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