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67 lines
2.0 KiB
67 lines
2.0 KiB
#pragma once
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#if __has_include(<memory_resource>)
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#define HAS_MEMORY_RESOURCE 1
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#include <memory_resource>
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#endif
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#include <memory>
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#include <string>
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#include <vector>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "system/camerad/cameras/camera_common.h"
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const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
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const int MAX_CAMERAS = std::size(ALL_CAMERAS);
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const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000;
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class Event {
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public:
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Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
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// construct a dummy Event for binary search, e.g std::upper_bound
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this->which = which;
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this->mono_time = mono_time;
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}
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Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
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inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }
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struct lessThan {
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inline bool operator()(const Event *l, const Event *r) {
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return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
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}
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};
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#if HAS_MEMORY_RESOURCE
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void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
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return mbr->allocate(size);
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}
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void operator delete(void *ptr) {
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// No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed.
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}
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#endif
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uint64_t mono_time;
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cereal::Event::Which which;
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cereal::Event::Reader event;
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capnp::FlatArrayMessageReader reader;
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kj::ArrayPtr<const capnp::word> words;
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bool frame;
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};
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class LogReader {
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public:
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LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
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~LogReader();
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bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
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bool local_cache = false, int chunk_size = -1, int retries = 0);
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bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
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std::vector<Event*> events;
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private:
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bool parse(std::atomic<bool> *abort);
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std::string raw_;
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#ifdef HAS_MEMORY_RESOURCE
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std::unique_ptr<std::pmr::monotonic_buffer_resource> mbr_;
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#endif
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};
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