Start filesystem_monitor and fix irq_affinity on orins
Makes it so that the image_logger will stop logging when there is
relatively little space remaining.
Change-Id: I6b1482cf6c0600bcdc03657696e16e1ac8988f0f
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/BUILD b/y2024/BUILD
index e3fbb72..704a5a4 100644
--- a/y2024/BUILD
+++ b/y2024/BUILD
@@ -55,6 +55,7 @@
"//aos/util:foxglove_websocket",
"//frc971/image_streamer:image_streamer",
"//frc971/vision:intrinsics_calibration",
+ "//aos/util:filesystem_monitor",
"//y2024/vision:viewer",
"//y2024/constants:constants_sender",
"//y2024/localizer:localizer_main",
@@ -63,7 +64,7 @@
],
data = [
":aos_config",
- "//frc971/rockpi:rockpi_config.json",
+ "//frc971/orin:orin_irq_config.json",
"//y2024/constants:constants.json",
"//y2024/vision:image_streamer_start",
"//y2024/www:www_files",
diff --git a/y2024/vision/BUILD b/y2024/vision/BUILD
index d36c956..4904554 100644
--- a/y2024/vision/BUILD
+++ b/y2024/vision/BUILD
@@ -60,6 +60,7 @@
"//aos/events:shm_event_loop",
"//aos/events/logging:log_writer",
"//aos/logging:log_namer",
+ "//aos/util:filesystem_fbs",
"//frc971/input:joystick_state_fbs",
"@com_github_gflags_gflags//:gflags",
"@com_github_google_glog//:glog",
diff --git a/y2024/vision/image_logger.cc b/y2024/vision/image_logger.cc
index 55a4e12..2984824 100644
--- a/y2024/vision/image_logger.cc
+++ b/y2024/vision/image_logger.cc
@@ -9,6 +9,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/log_namer.h"
+#include "aos/util/filesystem_generated.h"
#include "frc971/input/joystick_state_generated.h"
DEFINE_string(config, "aos_config.json", "Config file to use.");
@@ -48,10 +49,13 @@
aos::ShmEventLoop event_loop(&config.message());
+ aos::Fetcher<aos::util::FilesystemStatus> filesystem_status =
+ event_loop.MakeFetcher<aos::util::FilesystemStatus>("/aos");
+
bool logging = false;
bool enabled = false;
aos::monotonic_clock::time_point last_disable_time =
- event_loop.monotonic_now();
+ aos::monotonic_clock::min_time;
aos::monotonic_clock::time_point last_rotation_time =
event_loop.monotonic_now();
aos::logger::Logger logger(&event_loop);
@@ -76,13 +80,36 @@
event_loop.MakeWatcher(
"/imu/aos", [&](const aos::JoystickState &joystick_state) {
const auto timestamp = event_loop.context().monotonic_event_time;
+ filesystem_status.Fetch();
+
// Store the last time we got disabled
if (enabled && !joystick_state.enabled()) {
last_disable_time = timestamp;
}
enabled = joystick_state.enabled();
- if (!logging && enabled) {
+ bool enough_space = true;
+
+ if (filesystem_status.get() != nullptr) {
+ enough_space = false;
+ for (const aos::util::Filesystem *fs :
+ *filesystem_status->filesystems()) {
+ CHECK(fs->has_path());
+ if (fs->path()->string_view() == "/") {
+ if (fs->free_space() > 50ull * 1024ull * 1024ull * 1024ull) {
+ enough_space = true;
+ }
+ }
+ }
+ }
+
+ const bool should_be_logging =
+ (enabled ||
+ timestamp < last_disable_time + std::chrono::duration<double>(
+ FLAGS_disabled_time)) &&
+ enough_space;
+
+ if (!logging && should_be_logging) {
auto log_namer = MakeLogNamer(&event_loop);
if (log_namer == nullptr) {
return;
@@ -93,9 +120,7 @@
logger.StartLogging(std::move(log_namer));
logging = true;
last_rotation_time = event_loop.monotonic_now();
- } else if (logging && !enabled &&
- (timestamp - last_disable_time) >
- std::chrono::duration<double>(FLAGS_disabled_time)) {
+ } else if (logging && !should_be_logging) {
// Stop logging if we've been disabled for a non-negligible amount of
// time
LOG(INFO) << "Stopping logging";
diff --git a/y2024/y2024_imu.json b/y2024/y2024_imu.json
index 5990242..62254e1 100644
--- a/y2024/y2024_imu.json
+++ b/y2024/y2024_imu.json
@@ -41,8 +41,8 @@
"type": "aos.timing.Report",
"source_node": "imu",
"frequency": 50,
- "num_senders": 20,
- "max_size": 6184
+ "num_senders": 30,
+ "max_size": 8192
},
{
"name": "/imu/aos",
@@ -346,6 +346,22 @@
]
},
{
+ "name": "irq_affinity",
+ "executable_name": "irq_affinity",
+ "user": "root",
+ "args": ["--user=pi", "--irq_config=orin_irq_config.json"],
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "filesystem_monitor",
+ "executable_name": "filesystem_monitor",
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
"name": "joystick_republish",
"executable_name": "joystick_republish",
"user": "pi",
diff --git a/y2024/y2024_orin1.json b/y2024/y2024_orin1.json
index 01dae9e..0b2c6af 100644
--- a/y2024/y2024_orin1.json
+++ b/y2024/y2024_orin1.json
@@ -11,7 +11,7 @@
"type": "aos.timing.Report",
"source_node": "orin1",
"frequency": 50,
- "num_senders": 20,
+ "num_senders": 30,
"max_size": 8192
},
{
@@ -267,7 +267,14 @@
"name": "irq_affinity",
"executable_name": "irq_affinity",
"user": "root",
- "args": ["--user=pi"],
+ "args": ["--user=pi", "--irq_config=orin_irq_config.json"],
+ "nodes": [
+ "orin1"
+ ]
+ },
+ {
+ "name": "filesystem_monitor",
+ "executable_name": "filesystem_monitor",
"nodes": [
"orin1"
]