mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-10-01 03:43:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

Encoderd: give every camera stream list of encoder streams (#28480)

Browse Source 
* Compiles

* fixed something

* CLEANUP

* todo

* More cleanup

* Add TODO

* Update loggerd.cc

* remove write here too
This commit is contained in:
Harald Schäfer
2023-06-11 22:23:40 -07:00
committed by GitHub
parent d8f677c5eb
commit ac45b77d3b
7 changed files with 89 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files
system/loggerd/loggerd.cc
+13 -13
View File
@@ -58,15 +58,13 @@ struct RemoteEncoder {
bool seen_first_packet = false;
};
int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) {
const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] :
((name == "wideRoadEncodeData") ? cameras_logged[2] :
((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0]));
int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, EncoderInfo encoder_info) {
int bytes_count = 0;
// extract the message
capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
auto event = cmsg.getRoot<cereal::Event>();
// TODO this should be dealt with generically
auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
@@ -95,7 +93,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
// we are in this segment now, process any queued messages before this one
if (!re.q.empty()) {
for (auto &qmsg: re.q) {
bytes_count += handle_encoder_msg(s, qmsg, name, re);
bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
}
re.q.clear();
}
@@ -111,10 +109,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (cam_info.record) {
if (encoder_info.record) {
re.writer.reset(new VideoWriter(s->segment_path,
cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType()));
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
@@ -142,6 +140,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
// TODO this should be dealt with generically
if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); }
if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); }
if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); }
@@ -211,11 +210,12 @@ void loggerd_thread() {
logger_rotate(&s);
Params().put("CurrentRoute", s.logger.route_name);
// init encoders
s.last_camera_seen_tms = millis_since_boot();
std::map<std::string, EncoderInfo> encoder_infos_dict;
for (const auto &cam : cameras_logged) {
s.max_waiting++;
if (cam.has_qcamera) { s.max_waiting++; }
for (const auto &encoder_info: cam.encoder_infos) {
encoder_infos_dict[encoder_info.publish_name] = encoder_info;
s.max_waiting++;
}
}
uint64_t msg_count = 0, bytes_count = 0;
@@ -234,7 +234,7 @@ void loggerd_thread() {
if (qs.encoder) {
s.last_camera_seen_tms = millis_since_boot();
bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]);
bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock], encoder_infos_dict[qs.name]);
} else {
logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
bytes_count += msg->getSize();