132 lines
3.5 KiB
C++
132 lines
3.5 KiB
C++
#pragma once
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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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struct LogCameraInfo {
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CameraType type;
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const char *filename;
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VisionStreamType stream_type;
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int frame_width, frame_height;
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int fps;
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int bitrate;
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bool is_h265;
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bool downscale;
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bool has_qcamera;
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bool trigger_rotate;
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bool enable;
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bool record;
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};
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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_ROAD,
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.filename = "fcamera.hevc",
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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_DRIVER,
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.filename = "dcamera.hevc",
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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 = true,
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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_WIDE_ROAD,
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.filename = "ecamera.hevc",
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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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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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bool sync_encoders(LoggerdState *s, CameraType cam_type, uint32_t frame_id);
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bool trigger_rotate_if_needed(LoggerdState *s, int cur_seg, uint32_t frame_id);
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void rotate_if_needed(LoggerdState *s);
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void loggerd_thread();
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