replay: optimize memory usage with `MonotonicBuffer` (#32278)

Optimize Memory Usage with MonotonicBuffe

tools/cabana/streams/abstractstream.h

@@ -13,6 +13,7 @@
 #include "cereal/messaging/messaging.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/utils/util.h"
+#include "tools/replay/util.h"
 
 struct CanData {
   void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,

tools/cabana/utils/util.cc

@@ -263,26 +263,3 @@ QString signalToolTip(const cabana::Signal *sig) {
   )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
      .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
-
-// MonotonicBuffer
-
-void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
-  assert(bytes > 0);
-  void *p = std::align(alignment, bytes, current_buf, available);
-  if (p == nullptr) {
-    available = next_buffer_size = std::max(next_buffer_size, bytes);
-    current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size));
-    next_buffer_size *= growth_factor;
-    p = current_buf;
-  }
-
-  current_buf = (char *)current_buf + bytes;
-  available -= bytes;
-  return p;
-}
-
-MonotonicBuffer::~MonotonicBuffer() {
-  for (auto buf : buffers) {
-    free(buf);
-  }
-}

tools/cabana/utils/util.h

@@ -2,7 +2,6 @@
 
 #include <array>
 #include <cmath>
-#include <deque>
 #include <vector>
 #include <utility>
 
@@ -160,20 +159,5 @@ private:
   QSocketNotifier *sn;
 };
 
-class MonotonicBuffer {
-public:
-  MonotonicBuffer(size_t initial_size) : next_buffer_size(initial_size) {}
-  ~MonotonicBuffer();
-  void *allocate(size_t bytes, size_t alignment = 16ul);
-  void deallocate(void *p) {}
-
-private:
-  void *current_buf = nullptr;
-  size_t next_buffer_size = 0;
-  size_t available = 0;
-  std::deque<void *> buffers;
-  static constexpr float growth_factor = 1.5;
-};
-
 int num_decimals(double num);
 QString signalToolTip(const cabana::Signal *sig);

tools/replay/logreader.cc

@@ -1,18 +1,19 @@
 #include "tools/replay/logreader.h"
 
 #include <algorithm>
+#include <utility>
 #include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
+  std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (raw_.empty()) return false;
+  if (!data.empty() && url.find(".bz2") != std::string::npos)
+    data = decompressBZ2(data, abort);
 
-  if (url.find(".bz2") != std::string::npos) {
+  bool success = !data.empty() && load(data.data(), data.size(), abort);
-    raw_ = decompressBZ2(raw_, abort);
+  if (filters_.empty())
-    if (raw_.empty()) return false;
+    raw_ = std::move(data);
-  }
+  return success;
-  return load(raw_.data(), raw_.size(), abort);
 }
 
 bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
@@ -23,9 +24,18 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
       capnp::FlatArrayMessageReader reader(words);
       auto event = reader.getRoot<cereal::Event>();
       auto which = event.which();
-      uint64_t mono_time = event.getLogMonoTime();
       auto event_data = kj::arrayPtr(words.begin(), reader.getEnd());
+      words = kj::arrayPtr(reader.getEnd(), words.end());
+
+      if (!filters_.empty()) {
+        if (which >= filters_.size() || !filters_[which])
+          continue;
+        auto buf = buffer_.allocate(event_data.size() * sizeof(capnp::word));
+        memcpy(buf, event_data.begin(), event_data.size() * sizeof(capnp::word));
+        event_data = kj::arrayPtr((const capnp::word *)buf, event_data.size());
+      }
 
+      uint64_t mono_time = event.getLogMonoTime();
       const Event &evt = events.emplace_back(which, mono_time, event_data);
       // Add encodeIdx packet again as a frame packet for the video stream
       if (evt.which == cereal::Event::ROAD_ENCODE_IDX ||
@@ -37,8 +47,6 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
         }
         events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
       }
-
-      words = kj::arrayPtr(reader.getEnd(), words.end());
     }
   } catch (const kj::Exception &e) {
     rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());

tools/replay/logreader.h

@@ -5,6 +5,7 @@
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
+#include "tools/replay/util.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
@@ -26,6 +27,7 @@ public:
 
 class LogReader {
 public:
+  LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
             bool local_cache = false, int chunk_size = -1, int retries = 0);
   bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr);
@@ -33,4 +35,6 @@ public:
 
