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@ -3,14 +3,13 @@ |
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AbstractStream *can = nullptr; |
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AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { |
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AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { |
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can = this; |
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new_msgs = std::make_unique<QHash<MessageId, CanData>>(); |
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QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection); |
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QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); |
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} |
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void AbstractStream::process(QHash<MessageId, CanData> *messages) { |
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void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) { |
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auto prev_src_size = sources.size(); |
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for (auto it = messages->begin(); it != messages->end(); ++it) { |
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const auto &id = it.key(); |
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@ -26,45 +25,39 @@ void AbstractStream::process(QHash<MessageId, CanData> *messages) { |
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processing = false; |
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} |
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bool AbstractStream::updateEvent(const Event *event) { |
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static double prev_update_ts = 0; |
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if (event->which == cereal::Event::Which::CAN) { |
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double current_sec = event->mono_time / 1e9 - routeStartTime(); |
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for (const auto &c : event->event.getCan()) { |
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MessageId id = {.source = c.getSrc(), .address = c.getAddress()}; |
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const auto dat = c.getDat(); |
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all_msgs[id].compute((const char *)dat.begin(), dat.size(), current_sec, getSpeed()); |
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void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) { |
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all_msgs[id].compute((const char*)data, size, sec, getSpeed()); |
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if (!new_msgs->contains(id)) { |
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new_msgs->insert(id, {}); |
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} |
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} |
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double ts = millis_since_boot(); |
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bool AbstractStream::postEvents() { |
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// delay posting CAN message if UI thread is busy
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if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) { |
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if (!processing) { |
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processing = true; |
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prev_update_ts = ts; |
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for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) { |
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it.value() = all_msgs[it.key()]; |
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} |
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// use pointer to avoid data copy in queued connection.
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emit received(new_msgs.release()); |
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QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection); |
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new_msgs.reset(new QHash<MessageId, CanData>); |
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new_msgs->reserve(100); |
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} |
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} |
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return true; |
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} |
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return false; |
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} |
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const CanData &AbstractStream::lastMessage(const MessageId &id) { |
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static CanData empty_data; |
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static CanData empty_data = {}; |
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auto it = last_msgs.find(id); |
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return it != last_msgs.end() ? it.value() : empty_data; |
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} |
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// it is thread safe to update data in updateLastMsgsTo.
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// updateEvent will not be called before replayStream::seekedTo return.
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// updateLastMsgsTo is always called in UI thread.
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void AbstractStream::updateLastMsgsTo(double sec) { |
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new_msgs->clear(); |
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new_msgs.reset(new QHash<MessageId, CanData>); |
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all_msgs.clear(); |
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last_msgs.clear(); |
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@ -89,7 +82,7 @@ void AbstractStream::updateLastMsgsTo(double sec) { |
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}); |
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} |
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void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<CanEvent *>> &msgs, |
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void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<const CanEvent *>> &msgs, |
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std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) { |
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size_t memory_size = 0; |
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for (auto it = first; it != last; ++it) { |
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@ -101,22 +94,24 @@ void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<CanEve |
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} |
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char *ptr = memory_blocks.emplace_back(new char[memory_size]).get(); |
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uint64_t ts = 0; |
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for (auto it = first; it != last; ++it) { |
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if ((*it)->which == cereal::Event::Which::CAN) { |
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ts = (*it)->mono_time; |
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uint64_t ts = (*it)->mono_time; |
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for (const auto &c : (*it)->event.getCan()) { |
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auto dat = c.getDat(); |
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CanEvent *e = (CanEvent *)ptr; |
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e->src = c.getSrc(); |
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e->address = c.getAddress(); |
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e->mono_time = ts; |
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auto dat = c.getDat(); |
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e->size = dat.size(); |
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memcpy(e->dat, (uint8_t *)dat.begin(), e->size); |
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msgs[{.source = c.getSrc(), .address = c.getAddress()}].push_back(e); |
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msgs[{.source = e->src, .address = e->address}].push_back(e); |
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all_events_.push_back(e); |
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ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size; |
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} |
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} |
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} |
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last_event_ts = std::max(last_event_ts, ts); |
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} |
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void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append) { |
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@ -125,7 +120,7 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std |
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if (append) { |
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parseEvents(events_, first, last); |
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} else { |
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std::unordered_map<MessageId, std::deque<CanEvent *>> new_events; |
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std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events; |
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parseEvents(new_events, first, last); |
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for (auto &[id, new_e] : new_events) { |
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auto &e = events_[id]; |
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@ -133,6 +128,7 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std |
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e.insert(it, new_e.cbegin(), new_e.cend()); |
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} |
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} |
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total_sec = (all_events_.back()->mono_time - all_events_.front()->mono_time) / 1e9; |
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emit eventsMerged(); |
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} |
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Dean Lee
2 years ago
committed by
GitHub