replay: thread safe merge & free logs (#22196)

old-commit-hash: a1a0201069

selfdrive/ui/replay/replay.cc

@@ -80,36 +80,37 @@ void Replay::addSegment(int n) {
   t->start();
 }
 
-void Replay::removeSegment(int n) {
-  // TODO: fix LogReader destructors
-  /*
-  if (lrs.contains(n)) {
-    auto lr = lrs.take(n);
-    delete lr;
-  }
-
-  events_lock.lockForWrite();
-  auto eit = events.begin();
-  while (eit != events.end()) {
-    if(std::abs(eit.key()/1e9 - getCurrentTime()/1e9) > 60.0){
-      eit = events.erase(eit);
-      continue;
+void Replay::mergeEvents() {
+  const int start_idx = std::max(current_segment - BACKWARD_SEGS, 0);
+  const int end_idx = std::min(current_segment + FORWARD_SEGS, log_paths.size());
+
+  // merge logs
+  QMultiMap<uint64_t, Event *> *new_events = new QMultiMap<uint64_t, Event *>();
+  std::unordered_map<uint32_t, EncodeIdx> *new_eidx = new std::unordered_map<uint32_t, EncodeIdx>[MAX_CAMERAS];
+  for (int i = start_idx; i <= end_idx; ++i) {
+    if (auto it = lrs.find(i); it != lrs.end()) {
+      *new_events += (*it)->events;
+      for (CameraType cam_type : ALL_CAMERAS) {
+        new_eidx[cam_type].merge((*it)->eidx[cam_type]);
       }
-    eit++;
     }
-  events_lock.unlock();
-  */
-  if (frs.contains(n)) {
-    auto fr = frs.take(n);
-    delete fr;
   }
-}
 
-void Replay::mergeEvents() {
-  LogReader *log = qobject_cast<LogReader *>(sender());
-  events += log->events;
-  for (CameraType cam_type : ALL_CAMERAS) {
-    eidx[cam_type].merge(log->eidx[cam_type]);
+  // update logs
+  updating_events = true; // set updating_events to true to force stream thread relase the lock
+  lock.lock();
+  auto prev_events = std::exchange(events, new_events);
+  auto prev_eidx = std::exchange(eidx, new_eidx);
+  lock.unlock();
+
+  // free logs
+  delete prev_events;
+  delete[] prev_eidx;
+  for (int i = 0; i < log_paths.size(); i++) {
+    if (i < start_idx || i > end_idx) {
+      delete lrs.take(i);
+      delete frs.take(i);
+    }
   }
 }
 
@@ -139,18 +140,17 @@ void Replay::seekTime(int ts) {
 
   seek_ts = ts;
   current_segment = ts/60;
+  updating_events = true;
 }
 
 void Replay::segmentQueueThread() {
   // maintain the segment window
   while (true) {
-    for (int i = 0; i < log_paths.size(); i++) {
     int start_idx = std::max(current_segment - BACKWARD_SEGS, 0);
     int end_idx = std::min(current_segment + FORWARD_SEGS, log_paths.size());
+    for (int i = 0; i < log_paths.size(); i++) {
       if (i >= start_idx && i <= end_idx) {
         addSegment(i);
-      } else {
-        removeSegment(i);
       }
     }
     QThread::msleep(100);
@@ -196,8 +196,11 @@ void Replay::stream() {
   timer.start();
 
   route_start_ts = 0;
+  uint64_t cur_mono_time = 0;
   while (true) {
-    if (events.size() == 0) {
+    std::unique_lock lk(lock);
+
+    if (!events || events->size() == 0) {
       qDebug() << "waiting for events";
       QThread::msleep(100);
       continue;
@@ -205,40 +208,33 @@ void Replay::stream() {
 
     // TODO: use initData's logMonoTime
     if (route_start_ts == 0) {
-      route_start_ts = events.firstKey();
+      route_start_ts = events->firstKey();
     }
 
-    uint64_t t0 = route_start_ts + (seek_ts * 1e9);
+    uint64_t t0 = seek_ts != -1 ? route_start_ts + (seek_ts * 1e9) : cur_mono_time;
     seek_ts = -1;
     qDebug() << "unlogging at" << int((t0 - route_start_ts) / 1e9);
-
-    // wait until we have events within 1s of the current time
-    auto eit = events.lowerBound(t0);
-    while (eit.key() - t0 > 1e9) {
-      eit = events.lowerBound(t0);
-      QThread::msleep(10);
-    }
-
     uint64_t t0r = timer.nsecsElapsed();
-    while ((eit != events.end()) && seek_ts < 0) {
+
+    for (auto eit = events->lowerBound(t0); !updating_events && eit != events->end(); ++eit) {
       cereal::Event::Reader e = (*eit)->event;
+      cur_mono_time = (*eit)->mono_time;
       std::string type;
       KJ_IF_MAYBE(e_, static_cast<capnp::DynamicStruct::Reader>(e).which()) {
         type = e_->getProto().getName();
       }
 
-      uint64_t tm = e.getLogMonoTime();
-      current_ts = std::max(tm - route_start_ts, (uint64_t)0) / 1e9;
+      current_ts = std::max(cur_mono_time - route_start_ts, (uint64_t)0) / 1e9;
 
       if (socks.contains(type)) {
-        float timestamp = (tm - route_start_ts)/1e9;
+        float timestamp = (cur_mono_time - route_start_ts)/1e9;
         if (std::abs(timestamp - last_print) > 5.0) {
           last_print = timestamp;
           qInfo() << "at " << int(last_print) << "s";
         }
 
         // keep time
-        long etime = tm-t0;
+        long etime = cur_mono_time-t0;
         long rtime = timer.nsecsElapsed() - t0r;
         long us_behind = ((etime-rtime)*1e-3)+0.5;
         if (us_behind > 0 && us_behind < 1e6) {
@@ -287,8 +283,8 @@ void Replay::stream() {
           sm->update_msgs(nanos_since_boot(), messages);
         }
       }
-
-      ++eit;
     }
+    updating_events = false;
+    usleep(0);
   }
 }

selfdrive/ui/replay/replay.h

@@ -4,7 +4,6 @@
 #include <termios.h>
 
 #include <QJsonArray>
-#include <QReadWriteLock>
 #include <QThread>
 
 #include <capnp/dynamic.h>
@@ -15,11 +14,9 @@
 #include "selfdrive/ui/replay/filereader.h"
 #include "selfdrive/ui/replay/framereader.h"
 
-
 constexpr int FORWARD_SEGS = 2;
 constexpr int BACKWARD_SEGS = 2;
 
-
 class Replay : public QObject {
   Q_OBJECT
 
@@ -28,7 +25,6 @@ public:
 
   void start();
   void addSegment(int n);
-  void removeSegment(int n);
   void seekTime(int ts);
 
 public slots:
@@ -50,9 +46,10 @@ private:
   QThread *queue_thread;
 
   // logs
-  QMultiMap<uint64_t, Event*> events;
-  QReadWriteLock events_lock;
-  std::unordered_map<uint32_t, EncodeIdx> eidx[MAX_CAMERAS];
+  std::mutex lock;
+  std::atomic<bool> updating_events = false;
+  QMultiMap<uint64_t, Event *> *events = nullptr;
+  std::unordered_map<uint32_t, EncodeIdx> *eidx = nullptr;
 
   HttpRequest *http;
   QJsonArray camera_paths;