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loggerd: small cleanup (#19864)

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This commit is contained in:
Dean Lee
2021-01-31 10:37:58 +08:00
committed by GitHub
parent cfb0390183
commit 16e259cadf
1 changed files with 12 additions and 18 deletions
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selfdrive/loggerd/loggerd.cc
+12 -18
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@@ -39,6 +39,8 @@
#define Encoder RawLogger
#endif
namespace {
constexpr int MAIN_BITRATE = 5000000;
constexpr int MAIN_FPS = 20;
#ifndef QCOM2
@@ -51,6 +53,10 @@ constexpr int DCAM_BITRATE = MAIN_BITRATE;
#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
const int SEGMENT_LENGTH = getenv("LOGGERD_TEST") ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
ExitHandler do_exit;
LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
[LOG_CAMERA_ID_FCAMERA] = {
.stream_type = VISION_STREAM_YUV_BACK,
@@ -96,13 +102,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
},
};
namespace {
constexpr int SEGMENT_LENGTH = 60;
ExitHandler do_exit;
class RotateState {
public:
SubSocket* fpkt_sock;
@@ -311,9 +310,7 @@ void encoder_thread(int cam_idx) {
}
}
}
static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {
const char* dot = strrchr(fpath, '.');
if (dot && strcmp(dot, ".lock") == 0) {
unlink(fpath);
@@ -321,19 +318,16 @@ static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupefla
return 0;
}
static void clear_locks() {
void clear_locks() {
ftw(LOG_ROOT.c_str(), clear_locks_fn, 16);
}
} // namespace
int main(int argc, char** argv) {
setpriority(PRIO_PROCESS, 0, -12);
int segment_length = SEGMENT_LENGTH;
if (getenv("LOGGERD_TEST")) {
segment_length = atoi(getenv("LOGGERD_SEGMENT_LENGTH"));
}
clear_locks();
// setup messaging
@@ -464,7 +458,7 @@ int main(int argc, char** argv) {
new_segment = true;
for (auto &r : s.rotate_state) {
// this *should* be redundant on tici since all camera frames are synced
new_segment &= (((r.stream_frame_id >= r.last_rotate_frame_id + segment_length * MAIN_FPS) &&
new_segment &= (((r.stream_frame_id >= r.last_rotate_frame_id + SEGMENT_LENGTH * MAIN_FPS) &&
(!r.should_rotate) && (r.initialized)) ||
(!r.enabled));
#ifndef QCOM2
@@ -472,7 +466,7 @@ int main(int argc, char** argv) {
#endif
}
} else {
if (tms - last_rotate_tms > segment_length * 1000) {
if (tms - last_rotate_tms > SEGMENT_LENGTH * 1000) {
new_segment = true;
LOGW("no camera packet seen. auto rotated");
}