mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-15 21:52:08 +08:00
nayan
195 lines
9.5 KiB
HTML
195 lines
9.5 KiB
HTML
<!DOCTYPE html>
|
|
<html class="writer-html5" lang="en" >
|
|
<head>
|
|
<meta charset="utf-8" />
|
|
<meta http-equiv="X-UA-Compatible" content="IE=edge" />
|
|
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><link rel="canonical" href="https://docs.comma.ai/concepts/logs/" />
|
|
<link rel="shortcut icon" href="../../img/favicon.ico" />
|
|
<title>Logs - openpilot docs</title>
|
|
<link rel="stylesheet" href="../../css/theme.css" />
|
|
<link rel="stylesheet" href="../../css/theme_extra.css" />
|
|
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/styles/github.min.css" />
|
|
<link href="../../css/tooltip.css" rel="stylesheet" />
|
|
|
|
<script>
|
|
// Current page data
|
|
var mkdocs_page_name = "Logs";
|
|
var mkdocs_page_input_path = "concepts/logs.md";
|
|
var mkdocs_page_url = "/concepts/logs/";
|
|
</script>
|
|
|
|
<!--[if lt IE 9]>
|
|
<script src="../../js/html5shiv.min.js"></script>
|
|
<![endif]-->
|
|
<script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/highlight.min.js"></script>
|
|
<script>hljs.highlightAll();</script>
|
|
</head>
|
|
|
|
<body class="wy-body-for-nav" role="document">
|
|
|
|
<div class="wy-grid-for-nav">
|
|
<nav data-toggle="wy-nav-shift" class="wy-nav-side stickynav">
|
|
<div class="wy-side-scroll">
|
|
<div class="wy-side-nav-search">
|
|
<a href="../.." class="icon icon-home"> openpilot docs
|
|
</a><div role="search">
|
|
<form id ="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
|
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" title="Type search term here" />
|
|
</form>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
|
<p class="caption"><span class="caption-text">Getting Started</span></p>
|
|
<ul>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../getting-started/what-is-openpilot/">What is openpilot?</a>
|
|
</li>
|
|
</ul>
|
|
<p class="caption"><span class="caption-text">How-to</span></p>
|
|
<ul>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../how-to/turn-the-speed-blue/">Turn the speed blue</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../how-to/connect-to-comma/">Connect to a comma 3X</a>
|
|
</li>
|
|
</ul>
|
|
<p class="caption"><span class="caption-text">Concepts</span></p>
|
|
<ul class="current">
|
|
<li class="toctree-l1 current"><a class="reference internal current" href="#">Logs</a>
|
|
<ul class="current">
|
|
<li class="toctree-l2"><a class="reference internal" href="#rlogbz2">rlog.bz2</a>
|
|
</li>
|
|
<li class="toctree-l2"><a class="reference internal" href="#fedcamerahevc">{f,e,d}camera.hevc</a>
|
|
</li>
|
|
<li class="toctree-l2"><a class="reference internal" href="#qlogbz2-qcamerats">qlog.bz2 & qcamera.ts</a>
|
|
</li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l1"><a class="reference internal" href="../safety/">Safety</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="reference internal" href="../glossary/">Glossary</a>
|
|
</li>
|
|
</ul>
|
|
<p class="caption"><span class="caption-text">Car Porting</span></p>
|
|
<ul>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/what-is-a-car-port/">What is a car port?</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/brand-port/">Porting a car brand</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/model-port/">Porting a car model</a>
|
|
</li>
|
|
</ul>
|
|
<p class="caption"><span class="caption-text">Contributing</span></p>
|
|
<ul>
|
|
<li class="toctree-l1"><a class="reference internal" href="../../contributing/roadmap/">Roadmap</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="" href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contributing Guide →</a>
|
|
</li>
|
|
</ul>
|
|
<p class="caption"><span class="caption-text">Links</span></p>
|
|
<ul>
|
|
<li class="toctree-l1"><a class="" href="https://blog.comma.ai">Blog →</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="" href="https://comma.ai/bounties">Bounties →</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="" href="https://github.com/commaai">GitHub →</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="" href="https://discord.comma.ai">Discord →</a>
