loggerd: always run encoders (#22649)

* loggerd: always run encoders

* fix raw logger

* bump loggerd cpu usage

selfdrive/camerad/cameras/camera_common.h

@@ -62,6 +62,7 @@ typedef struct LogCameraInfo {
   bool has_qcamera;
   bool trigger_rotate;
   bool enable;
+  bool record;
 } LogCameraInfo;
 
 typedef struct FrameMetadata {

selfdrive/loggerd/loggerd.cc

@@ -64,6 +64,7 @@ const LogCameraInfo cameras_logged[] = {
     .has_qcamera = true,
     .trigger_rotate = true,
     .enable = true,
+    .record = true,
   },
   {
     .type = DriverCam,
@@ -76,7 +77,8 @@ const LogCameraInfo cameras_logged[] = {
     .downscale = false,
     .has_qcamera = false,
     .trigger_rotate = Hardware::TICI(),
-    .enable = !Hardware::PC() && Params().getBool("RecordFront"),
+    .enable = !Hardware::PC(),
+    .record = Params().getBool("RecordFront"),
   },
   {
     .type = WideRoadCam,
@@ -90,6 +92,7 @@ const LogCameraInfo cameras_logged[] = {
     .has_qcamera = false,
     .trigger_rotate = true,
     .enable = Hardware::TICI(),
+    .record = Hardware::TICI(),
   },
 };
 const LogCameraInfo qcam_info = {
@@ -146,7 +149,8 @@ void encoder_thread(const LogCameraInfo &cam_info) {
 
       // main encoder
       encoders.push_back(new Encoder(cam_info.filename, buf_info.width, buf_info.height,
-                                     cam_info.fps, cam_info.bitrate, cam_info.is_h265, cam_info.downscale));
+                                     cam_info.fps, cam_info.bitrate, cam_info.is_h265,
+                                     cam_info.downscale, cam_info.record));
       // qcamera encoder
       if (cam_info.has_qcamera) {
         encoders.push_back(new Encoder(qcam_info.filename, qcam_info.frame_width, qcam_info.frame_height,

selfdrive/loggerd/omx_encoder.cc

@@ -156,8 +156,9 @@ static const char* omx_color_fomat_name(uint32_t format) {
 
 // ***** encoder functions *****
 
-OmxEncoder::OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale) {
+OmxEncoder::OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write) {
   this->filename = filename;
+  this->write = write;
   this->width = width;
   this->height = height;
   this->fps = fps;
@@ -503,13 +504,15 @@ void OmxEncoder::encoder_open(const char* path) {
 
     this->wrote_codec_config = false;
   } else {
-    this->of = fopen(this->vid_path, "wb");
-    assert(this->of);
+    if (this->write) {
+      this->of = fopen(this->vid_path, "wb");
+      assert(this->of);
 #ifndef QCOM2
-    if (this->codec_config_len > 0) {
-      fwrite(this->codec_config, this->codec_config_len, 1, this->of);
-    }
+      if (this->codec_config_len > 0) {
+        fwrite(this->codec_config, this->codec_config_len, 1, this->of);
+      }
 #endif
+    }
   }
 
   // create camera lock file
@@ -553,8 +556,10 @@ void OmxEncoder::encoder_close() {
       avio_closep(&this->ofmt_ctx->pb);
       avformat_free_context(this->ofmt_ctx);
     } else {
-      fclose(this->of);
-      this->of = nullptr;
+      if (this->of) {
+        fclose(this->of);
+        this->of = nullptr;
+      }
     }
     unlink(this->lock_path);
   }

selfdrive/loggerd/omx_encoder.h

@@ -15,7 +15,7 @@ extern "C" {
 // OmxEncoder, lossey codec using hardware hevc
 class OmxEncoder : public VideoEncoder {
 public:
-  OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale);
+  OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write = true);
   ~OmxEncoder();
   int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                    int in_width, int in_height, uint64_t ts);
@@ -39,10 +39,11 @@ private:
   char lock_path[1024];
   bool is_open = false;
   bool dirty = false;
+  bool write = false;
   int counter = 0;
 
   const char* filename;
-  FILE *of;
+  FILE *of = nullptr;
 
   size_t codec_config_len;
   uint8_t *codec_config = NULL;

selfdrive/loggerd/raw_logger.cc

@@ -21,9 +21,10 @@ extern "C" {
 #include "selfdrive/common/util.h"
 
 RawLogger::RawLogger(const char* filename, int width, int height, int fps,
-                     int bitrate, bool h265, bool downscale)
-  : filename(filename),
-    fps(fps) {
+                     int bitrate, bool h265, bool downscale, bool write)
+  : filename(filename), fps(fps) {
+
+  // TODO: respect write arg
 
   av_register_all();
   codec = avcodec_find_encoder(AV_CODEC_ID_FFVHUFF);

selfdrive/loggerd/raw_logger.h

@@ -16,7 +16,7 @@ extern "C" {
 class RawLogger : public VideoEncoder {
  public:
   RawLogger(const char* filename, int width, int height, int fps,
-            int bitrate, bool h265, bool downscale);
+            int bitrate, bool h265, bool downscale, bool write = true);
   ~RawLogger();
   int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                    int in_width, int in_height, uint64_t ts);
@@ -25,6 +25,7 @@ class RawLogger : public VideoEncoder {
 
 private:
   const char* filename;
+  //bool write;
   int fps;
   int counter = 0;
   bool is_open = false;

selfdrive/test/test_onroad.py

@@ -51,7 +51,7 @@ if EON:
 
 if TICI:
   PROCS.update({
-    "./loggerd": 60.0,
+    "./loggerd": 70.0,
     "selfdrive.controls.controlsd": 28.0,
     "./camerad": 31.0,
     "./_ui": 21.0,