replay: remove Qt dependency from Segment and Timeline (#33847)
remove Segment, Timeline dependency on Qtfca-giorgio
Dean Lee
1 year ago
committed by
GitHub
parent
db98ba88ab
commit
24a32c3dec
15 changed files with 281 additions and 228 deletions
@ -0,0 +1,109 @@ |
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#include "tools/replay/timeline.h" |
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#include <array> |
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#include "cereal/gen/cpp/log.capnp.h" |
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Timeline::~Timeline() { |
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should_exit_.store(true); |
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if (thread_.joinable()) { |
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thread_.join(); |
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} |
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} |
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void Timeline::initialize(const Route &route, uint64_t route_start_ts, bool local_cache, |
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std::function<void(std::shared_ptr<LogReader>)> callback) { |
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thread_ = std::thread(&Timeline::buildTimeline, this, route, route_start_ts, local_cache, callback); |
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} |
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std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const { |
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for (const auto &entry : *get()) { |
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if (entry.type == TimelineType::Engaged) { |
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if (flag == FindFlag::nextEngagement && entry.start_time > cur_ts) { |
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return entry.start_time; |
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} else if (flag == FindFlag::nextDisEngagement && entry.end_time > cur_ts) { |
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return entry.end_time; |
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} |
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} else if (entry.start_time > cur_ts) { |
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if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) || |
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(flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) || |
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(flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) || |
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(flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) { |
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return entry.start_time; |
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} |
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} |
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} |
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return std::nullopt; |
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} |
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std::optional<Timeline::Entry> Timeline::findAlertAtTime(double target_time) const { |
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for (const auto &entry : *get()) { |
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if (entry.start_time > target_time) break; |
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if (entry.end_time >= target_time && entry.type >= TimelineType::AlertInfo) { |
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return entry; |
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} |
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} |
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return std::nullopt; |
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} |
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void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache, |
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std::function<void(std::shared_ptr<LogReader>)> callback) { |
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std::optional<size_t> current_engaged_idx, current_alert_idx; |
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for (const auto &segment : route.segments()) { |
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if (should_exit_) break; |
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auto log = std::make_shared<LogReader>(); |
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if (!log->load(segment.second.qlog, &should_exit_, local_cache, 0, 3) || log->events.empty()) { |
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continue; // Skip if log loading fails or no events
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} |
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for (const Event &e : log->events) { |
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double seconds = (e.mono_time - route_start_ts) / 1e9; |
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if (e.which == cereal::Event::Which::SELFDRIVE_STATE) { |
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capnp::FlatArrayMessageReader reader(e.data); |
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auto cs = reader.getRoot<cereal::Event>().getSelfdriveState(); |
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updateEngagementStatus(cs, current_engaged_idx, seconds); |
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updateAlertStatus(cs, current_alert_idx, seconds); |
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} else if (e.which == cereal::Event::Which::USER_FLAG) { |
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staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag}); |
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} |
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} |
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callback(log); // Notify the callback once the log is processed
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// Sort and finalize the timeline entries
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std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; }); |
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timeline_entries_ = std::make_shared<std::vector<Entry>>(staging_entries_); |
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} |
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} |
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void Timeline::updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds) { |
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if (idx) staging_entries_[*idx].end_time = seconds; |
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if (cs.getEnabled()) { |
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if (!idx) { |
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idx = staging_entries_.size(); |
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staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::Engaged}); |
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} |
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} else { |
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idx.reset(); |
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} |
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} |
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void Timeline::updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds) { |
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static auto alert_types = std::array{TimelineType::AlertInfo, TimelineType::AlertWarning, TimelineType::AlertCritical}; |
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Entry *entry = idx ? &staging_entries_[*idx] : nullptr; |
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if (entry) entry->end_time = seconds; |
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if (cs.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) { |
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auto type = alert_types[(int)cs.getAlertStatus()]; |
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std::string text1 = cs.getAlertText1().cStr(); |
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std::string text2 = cs.getAlertText2().cStr(); |
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if (!entry || entry->type != type || entry->text1 != text1 || entry->text2 != text2) { |
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idx = staging_entries_.size(); |
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staging_entries_.emplace_back(Entry{seconds, seconds, type, text1, text2}); // Start a new entry
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} |
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} else { |
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idx.reset(); |
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} |
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} |
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@ -0,0 +1,46 @@ |
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#pragma once |
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#include <atomic> |
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#include <optional> |
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#include <thread> |
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#include <vector> |
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#include "tools/replay/route.h" |
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enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; |
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enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical }; |
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class Timeline { |
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public: |
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struct Entry { |
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double start_time; |
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double end_time; |
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TimelineType type; |
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std::string text1; |
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std::string text2; |
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}; |
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Timeline() : timeline_entries_(std::make_shared<std::vector<Entry>>()) {} |
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~Timeline(); |
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void initialize(const Route &route, uint64_t route_start_ts, bool local_cache, |
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std::function<void(std::shared_ptr<LogReader>)> callback); |
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std::optional<uint64_t> find(double cur_ts, FindFlag flag) const; |
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std::optional<Entry> findAlertAtTime(double target_time) const; |
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const std::shared_ptr<std::vector<Entry>> get() const { return timeline_entries_; } |
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private: |
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void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache, |
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std::function<void(std::shared_ptr<LogReader>)> callback); |
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void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds); |
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void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional<size_t> &idx, double seconds); |
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std::thread thread_; |
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std::atomic<bool> should_exit_ = false; |
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// Temporarily holds entries before they are sorted and finalized
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std::vector<Entry> staging_entries_; |
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// Final sorted timeline entries
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std::shared_ptr<std::vector<Entry>> timeline_entries_; |
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}; |
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