|
|
</li>
|
|
<li class="toctree-l1"><a class="" href="https://x.com/comma_ai">X →</a>
|
|
</li>
|
|
</ul>
|
|
</div>
|
|
</div>
|
|
</nav>
|
|
|
|
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
|
|
<nav class="wy-nav-top" role="navigation" aria-label="Mobile navigation menu">
|
|
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
|
<a href="../..">openpilot docs</a>
|
|
|
|
</nav>
|
|
<div class="wy-nav-content">
|
|
<div class="rst-content"><div role="navigation" aria-label="breadcrumbs navigation">
|
|
<ul class="wy-breadcrumbs">
|
|
<li><a href="../.." class="icon icon-home" aria-label="Docs"></a></li>
|
|
<li class="breadcrumb-item">Concepts</li>
|
|
<li class="breadcrumb-item active">Logs</li>
|
|
<li class="wy-breadcrumbs-aside">
|
|
<a href="https://github.com/commaai/openpilot/edit/master/docs/concepts/logs.md" class="icon icon-github"> Edit on GitHub</a>
|
|
</li>
|
|
</ul>
|
|
<hr/>
|
|
</div>
|
|
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
|
<div class="section" itemprop="articleBody">
|
|
|
|
<h1 id="logging">Logging</h1>
|
|
<p>openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.</p>
|
|
<p>Check out our <a href="https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py">Python library</a> for reading openpilot logs. Also checkout our <a href="https://github.com/commaai/openpilot/tree/master/tools">tools</a> to replay and view your data. These are the same tools we use to debug and develop openpilot.</p>
|
|
<p>For each segment, openpilot records the following log types:</p>
|
|
<h2 id="rlogbz2">rlog.bz2</h2>
|
|
<p>rlogs contain all the messages passed amongst openpilot's processes. See <a href="https://github.com/commaai/cereal/blob/master/services.py">cereal/services.py</a> for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.</p>
|
|
<h2 id="fedcamerahevc">{f,e,d}camera.hevc</h2>
|
|
<p>Each camera stream is H.265 encoded and written to its respective file.</p>
|
|
<ul>
|
|
<li><code>fcamera.hevc</code> is the road camera</li>
|
|
<li><code>ecamera.hevc</code> is the wide road camera</li>
|
|
<li><code>dcamera.hevc</code> is the driver camera</li>
|
|
</ul>
|
|
<h2 id="qlogbz2-qcamerats">qlog.bz2 & qcamera.ts</h2>
|
|
<p>qlogs are a decimated subset of the rlogs. Check out <a href="https://github.com/commaai/cereal/blob/master/services.py">cereal/services.py</a> for the decimation.</p>
|
|
<p>qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in <a href="https://connect.comma.ai/">comma connect</a> is from the qcameras.</p>
|
|
<p>qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.</p>
|
|
|
|
</div>
|
|
</div><footer>
|
|
<div class="rst-footer-buttons" role="navigation" aria-label="Footer Navigation">
|
|
<a href="../../how-to/connect-to-comma/" class="btn btn-neutral float-left" title="Connect to a comma 3X"><span class="icon icon-circle-arrow-left"></span> Previous</a>
|
|
<a href="../safety/" class="btn btn-neutral float-right" title="Safety">Next <span class="icon icon-circle-arrow-right"></span></a>
|
|
</div>
|
|
|
|
<hr/>
|
|
|
|
<div role="contentinfo">
|
|
<!-- Copyright etc -->
|
|
</div>
|
|
|
|
Built with <a href="https://www.mkdocs.org/">MkDocs</a> using a <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
|
</footer>
|
|
|
|
</div>
|
|
</div>
|
|
|
|
</section>
|
|
|
|
</div>
|
|
|
|
<div class="rst-versions" role="note" aria-label="Versions">
|
|
<span class="rst-current-version" data-toggle="rst-current-version">
|
|
|
|
<span>
|
|
<a href="https://github.com/commaai/openpilot/" class="fa fa-github" style="color: #fcfcfc"> GitHub</a>
|
|
</span>
|
|
|
|
|
|
<span><a href="../../how-to/connect-to-comma/" style="color: #fcfcfc">« Previous</a></span>
|
|
|
|
|
|
<span><a href="../safety/" style="color: #fcfcfc">Next »</a></span>
|
|
|
|
</span>
|
|
</div>
|
|
<script src="../../js/jquery-3.6.0.min.js"></script>
|
|
<script>var base_url = "../..";</script>
|
|
<script src="../../js/theme_extra.js"></script>
|
|
<script src="../../js/theme.js"></script>
|
|
<script src="../../search/main.js"></script>
|
|
<script>
|
|
jQuery(function () {
|
|
SphinxRtdTheme.Navigation.enable(true);
|
|
});
|
|
</script>
|
|
|
|
</body>
|
|
</html>
|