From c801c65b9dbf83dde9c15317da78f113f3ee6acb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 12 Oct 2021 00:57:35 +0800
Subject: [PATCH] replay: get EncoderIndex from capnp::AnyStruct (#22518)

* get EncoderIndex from capnp::AnyStruct

* const
---
 selfdrive/ui/replay/logreader.cc | 12 +-----------
 selfdrive/ui/replay/replay.cc    | 25 +++++++++++++------------
 2 files changed, 14 insertions(+), 23 deletions(-)

diff --git a/selfdrive/ui/replay/logreader.cc b/selfdrive/ui/replay/logreader.cc
index 3980f5f209..1b88402713 100644
--- a/selfdrive/ui/replay/logreader.cc
+++ b/selfdrive/ui/replay/logreader.cc
@@ -14,17 +14,7 @@ Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(a
   // 1) Send video data at t=timestampEof/timestampSof
   // 2) Send encodeIndex packet at t=logMonoTime
   if (frame) {
-    cereal::EncodeIndex::Reader idx;
-    if (which == cereal::Event::ROAD_ENCODE_IDX) {
-      idx = event.getRoadEncodeIdx();
-    } else if (which == cereal::Event::DRIVER_ENCODE_IDX) {
-      idx = event.getDriverEncodeIdx();
-    } else if (which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
-      idx = event.getWideRoadEncodeIdx();
-    } else {
-      assert(false);
-    }
-
+    auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
     // C2 only has eof set, and some older routes have neither
     uint64_t sof = idx.getTimestampSof();
     uint64_t eof = idx.getTimestampEof();
diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
index dec204b7b3..77f2a1a267 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/selfdrive/ui/replay/replay.cc
@@ -187,19 +187,20 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
 }
 
 void Replay::publishFrame(const Event *e) {
-  auto publish = [=](CameraType cam_type, const cereal::EncodeIndex::Reader &eidx) {
-    int n = eidx.getSegmentNum();
-    bool segment_loaded = std::find(segments_merged_.begin(), segments_merged_.end(), n) != segments_merged_.end();
-    if (segment_loaded && segments_[n]->frames[cam_type] && eidx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
-      camera_server_->pushFrame(cam_type, segments_[n]->frames[cam_type].get(), eidx);
-    }
+  static const std::map<cereal::Event::Which, CameraType> cam_types{
+      {cereal::Event::ROAD_ENCODE_IDX, RoadCam},
+      {cereal::Event::DRIVER_ENCODE_IDX, DriverCam},
+      {cereal::Event::WIDE_ROAD_ENCODE_IDX, WideRoadCam},
   };
-  if (e->which == cereal::Event::ROAD_ENCODE_IDX) {
-    publish(RoadCam, e->event.getRoadEncodeIdx());
-  } else if (e->which == cereal::Event::DRIVER_ENCODE_IDX) {
-    publish(DriverCam, e->event.getDriverEncodeIdx());
-  } else if (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
-    publish(WideRoadCam, e->event.getWideRoadEncodeIdx());
+  auto eidx = capnp::AnyStruct::Reader(e->event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
+  if (std::find(segments_merged_.begin(), segments_merged_.end(), eidx.getSegmentNum()) == segments_merged_.end()) {
+    // eidx's segment is not loaded
+    return;
+  }
+  CameraType cam = cam_types.at(e->which);
+  auto &fr = segments_[eidx.getSegmentNum()]->frames[cam];
+  if (fr && eidx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+    camera_server_->pushFrame(cam, fr.get(), eidx);
   }
 }