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@ -9,35 +9,23 @@ |
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#include "common/timing.h" |
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#include "tools/replay/util.h" |
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Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) |
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: sm(sm_), flags_(flags), QObject(parent) { |
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std::vector<const char *> s; |
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Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, |
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uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { |
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if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { |
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block << "uiDebug" << "userFlag"; |
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} |
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auto event_struct = capnp::Schema::from<cereal::Event>().asStruct(); |
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sockets_.resize(event_struct.getUnionFields().size()); |
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for (const auto &it : services) { |
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auto name = it.second.name.c_str(); |
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uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); |
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if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && |
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!(flags & REPLAY_FLAG_ALL_SERVICES) && |
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!allow.contains(name)) { |
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continue; |
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} |
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if ((allow.empty() || allow.contains(name)) && !block.contains(name)) { |
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sockets_[which] = name; |
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if (!allow.empty() || !block.empty()) { |
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allow_list.insert((cereal::Event::Which)which); |
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} |
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s.push_back(name); |
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for (const auto &[name, _] : services) { |
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if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) { |
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uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); |
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sockets_[which] = name.c_str(); |
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} |
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} |
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if (!allow_list.empty()) { |
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// the following events are needed for replay to work properly.
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allow_list.insert(cereal::Event::Which::INIT_DATA); |
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allow_list.insert(cereal::Event::Which::CAR_PARAMS); |
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} |
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std::vector<const char *> s; |
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std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s), |
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[](const char *name) { return name != nullptr; }); |
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qDebug() << "services " << s; |
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qDebug() << "loading route " << route; |
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@ -150,7 +138,7 @@ void Replay::buildTimeline() { |
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const auto &route_segments = route_->segments(); |
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for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { |
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std::shared_ptr<LogReader> log(new LogReader()); |
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if (!log->load(it->second.qlog.toStdString(), &exit_, {}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; |
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if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; |
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for (const Event *e : log->events) { |
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if (e->which == cereal::Event::Which::CONTROLS_STATE) { |
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@ -233,30 +221,17 @@ void Replay::segmentLoadFinished(bool success) { |
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} |
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void Replay::queueSegment() { |
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if (segments_.empty()) return; |
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SegmentMap::iterator begin, cur; |
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begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); |
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int distance = std::max<int>(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end())); |
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for (int i = 0; begin != segments_.begin() && i < distance; ++i) { |
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--begin; |
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} |
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auto end = begin; |
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for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) { |
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++end; |
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} |
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auto cur = segments_.lower_bound(current_segment_.load()); |
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if (cur == segments_.end()) return; |
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auto begin = std::prev(cur, std::min<int>(segment_cache_limit / 2, std::distance(segments_.begin(), cur))); |
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auto end = std::next(begin, std::min<int>(segment_cache_limit, segments_.size())); |
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// load one segment at a time
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for (auto it = cur; it != end; ++it) { |
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auto &[n, seg] = *it; |
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if ((seg && !seg->isLoaded()) || !seg) { |
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if (!seg) { |
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rDebug("loading segment %d...", n); |
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seg = std::make_unique<Segment>(n, route_->at(n), flags_, allow_list); |
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QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); |
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} |
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break; |
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} |
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auto it = std::find_if(cur, end, [](auto &it) { return !it.second || !it.second->isLoaded(); }); |
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if (it != end && !it->second) { |
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rDebug("loading segment %d...", it->first); |
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it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_); |
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QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); |
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} |
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mergeSegments(begin, end); |
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@ -293,13 +268,11 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: |
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new_events_->clear(); |
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new_events_->reserve(new_events_size); |
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for (int n : segments_need_merge) { |
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const auto &e = segments_[n]->log->events; |
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if (e.size() > 0) { |
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auto insert_from = e.begin(); |
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if (new_events_->size() > 0 && (*insert_from)->which == cereal::Event::Which::INIT_DATA) ++insert_from; |
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auto middle = new_events_->insert(new_events_->end(), insert_from, e.end()); |
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std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan()); |
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} |
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size_t size = new_events_->size(); |
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const auto &events = segments_[n]->log->events; |
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std::copy_if(events.begin(), events.end(), std::back_inserter(*new_events_), |
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[this](auto e) { return e->which < sockets_.size() && sockets_[e->which] != nullptr; }); |
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std::inplace_merge(new_events_->begin(), new_events_->begin() + size, new_events_->end(), Event::lessThan()); |
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} |
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if (stream_thread_) { |
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@ -414,7 +387,7 @@ void Replay::stream() { |
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cur_mono_time_ = evt->mono_time; |
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setCurrentSegment(toSeconds(cur_mono_time_) / 60); |
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if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) { |
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if (sockets_[cur_which] != nullptr) { |
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// keep time
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long etime = (cur_mono_time_ - evt_start_ts) / speed_; |
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long rtime = nanos_since_boot() - loop_start_ts; |
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Dean Lee
1 year ago
committed by
GitHub