mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-20 01:02:07 +08:00
Adeeb Shihadeh
84c276bb6c
* that's home * more extensions * lil fixups * lil more * collapse car ports * fix links
28 lines
1.5 KiB
Markdown
28 lines
1.5 KiB
Markdown
# Logging
|
||
|
||
openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
|
||
|
||
Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
|
||
|
||
For each segment, openpilot records the following log types:
|
||
|
||
## rlog.zst
|
||
|
||
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
|
||
|
||
## {f,e,d}camera.hevc
|
||
|
||
Each camera stream is H.265 encoded and written to its respective file.
|
||
|
||
* `fcamera.hevc` is the road camera
|
||
* `ecamera.hevc` is the wide road camera
|
||
* `dcamera.hevc` is the driver camera
|
||
|
||
## qlog.zst & qcamera.ts
|
||
|
||
qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
|
||
|
||
qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
|
||
|
||
qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
|