openpilot_comma/selfdrive/ui/replay/logreader.h

#pragma once

#include <memory_resource>

#include "cereal/gen/cpp/log.capnp.h"
#include "selfdrive/camerad/cameras/camera_common.h"

const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
const int MAX_CAMERAS = std::size(ALL_CAMERAS);
const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000;

class Event {
public:
  Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
    // construct a dummy Event for binary search, e.g std::upper_bound
    this->which = which;
    this->mono_time = mono_time;
  }
  Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
  inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }

  struct lessThan {
    inline bool operator()(const Event *l, const Event *r) {
      return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
    }
  };

  void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
    return mbr->allocate(size);
  }
  void operator delete(void *ptr) {
    // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed. 
  }

  uint64_t mono_time;
  cereal::Event::Which which;
  cereal::Event::Reader event;
  capnp::FlatArrayMessageReader reader;
  kj::ArrayPtr<const capnp::word> words;
  bool frame;
};

class LogReader {
public:
  LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
  ~LogReader();
  bool load(const std::string &file);

  std::vector<Event*> events;

private:
  std::string raw_;
  std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
  void *pool_buffer_ = nullptr;
};