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remove raw logger (#2719)

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* remove raw logger

* no raw_clips

* only remove raw clips

* cleanup
old-commit-hash: 56146d84ce43deb1afbe4b0b77438d1e9f8a4965
This commit is contained in:
Adeeb Shihadeh
2020-12-08 15:23:06 -08:00
committed by GitHub
parent df6abf988e
commit 9044cba60a
2 changed files with 11 additions and 68 deletions
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13
selfdrive/loggerd/SConscript
View File

@@ -5,12 +5,13 @@ libs = ['zmq', 'capnp', 'kj', 'z',
'avformat', 'avcodec', 'swscale', 'avutil',
'yuv', 'bz2', common, cereal, messaging, visionipc]
if arch == "aarch64":
src += ['encoder.c', 'raw_logger.cc']
libs += ['OmxVenc', 'OmxCore', 'cutils']
elif arch == "larch64":
src += ['encoder.c', 'raw_logger.cc']
libs += ['OmxVenc', 'OmxCore', 'pthread']
if arch in ["aarch64", "larch64"]:
src += ['encoder.c']
libs += ['OmxVenc', 'OmxCore']
if arch == "aarch64":
libs += ['cutils']
else:
libs += ['pthread']
else:
libs += ['pthread']

66
selfdrive/loggerd/loggerd.cc
View File

@@ -47,7 +47,6 @@
#ifndef DISABLE_ENCODER
#include "encoder.h"
#include "raw_logger.h"
#endif
#define MAIN_BITRATE 5000000
@@ -111,8 +110,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
#define LOG_ROOT "/data/media/0/realdata"
#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
#define RAW_CLIP_FREQUENCY (randrange(61, 8*60)) // once every ~4 minutes
namespace {
@@ -202,7 +199,7 @@ struct LoggerdState {
LoggerdState s;
#ifndef DISABLE_ENCODER
void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
void encoder_thread(RotateState *rotate_state, int cam_idx) {
switch (cam_idx) {
case LOG_CAMERA_ID_DCAMERA: {
@@ -272,15 +269,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
encoder_inited = true;
}
// dont log a raw clip in the first minute
double rawlogger_start_time = seconds_since_boot()+RAW_CLIP_FREQUENCY;
int rawlogger_clip_cnt = 0;
RawLogger *rawlogger = NULL;
if (raw_clips) {
rawlogger = new RawLogger("prcamera", buf_info.width, buf_info.height, MAIN_FPS);
}
while (!do_exit) {
VIPCBufExtra extra;
VIPCBuf* buf = visionstream_get(&stream, &extra);
@@ -317,9 +305,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
if (has_encoder_alt) {
encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
}
if (raw_clips) {
rawlogger->Rotate(s.segment_path, s.rotate_segment);
}
encoder_segment = s.rotate_segment;
if (lh) {
lh_close(lh);
@@ -399,44 +384,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
}
}
if (raw_clips) {
double ts = seconds_since_boot();
if (ts > rawlogger_start_time) {
// encode raw if in clip
int out_segment = -1;
int out_id = rawlogger->LogFrame(cnt, y, u, v, &out_segment);
if (rawlogger_clip_cnt == 0) {
LOG("starting raw clip in seg %d", out_segment);
}
// publish encode index
MessageBuilder msg;
auto eidx = msg.initEvent().initEncodeIdx();
eidx.setFrameId(extra.frame_id);
eidx.setType(cereal::EncodeIndex::Type::FULL_LOSSLESS_CLIP);
eidx.setEncodeId(cnt);
eidx.setSegmentNum(out_segment);
eidx.setSegmentId(out_id);
auto bytes = msg.toBytes();
if (lh) {
lh_log(lh, bytes.begin(), bytes.size(), false);
}
// close rawlogger if clip ended
rawlogger_clip_cnt++;
if (rawlogger_clip_cnt >= RAW_CLIP_LENGTH) {
rawlogger->Close();
rawlogger_clip_cnt = 0;
rawlogger_start_time = ts+RAW_CLIP_FREQUENCY;
LOG("ending raw clip in seg %d, next in %.1f sec", out_segment, rawlogger_start_time-ts);
}
}
}
cnt++;
}
@@ -445,11 +392,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
lh = NULL;
}
if (raw_clips) {
rawlogger->Close();
delete rawlogger;
}
visionstream_destroy(&stream);
}
@@ -675,17 +617,17 @@ int main(int argc, char** argv) {
pthread_mutex_init(&s.rotate_lock, NULL);
#ifndef DISABLE_ENCODER
// rear camera
std::thread encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_FCAMERA], false, LOG_CAMERA_ID_FCAMERA);
std::thread encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_FCAMERA], LOG_CAMERA_ID_FCAMERA);
s.rotate_state[LOG_CAMERA_ID_FCAMERA].enabled = true;
// front camera
std::thread front_encoder_thread_handle;
if (record_front) {
front_encoder_thread_handle = std::thread(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_DCAMERA], false, LOG_CAMERA_ID_DCAMERA);
front_encoder_thread_handle = std::thread(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_DCAMERA], LOG_CAMERA_ID_DCAMERA);
s.rotate_state[LOG_CAMERA_ID_DCAMERA].enabled = true;
}
#ifdef QCOM2
// wide camera
std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], false, LOG_CAMERA_ID_ECAMERA);
std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], LOG_CAMERA_ID_ECAMERA);
s.rotate_state[LOG_CAMERA_ID_ECAMERA].enabled = true;
#endif
#endif