loggerd: create encoder threads from cameras_logged (#21875)

selfdrive/camerad/cameras/camera_common.h

@@ -28,11 +28,11 @@
 
 #define UI_BUF_COUNT 4
 
-#define LOG_CAMERA_ID_FCAMERA 0
-#define LOG_CAMERA_ID_DCAMERA 1
-#define LOG_CAMERA_ID_ECAMERA 2
-#define LOG_CAMERA_ID_QCAMERA 3
-#define LOG_CAMERA_ID_MAX 4
+enum CameraType {
+  RoadCam = 0,
+  DriverCam,
+  WideRoadCam
+};
 
 const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
 const bool env_send_road = getenv("SEND_ROAD") != NULL;
@@ -49,6 +49,7 @@ typedef struct CameraInfo {
 } CameraInfo;
 
 typedef struct LogCameraInfo {
+  CameraType type;
   const char* filename;
   const char* frame_packet_name;
   const char* encode_idx_name;
@@ -60,6 +61,7 @@ typedef struct LogCameraInfo {
   bool downscale;
   bool has_qcamera;
   bool trigger_rotate;
+  bool enable;
 } LogCameraInfo;
 
 typedef struct FrameMetadata {

selfdrive/loggerd/loggerd.cc

@@ -42,7 +42,6 @@ namespace {
 
 constexpr int MAIN_FPS = 20;
 const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000;
-const int MAX_CAM_IDX = Hardware::TICI() ? LOG_CAMERA_ID_ECAMERA : LOG_CAMERA_ID_DCAMERA;
 const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000;
 
 #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
@@ -51,8 +50,9 @@ const int SEGMENT_LENGTH = getenv("LOGGERD_TEST") ? atoi(getenv("LOGGERD_SEGMENT
 
 ExitHandler do_exit;
 
-LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
-  [LOG_CAMERA_ID_FCAMERA] = {
+const LogCameraInfo cameras_logged[] = {
+  {
+    .type = RoadCam,
     .stream_type = VISION_STREAM_YUV_BACK,
     .filename = "fcamera.hevc",
     .frame_packet_name = "roadCameraState",
@@ -61,9 +61,11 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
     .is_h265 = true,
     .downscale = false,
     .has_qcamera = true,
-    .trigger_rotate = true
+    .trigger_rotate = true,
+    .enable = true,
   },
-  [LOG_CAMERA_ID_DCAMERA] = {
+  {
+    .type = DriverCam,
     .stream_type = VISION_STREAM_YUV_FRONT,
     .filename = "dcamera.hevc",
     .frame_packet_name = "driverCameraState",
@@ -73,8 +75,10 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
     .downscale = false,
     .has_qcamera = false,
     .trigger_rotate = Hardware::TICI(),
+    .enable = !Hardware::PC() && Params().getBool("RecordFront"),
   },
-  [LOG_CAMERA_ID_ECAMERA] = {
+  {
+    .type = WideRoadCam,
     .stream_type = VISION_STREAM_YUV_WIDE,
     .filename = "ecamera.hevc",
     .frame_packet_name = "wideRoadCameraState",
@@ -83,18 +87,19 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
     .is_h265 = true,
     .downscale = false,
     .has_qcamera = false,
-    .trigger_rotate = true
-  },
-  [LOG_CAMERA_ID_QCAMERA] = {
-    .filename = "qcamera.ts",
-    .fps = MAIN_FPS,
-    .bitrate = 256000,
-    .is_h265 = false,
-    .downscale = true,
-    .frame_width = Hardware::TICI() ? 526 : 480,
-    .frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
+    .trigger_rotate = true,
+    .enable = Hardware::TICI(),
   },
 };
+const LogCameraInfo qcam_info = {
+  .filename = "qcamera.ts",
+  .fps = MAIN_FPS,
+  .bitrate = 256000,
+  .is_h265 = false,
+  .downscale = true,
+  .frame_width = Hardware::TICI() ? 526 : 480,
+  .frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
+};
 
 struct LoggerdState {
   Context *ctx;
@@ -110,9 +115,7 @@ struct LoggerdState {
 };
 LoggerdState s;
 
