loggerd: split loggerd.cc into three files
Dean Lee
GitHub
parent
6462ced209
commit
75dd0d6296
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@ -306,6 +306,8 @@ selfdrive/loggerd/omx_encoder.h
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selfdrive/loggerd/logger.cc
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selfdrive/loggerd/logger.h
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selfdrive/loggerd/loggerd.cc
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selfdrive/loggerd/loggerd.h
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selfdrive/loggerd/main.cc
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selfdrive/loggerd/bootlog.cc
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selfdrive/loggerd/raw_logger.cc
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selfdrive/loggerd/raw_logger.h
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@ -7,7 +7,7 @@ libs = [logger_lib, common, cereal, messaging, visionipc,
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'avformat', 'avcodec', 'swscale', 'avutil',
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'yuv', 'bz2', 'OpenCL']
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src = ['loggerd.cc']
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src = ['main.cc', 'loggerd.cc']
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if arch in ["aarch64", "larch64"]:
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src += ['omx_encoder.cc']
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libs += ['OmxCore', 'gsl', 'CB'] + gpucommon
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@ -24,7 +24,7 @@ if arch == "Darwin":
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del libs[libs.index('OpenCL')]
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env['FRAMEWORKS'] = ['OpenCL']
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env.Program(src, LIBS=libs)
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env.Program('loggerd', src, LIBS=libs)
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env.Program('bootlog.cc', LIBS=libs)
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if GetOption('test'):
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@ -1,128 +1,7 @@
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#include <ftw.h>
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#include <pthread.h>
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#include <sys/resource.h>
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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 <cstdint>
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <mutex>
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#include <random>
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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 "selfdrive/camerad/cameras/camera_common.h"
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#include "selfdrive/common/params.h"
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/timing.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/hardware/hw.h"
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#include "selfdrive/loggerd/encoder.h"
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#include "selfdrive/loggerd/logger.h"
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#if defined(QCOM) || defined(QCOM2)
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#include "selfdrive/loggerd/omx_encoder.h"
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#define Encoder OmxEncoder
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#else
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#include "selfdrive/loggerd/raw_logger.h"
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#define Encoder RawLogger
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#endif
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namespace {
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constexpr int MAIN_FPS = 20;
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const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
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const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
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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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#include "selfdrive/loggerd/loggerd.h"
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ExitHandler do_exit;
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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_YUV_BACK,
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.filename = "fcamera.hevc",
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.frame_packet_name = "roadCameraState",
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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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.trigger_rotate = true,
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.enable = true,
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.record = true,
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},
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{
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.type = DriverCam,
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.stream_type = VISION_STREAM_YUV_FRONT,
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.filename = "dcamera.hevc",
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.frame_packet_name = "driverCameraState",
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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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.trigger_rotate = Hardware::TICI(),
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.enable = !Hardware::PC(),
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.record = Params().getBool("RecordFront"),
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},
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{
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.type = WideRoadCam,
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.stream_type = VISION_STREAM_YUV_WIDE,
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.filename = "ecamera.hevc",
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.frame_packet_name = "wideRoadCameraState",
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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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.trigger_rotate = true,
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.enable = Hardware::TICI(),
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.record = Hardware::TICI(),
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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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.downscale = true,
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.frame_width = Hardware::TICI() ? 526 : 480,
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.frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
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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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std::mutex rotate_lock;
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std::condition_variable rotate_cv;
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std::atomic<int> rotate_segment;
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std::atomic<double> last_camera_seen_tms;
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std::atomic<int> ready_to_rotate; // count of encoders ready to rotate
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int max_waiting = 0;
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double last_rotate_tms = 0.; // last rotate time in ms
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// Sync logic for startup
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std::atomic<int> encoders_ready = 0;
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std::atomic<uint32_t> start_frame_id = 0;
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bool camera_ready[WideRoadCam + 1] = {};
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bool camera_synced[WideRoadCam + 1] = {};
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};
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LoggerdState s;
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// Handle initial encoder syncing by waiting for all encoders to reach the same frame id
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@ -306,20 +185,7 @@ void rotate_if_needed() {
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}
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}
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} // namespace
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int main(int argc, char** argv) {
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if (Hardware::EON()) {
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setpriority(PRIO_PROCESS, 0, -20);
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} else if (Hardware::TICI()) {
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int ret;
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ret = set_core_affinity({0, 1, 2, 3});
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assert(ret == 0);
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// TODO: why does this impact camerad timings?
