replay: improve segment downloading (#22504)

* improve segment downloading

dd

* continue

* log retrying

* check aborting_ in loop

* std::endl

* log download information

* cleanup

* continue

* dd

* move download to seperate funciton

* simplify logging

* continue

* guard ts

* cleanup

* typo
old-commit-hash: 8d1d0c2cd7

selfdrive/ui/replay/replay.cc

@@ -160,9 +160,12 @@ void Replay::queueSegment() {
   }
 
   // start stream thread
-  if (stream_thread_ == nullptr && cur != segments_.end() && cur->second->isLoaded()) {
+  bool current_segment_loaded = (cur != segments_.end() && cur->second->isLoaded());
+  if (stream_thread_ == nullptr && current_segment_loaded) {
     startStream(cur->second.get());
   }
+
+  enableHttpLogging(!current_segment_loaded);
 }
 
 void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {

selfdrive/ui/replay/route.cc

@@ -126,8 +126,7 @@ void Segment::loadFile(int id, const std::string file) {
   bool file_ready = util::file_exists(local_file);
 
   if (!file_ready && is_remote) {
-    // TODO: retry on failure
+    file_ready = downloadFile(id, file, local_file);
-    file_ready = httpMultiPartDownload(file, local_file, id < MAX_CAMERAS ? 3 : 1, &aborting_);
   }
 
   if (!aborting_ && file_ready) {
@@ -150,6 +149,22 @@ void Segment::loadFile(int id, const std::string file) {
   }
 }
 
+bool Segment::downloadFile(int id, const std::string &url, const std::string local_file) {
+  bool ret = false;
+  int retries = 0;
+  while (!aborting_) {
+    ret = httpMultiPartDownload(url, local_file, id < MAX_CAMERAS ? 3 : 1, &aborting_);
+    if (ret || aborting_) break;
+
+    if (++retries > max_retries_) {
+      qInfo() << "download failed after retries" << max_retries_;
+      break;
+    }
+    qInfo() << "download failed, retrying" << retries;
+  }
+  return ret;
+}
+
 std::string Segment::cacheFilePath(const std::string &file) {
   QString url_no_query = QUrl(file.c_str()).toString(QUrl::RemoveQuery);
   QString sha256 = QCryptographicHash::hash(url_no_query.toUtf8(), QCryptographicHash::Sha256).toHex();

selfdrive/ui/replay/route.h

@@ -53,9 +53,11 @@ signals:
 
 protected:
   void loadFile(int id, const std::string file);
+  bool downloadFile(int id, const std::string &url, const std::string local_file);
   std::string cacheFilePath(const std::string &file);
 
   std::atomic<bool> success_ = true, aborting_ = false;
   std::atomic<int> loading_ = 0;
-  std::list<QThread*> loading_threads_;
+  std::vector<QThread*> loading_threads_;
+  const int max_retries_ = 3;
 };

selfdrive/ui/replay/tests/test_replay.cc

@@ -13,20 +13,19 @@ std::string sha_256(const QString &dat) {
 
 TEST_CASE("httpMultiPartDownload") {
   char filename[] = "/tmp/XXXXXX";
-  int fd = mkstemp(filename);
+  close(mkstemp(filename));
-  close(fd);
 
-  const char *stream_url = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/fcamera.hevc";
+  const char *stream_url = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
-  SECTION("http 200") {
+  SECTION("5 connections") {
     REQUIRE(httpMultiPartDownload(stream_url, filename, 5));
-    std::string content = util::read_file(filename);
-    REQUIRE(content.size() == 37495242);
-    std::string checksum = sha_256(QString::fromStdString(content));
-    REQUIRE(checksum == "d8ff81560ce7ed6f16d5fb5a6d6dd13aba06c8080c62cfe768327914318744c4");
   }
-  SECTION("http 404") {
+  SECTION("1 connection") {
-    REQUIRE(httpMultiPartDownload(util::string_format("%s_abc", stream_url), filename, 5) == false);
+    REQUIRE(httpMultiPartDownload(stream_url, filename, 1));
   }
+  std::string content = util::read_file(filename);
+  REQUIRE(content.size() == 9112651);
+  std::string checksum = sha_256(QString::fromStdString(content));
+  REQUIRE(checksum == "e44edfbb545abdddfd17020ced2b18b6ec36506152267f32b6a8e3341f8126d6");
 }
 
 int random_int(int min, int max) {

selfdrive/ui/replay/util.cc

@@ -2,6 +2,10 @@
 
 #include <array>
 #include <cassert>
+#include <iostream>
+#include <mutex>
+#include <numeric>
+
 #include <bzlib.h>
 #include <curl/curl.h>
 
@@ -16,21 +20,26 @@ struct CURLGlobalInitializer {
 struct MultiPartWriter {
   int64_t offset;
   int64_t end;
+  int64_t written;
   FILE *fp;
 };
 
