|
|
encoder_thread_handle.join();
|
|
LOGW("encoder joined");
|
|
#endif
|
|
|
|
#if ENABLE_LIDAR
|
|
lidar_thread_handle.join();
|
|
LOGW("lidar joined");
|
|
#endif
|
|
|
|
logger_close(&s.logger);
|
|
|
|
for (auto s : socks){
|
|
delete s;
|
|
}
|
|
|
|
delete poller;
|
|
delete s.ctx;
|
|
return 0;
|
|
}
|