mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-18 18:13:42 +08:00
Adeeb Shihadeh
28 lines
1.6 KiB
Markdown
28 lines
1.6 KiB
Markdown
# Logging
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openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
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Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
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For each segment, openpilot records the following log types:
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## rlog.zst
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rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/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.
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## camera video files
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Each camera stream is H.265 encoded and written to its respective file.
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* `fcamera.hevc` is the narrow road camera (the main forward camera)
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* `ecamera.hevc` is the wide road camera
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* `dcamera.hevc` is the cabin camera
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## qlog.zst & qcamera.ts
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qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
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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.
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qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
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