openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#include <cstdio>
#include <cstdlib>
#include <cassert>
#include <string>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <kj/io.h>
#include <capnp/serialize.h>
int main(int argc, char** argv) {
if (argc != 3) {
printf("usage: %s <log_path> <index_output_path>\n", argv[0]);
return 1;
}
const std::string log_fn = argv[1];
const std::string index_fn = argv[2];
int log_fd = open(log_fn.c_str(), O_RDONLY, 0);
assert(log_fd >= 0);
off_t log_size = lseek(log_fd, 0, SEEK_END);
lseek(log_fd, 0, SEEK_SET);
FILE* index_f = NULL;
if (index_fn == "-") {
index_f = stdout;
} else {
index_f = fopen(index_fn.c_str(), "wb");
}
assert(index_f);
void* log_data = mmap(NULL, log_size, PROT_READ, MAP_PRIVATE, log_fd, 0);
assert(log_data);
auto words = kj::arrayPtr((const capnp::word*)log_data, log_size/sizeof(capnp::word));
while (words.size() > 0) {
uint64_t idx = ((uintptr_t)words.begin() - (uintptr_t)log_data);
// printf("%llu - %ld\n", idx, words.size());
const char* idx_bytes = (const char*)&idx;
fwrite(idx_bytes, 8, 1, index_f);
try {
capnp::FlatArrayMessageReader reader(words);
words = kj::arrayPtr(reader.getEnd(), words.end());
} catch (kj::Exception exc) {
break;
}
}
munmap(log_data, log_size);
fclose(index_f);
close(log_fd);
return 0;
}