IQ.Pilot Release Commit @ bec7652

2026-08-22 23:42:41 -05:00
commit 58039e647c
4603 changed files with 1236178 additions and 0 deletions
--- a/iqpilot/system/loggerd/loggerd.h
+++ b/iqpilot/system/loggerd/loggerd.h
@@ -0,0 +1,199 @@
+#pragma once
+
+#include <cstdlib>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/visionstream.h"
+#include "msgq/visionipc/visionipc_client.h"
+#include "system/hardware/hw.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+
+#include "system/loggerd/logger.h"
+
+constexpr int MAIN_FPS = 20;
+const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS : cereal::EncodeIndex::Type::FULL_H_E_V_C;
+#define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
+
+#define INIT_ENCODE_FUNCTIONS(encode_type)                                \
+  .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \
+  .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx,  \
+  .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data
+
+const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
+const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
+
+constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
+constexpr char PRESERVE_ATTR_VALUE = '1';
+
+constexpr int QCAM_WIDTH = 1316;
+constexpr int QCAM_HEIGHT = 826;
+constexpr int MICI_QCAM_WIDTH = 1210;
+constexpr int MICI_QCAM_HEIGHT = 760;
+static_assert(QCAM_WIDTH % 2 == 0 && QCAM_HEIGHT % 2 == 0 &&
+              MICI_QCAM_WIDTH % 2 == 0 && MICI_QCAM_HEIGHT % 2 == 0,
+              "qcamera dimensions must be even");
+
+inline bool is_mici() {
+  return Hardware::get_device_type() == cereal::InitData::DeviceType::MICI;
+}
+
+struct EncoderSettings {
+  cereal::EncodeIndex::Type encode_type;
+  int bitrate;
+  int gop_size;
+  int b_frames = 0; // we don't use b frames
+
+  static EncoderSettings MainEncoderSettings(int in_width) {
+    if (in_width <= 1344) {
+      return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 5'000'000, .gop_size = 20};
+    } else {
+      return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30};
+    }
+  }
+
+  static EncoderSettings QcamEncoderSettings() {
+    // Keep Konn3kt route uploads useful without turning each 60-second qcamera
+    // segment into a 26 MB file. This is still a substantial improvement over
+    // stock qcam, while CBR keeps storage and upload usage predictable.
+    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 2'400'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
+  }
+
+  static EncoderSettings StreamEncoderSettings() {
+    // Startup bitrate for the livestream encoder. The adaptive bitrate controller
+    // (webrtcd LivestreamBitrateController) overrides this at runtime via the
+    // LivestreamEncoderBitrate param based on measured RTCP loss/RTT. Start at a
+    // conservative mid level so a poor link doesn't choke the first seconds, then ramp up.
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'500'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 30};
+  }
+};
+
+class EncoderInfo {
+public:
+  const char *publish_name;
+  const char *thumbnail_name = NULL;
+  const char *filename = NULL;
+  bool record = true;
+  bool include_audio = false;
+  bool adaptive_bitrate = false;  // allow runtime bitrate updates (livestream ABR)
+  bool cbr = false;               // force constant bitrate so file size = bitrate * duration (qcamera)
+  int frame_width = -1;
+  int frame_height = -1;
+  int fps = MAIN_FPS;
+  std::function<EncoderSettings(int)> get_settings;
+
+  ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
+  void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
+  cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)();
+};
+
+class LogCameraInfo {
+public:
+  const char *thread_name;
+  int fps = MAIN_FPS;
+  VisionStreamType stream_type;
+  std::vector<EncoderInfo> encoder_infos;
+};
+
+const EncoderInfo main_road_encoder_info = {
+  .publish_name = "roadEncodeData",
+  .thumbnail_name = "thumbnail",
+  .filename = "fcamera.hevc",
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
+  INIT_ENCODE_FUNCTIONS(RoadEncode),
+};
+
+const EncoderInfo main_wide_road_encoder_info = {
+  .publish_name = "wideRoadEncodeData",
+  .filename = "ecamera.hevc",
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
+  INIT_ENCODE_FUNCTIONS(WideRoadEncode),
+};
+
+const EncoderInfo main_driver_encoder_info = {
+  .publish_name = "driverEncodeData",
+  .filename = "dcamera.hevc",
+  .record = Params().getBool("RecordFront"),
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
+  INIT_ENCODE_FUNCTIONS(DriverEncode),
+};
+
+const EncoderInfo stream_road_encoder_info = {
+  .publish_name = "livestreamRoadEncodeData",
+  //.thumbnail_name = "thumbnail",
+  .record = false,
+  .adaptive_bitrate = true,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+};
+
+const EncoderInfo stream_wide_road_encoder_info = {
+  .publish_name = "livestreamWideRoadEncodeData",
+  .record = false,
+  .adaptive_bitrate = true,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
+};
+
+const EncoderInfo stream_driver_encoder_info = {
+  .publish_name = "livestreamDriverEncodeData",
+  .record = false,
+  .adaptive_bitrate = true,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+};
+
+const EncoderInfo qcam_encoder_info = {
+  .publish_name = "qRoadEncodeData",
+  .filename = "qcamera.ts",
+  .cbr = true,           // enforce the bitrate so upload size stays predictable (no VBR overshoot)
+  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
+  .frame_width = is_mici() ? MICI_QCAM_WIDTH : QCAM_WIDTH,
+  .frame_height = is_mici() ? MICI_QCAM_HEIGHT : QCAM_HEIGHT,
+  .include_audio = Params().getBool("RecordAudio"),
+  INIT_ENCODE_FUNCTIONS(QRoadEncode),
+};
+
+const LogCameraInfo road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
+};
+
+const LogCameraInfo wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {main_wide_road_encoder_info}
+};
+
+const LogCameraInfo driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {main_driver_encoder_info}
+};
+
+const LogCameraInfo stream_road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {stream_road_encoder_info}
+};
+
+const LogCameraInfo stream_wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {stream_wide_road_encoder_info}
+};
+
+const LogCameraInfo stream_driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .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};