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//ret = set_realtime_priority(1);
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//assert(ret == 0);
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}
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void loggerd_thread() {
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clear_locks();
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// setup messaging
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@ -397,6 +263,4 @@ int main(int argc, char** argv) {
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for (auto &[sock, qs] : qlog_states) delete sock;
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delete poller;
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delete s.ctx;
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return 0;
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}
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@ -0,0 +1,118 @@
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#pragma once
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#include <ftw.h>
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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 "selfdrive/camerad/cameras/camera_common.h"
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#include "selfdrive/common/params.h"
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/timing.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/hardware/hw.h"
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#include "selfdrive/loggerd/encoder.h"
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#include "selfdrive/loggerd/logger.h"
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#if defined(QCOM) || defined(QCOM2)
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#include "selfdrive/loggerd/omx_encoder.h"
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#define Encoder OmxEncoder
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#else
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#include "selfdrive/loggerd/raw_logger.h"
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#define Encoder RawLogger
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#endif
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constexpr int MAIN_FPS = 20;
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const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
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const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
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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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const LogCameraInfo cameras_logged[] = {
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{
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.type = RoadCam,
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.stream_type = VISION_STREAM_YUV_BACK,
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.filename = "fcamera.hevc",
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.frame_packet_name = "roadCameraState",
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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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.trigger_rotate = true,
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.enable = true,
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.record = true,
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},
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{
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.type = DriverCam,
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.stream_type = VISION_STREAM_YUV_FRONT,
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.filename = "dcamera.hevc",
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.frame_packet_name = "driverCameraState",
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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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.trigger_rotate = Hardware::TICI(),
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.enable = !Hardware::PC(),
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.record = Params().getBool("RecordFront"),
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},
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{
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.type = WideRoadCam,
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.stream_type = VISION_STREAM_YUV_WIDE,
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.filename = "ecamera.hevc",
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.frame_packet_name = "wideRoadCameraState",
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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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.trigger_rotate = true,
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.enable = Hardware::TICI(),
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.record = Hardware::TICI(),
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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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.downscale = true,
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.frame_width = Hardware::TICI() ? 526 : 480,
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.frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
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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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std::mutex rotate_lock;
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std::condition_variable rotate_cv;
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std::atomic<int> rotate_segment;
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std::atomic<double> last_camera_seen_tms;
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std::atomic<int> ready_to_rotate; // count of encoders ready to rotate
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int max_waiting = 0;
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double last_rotate_tms = 0.; // last rotate time in ms
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// Sync logic for startup
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std::atomic<int> encoders_ready = 0;
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std::atomic<uint32_t> start_frame_id = 0;
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bool camera_ready[WideRoadCam + 1] = {};
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bool camera_synced[WideRoadCam + 1] = {};
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};
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void loggerd_thread();
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@ -0,0 +1,20 @@
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#include "selfdrive/loggerd/loggerd.h"
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#include <sys/resource.h>
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int main(int argc, char** argv) {
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if (Hardware::EON()) {
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setpriority(PRIO_PROCESS, 0, -20);
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} else if (Hardware::TICI()) {
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int ret;
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ret = set_core_affinity({0, 1, 2, 3});
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assert(ret == 0);
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// TODO: why does this impact camerad timings?
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//ret = set_realtime_priority(1);
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//assert(ret == 0);
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}
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loggerd_thread();
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return 0;
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}
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