-void encoder_thread(int cam_idx) {
-  assert(cam_idx < LOG_CAMERA_ID_MAX-1);
-  const LogCameraInfo &cam_info = cameras_logged[cam_idx];
+void encoder_thread(const LogCameraInfo &cam_info) {
   set_thread_name(cam_info.filename);
 
   int cnt = 0, cur_seg = -1;
@@ -135,12 +138,9 @@ void encoder_thread(int cam_idx) {
       // main encoder
       encoders.push_back(new Encoder(cam_info.filename, buf_info.width, buf_info.height,
                                      cam_info.fps, cam_info.bitrate, cam_info.is_h265, cam_info.downscale));
-
       // qcamera encoder
       if (cam_info.has_qcamera) {
-        LogCameraInfo &qcam_info = cameras_logged[LOG_CAMERA_ID_QCAMERA];
-        encoders.push_back(new Encoder(qcam_info.filename,
-                                       qcam_info.frame_width, qcam_info.frame_height,
+        encoders.push_back(new Encoder(qcam_info.filename, qcam_info.frame_width, qcam_info.frame_height,
                                        qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265, qcam_info.downscale));
       }
     }
@@ -167,7 +167,7 @@ void encoder_thread(int cam_idx) {
         cur_seg = s.rotate_segment;
         cnt = 0;
 
-        LOGW("camera %d rotate encoder to %s", cam_idx, s.segment_path);
+        LOGW("camera %d rotate encoder to %s", cam_info.type, s.segment_path);
         for (auto &e : encoders) {
           e->encoder_close();
           e->encoder_open(s.segment_path);
@@ -191,15 +191,15 @@ void encoder_thread(int cam_idx) {
         if (i == 0 && out_id != -1) {
           MessageBuilder msg;
           // this is really ugly
-          auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initDriverEncodeIdx() :
-                     (cam_idx == LOG_CAMERA_ID_ECAMERA ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
+          auto eidx = cam_info.type == DriverCam ? msg.initEvent().initDriverEncodeIdx() :
+                     (cam_info.type == WideRoadCam ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
           eidx.setFrameId(extra.frame_id);
           eidx.setTimestampSof(extra.timestamp_sof);
           eidx.setTimestampEof(extra.timestamp_eof);
           if (Hardware::TICI()) {
             eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
           } else {
-            eidx.setType(cam_idx == LOG_CAMERA_ID_DCAMERA ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
+            eidx.setType(cam_info.type == DriverCam ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
           }
           eidx.setEncodeId(encode_idx);
           eidx.setSegmentNum(cur_seg);
@@ -294,32 +294,18 @@ int main(int argc, char** argv) {
     qlog_states[sock] = {.counter = 0, .freq = it.decimation};
   }
 
-  Params params;
-
   // init logger
   logger_init(&s.logger, "rlog", true);
   logger_rotate();
-  params.put("CurrentRoute", s.logger.route_name);
+  Params().put("CurrentRoute", s.logger.route_name);
 
   // init encoders
   s.last_camera_seen_tms = millis_since_boot();
-  // TODO: create these threads dynamically on frame packet presence
   std::vector<std::thread> encoder_threads;
-  encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_FCAMERA));
-  if (cameras_logged[LOG_CAMERA_ID_FCAMERA].trigger_rotate) {
-    s.max_waiting += 1;
-  }
-
-  if (!Hardware::PC() && params.getBool("RecordFront")) {
-    encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_DCAMERA));
-    if (cameras_logged[LOG_CAMERA_ID_DCAMERA].trigger_rotate) {
-      s.max_waiting += 1;
-    }
-  }
-  if (Hardware::TICI()) {
-    encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_ECAMERA));
-    if (cameras_logged[LOG_CAMERA_ID_ECAMERA].trigger_rotate) {
-      s.max_waiting += 1;
+  for (const auto &ci : cameras_logged) {
+    if (ci.enable) {
+      encoder_threads.push_back(std::thread(encoder_thread, ci));
+      if (ci.trigger_rotate) s.max_waiting++;
     }
   }
 

selfdrive/ui/replay/filereader.h

@@ -13,6 +13,8 @@
 
 #include "cereal/gen/cpp/log.capnp.h"
 
+#include "selfdrive/camerad/cameras/camera_common.h"
+
 class FileReader : public QObject {
   Q_OBJECT
 
@@ -31,11 +33,6 @@ private:
   QUrl url_;
 };
 
-enum CameraType {
-  RoadCam = 0,
-  DriverCam,
-  WideRoadCam
-};
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);