openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

system/loggerd/logger.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <cassert>
+#include <memory>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "common/util.h"
+#include "system/hardware/hw.h"
+
+class RawFile {
+ public:
+  RawFile(const std::string &path) {
+    file = util::safe_fopen(path.c_str(), "wb");
+    assert(file != nullptr);
+  }
+  ~RawFile() {
+    util::safe_fflush(file);
+    int err = fclose(file);
+    assert(err == 0);
+  }
+  inline void write(void* data, size_t size) {
+    int written = util::safe_fwrite(data, 1, size, file);
+    assert(written == size);
+  }
+  inline void write(kj::ArrayPtr<capnp::byte> array) { write(array.begin(), array.size()); }
+
+ private:
+  FILE* file = nullptr;
+};
+
+typedef cereal::Sentinel::SentinelType SentinelType;
+
+
+class LoggerState {
+public:
+  LoggerState(const std::string& log_root = Path::log_root());
+  ~LoggerState();
+  bool next();
+  void write(uint8_t* data, size_t size, bool in_qlog);
+  inline int segment() const { return part; }
+  inline const std::string& segmentPath() const { return segment_path; }
+  inline const std::string& routeName() const { return route_name; }
+  inline void write(kj::ArrayPtr<kj::byte> bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); }
+  inline void setExitSignal(int signal) { exit_signal = signal; }
+
+protected:
+  int part = -1, exit_signal = 0;
+  std::string route_path, route_name, segment_path, lock_file;
+  kj::Array<capnp::word> init_data;
+  std::unique_ptr<RawFile> rlog, qlog;
+};
+
+kj::Array<capnp::word> logger_build_init_data();
+std::string logger_get_route_name();