加入 dashcam (行車記錄)

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python2.7
+#
+# courtesy of pjlao307 (https://github.com/pjlao307/)
+# this is just his original implementation but
+# in openpilot service form so it's always on
+#
+# with the highest bit rates, the video is approx. 0.5MB per second
+# the default value is set to 2.56Mbps = 0.32MB per second
+#
+import os
+import time
+import datetime
+import zmq
+import selfdrive.messaging as messaging
+from selfdrive.services import service_list
+from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
+dragonconf = dragonconf()
+
+dashcam_videos = '/sdcard/dashcam/'
+duration = 60 # max is 180
+bit_rates = 2560000 # max is 4000000
+max_size_per_file = bit_rates/8*duration # 2.56Mbps / 8 * 60 = 19.2MB per 60 seconds
+max_storage = max_size_per_file/duration*60*60*6 # 6 hours worth of footage (around 7gb)
+freespace_limit = 0.15 # we start cleaning up footage when freespace is below 15%
+
+def main(gctx=None):
+  if not os.path.exists(dashcam_videos):
+    os.makedirs(dashcam_videos)
+
+  context = zmq.Context()
+  thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
+
+  while 1:
+    if dragonconf.conf["enableDashcam"]:
+      # get health of board, log this in "thermal"
+      msg = messaging.recv_sock(thermal_sock, wait=True)
+
+      now = datetime.datetime.now()
+      file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
+      os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))
+
+      used_spaces = get_used_spaces()
+      last_used_spaces = used_spaces
+
+      # we should clean up files here if use too much spaces
+      # when used spaces greater than max available storage
+      # or when free space is less than 10%
+      print(used_spaces)
+      print(max_storage)
+      if used_spaces >= max_storage or msg.thermal.freeSpace < freespace_limit:
+        # get all the files in the dashcam_videos path
+        files = [f for f in sorted(os.listdir(dashcam_videos)) if os.path.isfile(dashcam_videos + f)]
+        for file in files:
+          msg = messaging.recv_sock(thermal_sock, wait=True)
+          # delete file one by one and once it has enough space for 1 video, we stop deleting
+          if used_spaces - last_used_spaces < max_size_per_file or msg.thermal.freeSpace < freespace_limit:
+            os.system("rm -fr %s" % (dashcam_videos + file))
+            last_used_spaces = get_used_spaces()
+          else:
+            break
+      # we start the process 1 second before screenrecord ended
+      # to make sure there are no missing footage
+      time.sleep(duration-1)
+    else:
+      time.sleep(1)
+
+def get_used_spaces():
+  return sum(os.path.getsize(dashcam_videos + f) for f in os.listdir(dashcam_videos) if os.path.isfile(dashcam_videos + f))
+
+if __name__ == "__main__":
+  main()

selfdrive/dragonpilot/dragonconf/dragonconf.py

@@ -19,7 +19,9 @@ class dragonconf():
       config = json.load(f)
 
     # add config here
-
+    if "enableDashCam" not in config:
+      config["enableDashCam"] = True
+      has_new_def = True
     if has_new_def:
       self.write(config)
 

selfdrive/manager.py

@@ -108,6 +108,7 @@ managed_processes = {
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
   "updated": "selfdrive.updated",
   "athena": "selfdrive.athena.athenad",
+  "dashcam": "selfdrive.dragonpilot.dashcamd.dashcamd",
 }
 android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
 
@@ -145,6 +146,7 @@ car_started_processes = [
   'ubloxd',
   'gpsd',
   'deleter',
+  'dashcam',
 ]
 
 def register_managed_process(name, desc, car_started=False):