cabana: fix wrong total seconds in replay mode (#28015)

* fix total_sec

* fix chart max range

* fix all_evnets order & use vector to improve performance

* dynamic updating max time

* get real time from qlog

* Update tools/cabana/streams/livestream.cc

Co-authored-by: Shane Smiskol <shane@smiskol.com>

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 7f856eafd9

tools/cabana/chart/chartswidget.cc

@@ -188,7 +188,7 @@ void ChartsWidget::updateState() {
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
-    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
+    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
   } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {

tools/cabana/streams/abstractstream.cc

@@ -1,4 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
+
 #include <QTimer>
 
 AbstractStream *can = nullptr;
@@ -26,7 +27,7 @@ void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
 }
 
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
-  all_msgs[id].compute((const char*)data, size, sec, getSpeed());
+  all_msgs[id].compute((const char *)data, size, sec, getSpeed());
   if (!new_msgs->contains(id)) {
     new_msgs->insert(id, {});
   }
@@ -82,18 +83,23 @@ void AbstractStream::updateLastMsgsTo(double sec) {
   });
 }
 
-void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<const CanEvent *>> &msgs,
+void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
-                                 std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
   size_t memory_size = 0;
+  size_t events_cnt = 0;
   for (auto it = first; it != last; ++it) {
     if ((*it)->which == cereal::Event::Which::CAN) {
       for (const auto &c : (*it)->event.getCan()) {
         memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size();
+        ++events_cnt;
       }
     }
   }
+  if (memory_size == 0) return;
 
   char *ptr = memory_blocks.emplace_back(new char[memory_size]).get();
+  std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events_map;
+  std::vector<const CanEvent *> new_events;
+  new_events.reserve(events_cnt);
   for (auto it = first; it != last; ++it) {
     if ((*it)->which == cereal::Event::Which::CAN) {
       uint64_t ts = (*it)->mono_time;
@@ -106,31 +112,28 @@ void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<const
         e->size = dat.size();
         memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
 
-        msgs[{.source = e->src, .address = e->address}].push_back(e);
+        new_events_map[{.source = e->src, .address = e->address}].push_back(e);
-        all_events_.push_back(e);
+        new_events.push_back(e);
         ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size;
       }
     }
   }
-}
-
-void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append) {
-  if (first == last) return;
 
-  if (append) {
+  bool append = new_events.front()->mono_time > lastest_event_ts;
-    parseEvents(events_, first, last);
+  for (auto &[id, new_e] : new_events_map) {
-  } else {
+    auto &e = events_[id];
-    std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events;
+    auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) {
-    parseEvents(new_events, first, last);
+      return l->mono_time < r->mono_time;
-    for (auto &[id, new_e] : new_events) {
+    });
-      auto &e = events_[id];
+    e.insert(pos, new_e.cbegin(), new_e.cend());
-      auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) {
-        return l->mono_time < r->mono_time;
-      });
-      e.insert(it, new_e.cbegin(), new_e.cend());
-    }
   }
-  total_sec = (all_events_.back()->mono_time - all_events_.front()->mono_time) / 1e9;
+
+  auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) {
+    return l->mono_time < r->mono_time;
+  });
+  all_events_.insert(pos, new_events.cbegin(), new_events.cend());
+
+  lastest_event_ts = all_events_.back()->mono_time;
   emit eventsMerged();
 }
 

tools/cabana/streams/abstractstream.h

@@ -41,13 +41,12 @@ public:
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {};
   inline bool liveStreaming() const { return route() == nullptr; }
-  inline double lastEventSecond() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
   virtual double routeStartTime() const { return 0; }
   virtual double currentSec() const = 0;
-  double totalSeconds() const { return total_sec; }
+  virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
   const CanData &lastMessage(const MessageId &id);
   virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
   virtual const Route *route() const { return nullptr; }
@@ -55,8 +54,8 @@ public:
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
-  const std::deque<const CanEvent *> &allEvents() const { return all_events_; }
+  const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
-  const std::deque<const CanEvent *> &events(const MessageId &id) const { return events_.at(id); }
+  const std::vector<const CanEvent *> &events(const MessageId &id) const { return events_.at(id); }
   virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
 
 signals:
@@ -74,20 +73,19 @@ public:
   SourceSet sources;
 
 protected:
-  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append);
+  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
   bool postEvents();
-  uint64_t lastEventMonoTime() const { return all_events_.empty() ? 0 : all_events_.back()->mono_time; }
+  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
   void updateMessages(QHash<MessageId, CanData> *);
-  void parseEvents(std::unordered_map<MessageId, std::deque<const CanEvent *>> &msgs, std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
   void updateLastMsgsTo(double sec);
 
-  double total_sec = 0;
+  uint64_t lastest_event_ts = 0;
   std::atomic<bool> processing = false;
   std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
   QHash<MessageId, CanData> all_msgs;
-  std::unordered_map<MessageId, std::deque<const CanEvent *>> events_;
+  std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
-  std::deque<const CanEvent *> all_events_;
+  std::vector<const CanEvent *> all_events_;
   std::deque<std::unique_ptr<char[]>> memory_blocks;
 };
 

tools/cabana/streams/livestream.cc

@@ -52,7 +52,7 @@ void LiveStream::timerEvent(QTimerEvent *event) {
     {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
-      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend(), true);
+      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend());
       receivedEvents.clear();
       receivedMessages.clear();
     }
@@ -67,7 +67,6 @@ void LiveStream::timerEvent(QTimerEvent *event) {
 
 void LiveStream::updateEvents() {
   static double prev_speed = 1.0;
-  static uint64_t prev_newest_event_ts = all_events_.back()->mono_time;
 
   if (first_update_ts == 0) {
     first_update_ts = nanos_since_boot();
@@ -82,16 +81,13 @@ void LiveStream::updateEvents() {
     return;
   }
 
