wip

system/loggerd/loggerd.h

@@ -0,0 +1,154 @@
+#pragma once
+
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/hardware/hw.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+
+#include "system/loggerd/logger.h"
+
+constexpr int MAIN_FPS = 20;
+const int MAIN_BITRATE = Params().getBool("HigherBitrate") ? 20000000 : 1e7;
+const int LIVESTREAM_BITRATE = 1e6;
+const int QCAM_BITRATE = 256000;
+
+#define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
+
+#define INIT_ENCODE_FUNCTIONS(encode_type)                                \
+  .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \
+  .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx,  \
+  .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data
+
+const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
+const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
+
+constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
+constexpr char PRESERVE_ATTR_VALUE = '1';
+class EncoderInfo {
+public:
+  const char *publish_name;
+  const char *filename = NULL;
+  bool record = true;
+  int frame_width = -1;
+  int frame_height = -1;
+  int fps = MAIN_FPS;
+  int bitrate = MAIN_BITRATE;
+  cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS
+                                                         : cereal::EncodeIndex::Type::FULL_H_E_V_C;
+  ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
+  void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
+  cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)();
+};
+
+class LogCameraInfo {
+public:
+  const char *thread_name;
+  int fps = MAIN_FPS;
+  CameraType type;
+  VisionStreamType stream_type;
+  std::vector<EncoderInfo> encoder_infos;
+};
+
+const EncoderInfo main_road_encoder_info = {
+  .publish_name = "roadEncodeData",
+  .filename = "fcamera.hevc",
+  INIT_ENCODE_FUNCTIONS(RoadEncode),
+};
+
+const EncoderInfo main_wide_road_encoder_info = {
+  .publish_name = "wideRoadEncodeData",
+  .filename = "ecamera.hevc",
+  INIT_ENCODE_FUNCTIONS(WideRoadEncode),
+};
+
+const EncoderInfo main_driver_encoder_info = {
+  .publish_name = "driverEncodeData",
+  .filename = "dcamera.hevc",
+  .record = Params().getBool("RecordFront"),
+  INIT_ENCODE_FUNCTIONS(DriverEncode),
+};
+
+const EncoderInfo stream_road_encoder_info = {
+  .publish_name = "livestreamRoadEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+};
+
+const EncoderInfo stream_wide_road_encoder_info = {
+  .publish_name = "livestreamWideRoadEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
+};
+
+const EncoderInfo stream_driver_encoder_info = {
+  .publish_name = "livestreamDriverEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+};
+
+const EncoderInfo qcam_encoder_info = {
+  .publish_name = "qRoadEncodeData",
+  .filename = "qcamera.ts",
+  .bitrate = QCAM_BITRATE,
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .frame_width = 526,
+  .frame_height = 330,
+  INIT_ENCODE_FUNCTIONS(QRoadEncode),
+};
+
+const LogCameraInfo road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .type = RoadCam,
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
+};
+
+const LogCameraInfo wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .type = WideRoadCam,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {main_wide_road_encoder_info}
+};
+
+const LogCameraInfo driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .type = DriverCam,
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {main_driver_encoder_info}
+};
+
+const LogCameraInfo stream_road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .type = RoadCam,
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {stream_road_encoder_info}
+};
+
+const LogCameraInfo stream_wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .type = WideRoadCam,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {stream_wide_road_encoder_info}
+};
+
+const LogCameraInfo stream_driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .type = DriverCam,
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {stream_driver_encoder_info}
+};
+
+const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};