 private:
   std::string raw_;
+  std::vector<bool> filters_;
+  MonotonicBuffer buffer_{1024 * 1024};
 };

tools/replay/replay.cc

@@ -27,6 +27,11 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
       sockets_[which] = name.c_str();
     }
   }
+  if (!allow.isEmpty()) {
+    for (int i = 0; i < sockets_.size(); ++i) {
+      filters_.push_back(i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
+    }
+  }
 
   std::vector<const char *> s;
   std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s),
@@ -259,7 +264,7 @@ void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator
     auto it = std::find_if(begin, end, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
     if (it != end && !it->second) {
       rDebug("loading segment %d...", it->first);
-      it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_);
+      it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
       QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
       return true;
     }

tools/replay/replay.h

@@ -135,6 +135,7 @@ protected:
   SubMaster *sm = nullptr;
   std::unique_ptr<PubMaster> pm;
   std::vector<const char*> sockets_;
+  std::vector<bool> filters_;
   std::unique_ptr<Route> route_;
   std::unique_ptr<CameraServer> camera_server_;
   std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;

tools/replay/route.cc

@@ -131,7 +131,8 @@ void Route::addFileToSegment(int n, const QString &file) {
 
 // class Segment
 
-Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) {
+Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters)
+    : seg_num(n), flags(flags), filters_(filters) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
       (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam,
@@ -161,7 +162,7 @@ void Segment::loadFile(int id, const std::string file) {
     frames[id] = std::make_unique<FrameReader>();
     success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
   } else {
-    log = std::make_unique<LogReader>();
+    log = std::make_unique<LogReader>(filters_);
     success = log->load(file, &abort_, local_cache, 0, 3);
   }
 

tools/replay/route.h

@@ -3,6 +3,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include <QDateTime>
 #include <QFutureSynchronizer>
@@ -55,7 +56,7 @@ class Segment : public QObject {
   Q_OBJECT
 
 public:
-  Segment(int n, const SegmentFile &files, uint32_t flags);
+  Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters = {});
   ~Segment();
   inline bool isLoaded() const { return !loading_ && !abort_; }
 
@@ -73,4 +74,5 @@ protected:
   std::atomic<int> loading_ = 0;
   QFutureSynchronizer<void> synchronizer_;
   uint32_t flags;
+  std::vector<bool> filters_;
 };

tools/replay/util.cc

@@ -5,6 +5,7 @@
 #include <openssl/sha.h>
 
 #include <cassert>
+#include <algorithm>
 #include <cmath>
 #include <cstdarg>
 #include <cstring>
@@ -354,3 +355,26 @@ std::string sha256(const std::string &str) {
   SHA256_Final(hash, &sha256);
   return util::hexdump(hash, SHA256_DIGEST_LENGTH);
 }
+
+// MonotonicBuffer
+
+void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
+  assert(bytes > 0);
+  void *p = std::align(alignment, bytes, current_buf, available);
+  if (p == nullptr) {
+    available = next_buffer_size = std::max(next_buffer_size, bytes);
+    current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size));
+    next_buffer_size *= growth_factor;
+    p = current_buf;
+  }
+
+  current_buf = (char *)current_buf + bytes;
+  available -= bytes;
+  return p;
+}
+
+MonotonicBuffer::~MonotonicBuffer() {
+  for (auto buf : buffers) {
+    free(buf);
+  }
+}

tools/replay/util.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <atomic>
+#include <deque>
 #include <functional>
 #include <string>
 
@@ -20,6 +21,21 @@ void logMessage(ReplyMsgType type, const char* fmt, ...);
 #define rWarning(fmt, ...) ::logMessage(ReplyMsgType::Warning, fmt,  ## __VA_ARGS__)
 #define rError(fmt, ...) ::logMessage(ReplyMsgType::Critical , fmt,  ## __VA_ARGS__)
 
+class MonotonicBuffer {
+public:
+  MonotonicBuffer(size_t initial_size) : next_buffer_size(initial_size) {}
+  ~MonotonicBuffer();
+  void *allocate(size_t bytes, size_t alignment = 16ul);
+  void deallocate(void *p) {}
+
+private:
+  void *current_buf = nullptr;
+  size_t next_buffer_size = 0;
+  size_t available = 0;
+  std::deque<void *> buffers;
+  static constexpr float growth_factor = 1.5;
+};
+
 std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);