-  uint64_t last_event_ts = all_events_.back()->mono_time;
+  uint64_t last_ts = post_last_event && speed_ == 1.0
-  bool at_the_end = current_event_ts == prev_newest_event_ts;
+                       ? all_events_.back()->mono_time
-  if (!at_the_end) {
+                       : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
-    last_event_ts = first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
-  }
-
   auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) {
     return ts < e->mono_time;
   });
-  auto last = std::upper_bound(first, all_events_.cend(), last_event_ts, [](uint64_t ts, auto e) {
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) {
     return ts < e->mono_time;
   });
 
@@ -102,14 +98,13 @@ void LiveStream::updateEvents() {
     current_event_ts = e->mono_time;
   }
   postEvents();
-  prev_newest_event_ts = all_events_.back()->mono_time;
 }
 
 void LiveStream::seekTo(double sec) {
   sec = std::max(0.0, sec);
   first_update_ts = nanos_since_boot();
-  first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
-  current_event_ts = first_event_ts;
+  post_last_event = (first_event_ts == lastEventMonoTime());
   emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
 }
 

tools/cabana/streams/livestream.h

@@ -50,6 +50,7 @@ private:
   uint64_t current_event_ts = 0;
   uint64_t first_event_ts = 0;
   uint64_t first_update_ts = 0;
+  bool post_last_event = true;
   double speed_ = 1;
   bool paused_ = false;
 };

tools/cabana/streams/replaystream.cc

@@ -25,10 +25,9 @@ static bool event_filter(const Event *e, void *opaque) {
 void ReplayStream::mergeSegments() {
   for (auto &[n, seg] : replay->segments()) {
     if (seg && seg->isLoaded() && !processed_segments.count(n)) {
-      const auto &events = seg->log->events;
-      bool append = processed_segments.empty() || *processed_segments.rbegin() < n;
       processed_segments.insert(n);
-      mergeEvents(events.cbegin(), events.cend(), append);
+      const auto &events = seg->log->events;
+      mergeEvents(events.cbegin(), events.cend());
     }
   }
 }

tools/cabana/streams/replaystream.h

@@ -13,6 +13,7 @@ public:
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); };
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  double totalSeconds() const override { return replay->totalSeconds(); }
   inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
   inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const override { return replay->currentSeconds(); }

tools/cabana/videowidget.cc

@@ -113,21 +113,25 @@ QWidget *VideoWidget::createCameraWidget() {
   l->addLayout(slider_layout);
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
   QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); });
+  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
-  QObject::connect(can, &AbstractStream::eventsMerged, [this]() {
+  QObject::connect(can, &AbstractStream::streamStarted, [this]() { setMaximumTime(can->totalSeconds()); });
-    end_time_label->setText(utils::formatSeconds(can->totalSeconds()));
-    slider->setRange(0, can->totalSeconds() * 1000);
-  });
   return w;
 }
 
+void VideoWidget::setMaximumTime(double sec) {
+  maximum_time = sec;
+  end_time_label->setText(utils::formatSeconds(sec));
+  slider->setRange(0, sec * 1000);
+}
+
 void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
   if (can->liveStreaming()) return;
 
   if (!is_zoomed) {
     min = 0;
-    max = can->totalSeconds();
+    max = maximum_time;
   }
   end_time_label->setText(utils::formatSeconds(max));
   slider->setRange(min * 1000, max * 1000);
@@ -180,10 +184,15 @@ void Slider::streamStarted() {
 
 void Slider::loadThumbnails() {
   const auto &segments = can->route()->segments();
+  double max_time = 0;
   for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) {
     LogReader log;
     std::string qlog = it->second.qlog.toStdString();
     if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
+      if (max_time == 0 && !log.events.empty()) {
+        max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime();
+        emit updateMaximumTime(max_time);
+      }
       for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
         if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
           auto thumb = (*ev)->event.getThumbnail();

tools/cabana/videowidget.h

@@ -37,6 +37,9 @@ public:
   Slider(QWidget *parent);
   ~Slider();
 
+signals:
+  void updateMaximumTime(double);
+
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
@@ -46,6 +49,7 @@ private:
   void streamStarted();
   void loadThumbnails();
 
+  double max_sec = 0;
   int slider_x = -1;
   std::vector<std::tuple<int, int, TimelineType>> timeline;
   std::mutex thumbnail_lock;
@@ -64,6 +68,7 @@ class VideoWidget : public QFrame {
 public:
   VideoWidget(QWidget *parnet = nullptr);
   void rangeChanged(double min, double max, bool is_zommed);
+  void setMaximumTime(double sec);
 
 protected:
   void updateState();
@@ -71,6 +76,7 @@ protected:
   QWidget *createCameraWidget();
 
   CameraWidget *cam_widget;
+  double maximum_time = 0;
   QLabel *end_time_label;
   QLabel *time_label;
   QHBoxLayout *slider_layout;