dragonpilot beta3

date: 2023-08-22T14:21:17
commit: 6148ce3d77530281f890970718e9c42b2acc5ff1

system/hardware/tici/hardware.py

@@ -83,6 +83,17 @@ def affine_irq(val, action):
   for i in irqs:
     sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
+@lru_cache
+def get_device_type():
+  # lru_cache and cache can cause memory leaks when used in classes
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+  # TODO: remove this with AGNOS 7+
+  if model.startswith('Qualcomm'):
+    model = 'tici'
+  return model
+
 class Tici(HardwareBase):
   @cached_property
   def bus(self):
@@ -105,15 +116,8 @@ class Tici(HardwareBase):
     with open("/VERSION") as f:
       return f.read().strip()
 
-  @lru_cache
   def get_device_type(self):
-    with open("/sys/firmware/devicetree/base/model") as f:
-      model = f.read().strip('\x00')
-    model = model.split('comma ')[-1]
-    # TODO: remove this with AGNOS 7+
-    if model.startswith('Qualcomm'):
-      model = 'tici'
-    return model
+    return get_device_type()
 
   def get_sound_card_online(self):
     if os.path.isfile('/proc/asound/card0/state'):

system/loggerd/loggerd.h

@@ -12,7 +12,9 @@
 #include "system/loggerd/logger.h"
 
 constexpr int MAIN_FPS = 20;
-const int MAIN_BITRATE = 10000000;
+const int MAIN_BITRATE = 1e7;
+const int LIVESTREAM_BITRATE = 1e6;
+const int QCAM_BITRATE = 256000;
 
 #define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
 
@@ -26,11 +28,10 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH"))
 
 constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
 constexpr char PRESERVE_ATTR_VALUE = '1';
-
 class EncoderInfo {
 public:
   const char *publish_name;
-  const char *filename;
+  const char *filename = NULL;
   bool record = true;
   int frame_width = 1928;
   int frame_height = 1208;
@@ -57,11 +58,13 @@ const EncoderInfo main_road_encoder_info = {
   .filename = "fcamera.hevc",
   INIT_ENCODE_FUNCTIONS(RoadEncode),
 };
+
 const EncoderInfo main_wide_road_encoder_info = {
   .publish_name = "wideRoadEncodeData",
   .filename = "ecamera.hevc",
   INIT_ENCODE_FUNCTIONS(WideRoadEncode),
 };
+
 const EncoderInfo main_driver_encoder_info = {
   .publish_name = "driverEncodeData",
   .filename = "dcamera.hevc",
@@ -69,17 +72,40 @@ const EncoderInfo main_driver_encoder_info = {
   INIT_ENCODE_FUNCTIONS(DriverEncode),
 };
 
+const EncoderInfo stream_road_encoder_info = {
+  .publish_name = "livestreamRoadEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+};
+
+const EncoderInfo stream_wide_road_encoder_info = {
+  .publish_name = "livestreamWideRoadEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
+};
+
+const EncoderInfo stream_driver_encoder_info = {
+  .publish_name = "livestreamDriverEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+};
+
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
-  .bitrate = 256000,
+  .bitrate = QCAM_BITRATE,
   .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .frame_width = 526,
   .frame_height = 330,
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };
 
-
 const LogCameraInfo road_camera_info{
   .thread_name = "road_cam_encoder",
   .type = RoadCam,
@@ -101,4 +127,26 @@ const LogCameraInfo driver_camera_info{
   .encoder_infos = {main_driver_encoder_info}
 };
 
+const LogCameraInfo stream_road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .type = RoadCam,
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {stream_road_encoder_info}
+};
+
+const LogCameraInfo stream_wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .type = WideRoadCam,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {stream_wide_road_encoder_info}
+};
+
+const LogCameraInfo stream_driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .type = DriverCam,
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {stream_driver_encoder_info}
+};
+
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};

system/loggerd/uploader.py

@@ -46,7 +46,7 @@ class FakeResponse:
 UploadResponse = Union[requests.Response, FakeResponse]
 
 def get_directory_sort(d: str) -> List[str]:
-  return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1)))
+  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> List[str]:
   try:

system/sensord/rawgps/compare.py

@@ -19,8 +19,8 @@ if __name__ == "__main__":
     recv_time = report.milliseconds / 1000
 
     car = []
-    print("qcom has ", list(sorted([x.svId for x in report.sv])))
-    print("ublox has", list(sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])))
+    print("qcom has ", sorted([x.svId for x in report.sv]))
+    print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)]))
     for i in report.sv:
       # match to ublox
       tm = None

system/sensord/rawgps/rawgpsd.py

@@ -446,7 +446,7 @@ def main() -> NoReturn:
         report.source = 1  # glonass
         measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
       else:
-        assert False
+        raise RuntimeError(f"invalid log_type: {log_type}")
 
       for k,v in dat.items():
         if k == "version":

system/sensord/rawgps/structs.py

@@ -317,8 +317,7 @@ def parse_struct(ss):
     elif typ in ["uint64", "uint64_t"]:
       st += "Q"
     else:
-      print("unknown type", typ)
-      assert False
+      raise RuntimeError(f"unknown type {typ}")
     if '[' in nam:
       cnt = int(nam.split("[")[1].split("]")[0])
       st += st[-1]*(cnt-1)
@@ -333,7 +332,7 @@ def dict_unpacker(ss, camelcase = False):
   if camelcase:
     nams = [name_to_camelcase(x) for x in nams]
   sz = calcsize(st)
-  return lambda x: dict(zip(nams, unpack_from(st, x))), sz
+  return lambda x: dict(zip(nams, unpack_from(st, x), strict=True)), sz
 
 def relist(dat):
   list_keys = set()

system/version.py

@@ -90,7 +90,7 @@ def is_comma_remote() -> bool:
   if origin is None:
     return False
 
-  return origin.startswith('git@github.com:commaai') or origin.startswith('https://github.com/commaai')
+  return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai'))
 
 
 @cache