-static size_t write_cb(char *data, size_t n, size_t l, void *userp) {
+static size_t write_cb(char *data, size_t size, size_t count, void *userp) {
   MultiPartWriter *w = (MultiPartWriter *)userp;
   fseek(w->fp, w->offset, SEEK_SET);
-  fwrite(data, l, n, w->fp);
+  fwrite(data, size, count, w->fp);
-  w->offset += n * l;
+  size_t bytes = size * count;
-  return n * l;
+  w->offset += bytes;
+  w->written += bytes;
+  return bytes;
 }
 
-static size_t dumy_write_cb(char *data, size_t n, size_t l, void *userp) { return n * l; }
+static size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
 
-int64_t getDownloadContentLength(const std::string &url) {
+int64_t getRemoteFileSize(const std::string &url) {
   CURL *curl = curl_easy_init();
+  if (!curl) return -1;
+
   curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
   curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb);
   curl_easy_setopt(curl, CURLOPT_HEADER, 1);
@@ -39,25 +48,47 @@ int64_t getDownloadContentLength(const std::string &url) {
   double content_length = -1;
   if (res == CURLE_OK) {
     res = curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
+  } else {
+    std::cout << "Download failed: error code: " << res << std::endl;
   }
   curl_easy_cleanup(curl);
   return res == CURLE_OK ? (int64_t)content_length : -1;
 }
 
+std::string formattedDataSize(size_t size) {
+  if (size < 1024) {
+    return std::to_string(size) + " B";
+  } else if (size < 1024 * 1024) {
+    return util::string_format("%.2f KB", (float)size / 1024);
+  } else {
+    return util::string_format("%.2f MB", (float)size / (1024 * 1024));
+  }
+}
+
+static std::atomic<bool> enable_http_logging = false;
+
+void enableHttpLogging(bool enable) {
+  enable_http_logging = enable;
+}
+
 bool httpMultiPartDownload(const std::string &url, const std::string &target_file, int parts, std::atomic<bool> *abort) {
   static CURLGlobalInitializer curl_initializer;
+  static std::mutex lock;
+  static uint64_t total_written = 0, prev_total_written = 0;
+  static double last_print_ts = 0;
 
-  int64_t content_length = getDownloadContentLength(url);
+  int64_t content_length = getRemoteFileSize(url);
-  if (content_length == -1) return false;
+  if (content_length <= 0) return false;
 
   // create a tmp sparse file
-  std::string tmp_file = target_file + ".tmp";
+  const std::string tmp_file = target_file + ".tmp";
   FILE *fp = fopen(tmp_file.c_str(), "wb");
   assert(fp);
   fseek(fp, content_length - 1, SEEK_SET);
   fwrite("\0", 1, 1, fp);
 
   CURLM *cm = curl_multi_init();
+
   std::map<CURL *, MultiPartWriter> writers;
   const int part_size = content_length / parts;
   for (int i = 0; i < parts; ++i) {
@@ -74,44 +105,63 @@ bool httpMultiPartDownload(const std::string &url, const std::string &target_fil
     curl_easy_setopt(eh, CURLOPT_HTTPGET, 1);
     curl_easy_setopt(eh, CURLOPT_NOSIGNAL, 1);
     curl_easy_setopt(eh, CURLOPT_FOLLOWLOCATION, 1);
+
     curl_multi_add_handle(cm, eh);
   }
 
-  int running = 1, success_cnt = 0;
+  int still_running = 1;
-  while (!(abort && abort->load())) {
+  size_t prev_written = 0;
-    CURLMcode ret = curl_multi_perform(cm, &running);
+  while (still_running > 0 && !(abort && *abort)) {
-
+    curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    if (!running) {
+    curl_multi_perform(cm, &still_running);
-      CURLMsg *msg;
+
-      int msgs_left = -1;
+    size_t written = std::accumulate(writers.begin(), writers.end(), 0, [=](int v, auto &w) { return v + w.second.written; });
-      while ((msg = curl_multi_info_read(cm, &msgs_left))) {
+    int cur_written = written - prev_written;
-        if (msg->msg == CURLMSG_DONE && msg->data.result == CURLE_OK) {
+    prev_written = written;
-          int http_status_code = 0;
+
-          curl_easy_getinfo(msg->easy_handle, CURLINFO_RESPONSE_CODE, &http_status_code);
+    std::lock_guard lk(lock);
-          success_cnt += (http_status_code == 206);
+    double ts = millis_since_boot();
-        }
+    total_written += cur_written;
+    if ((ts - last_print_ts) > 2 * 1000) {
+      if (enable_http_logging && last_print_ts > 0) {
+        size_t average = (total_written - prev_total_written) / ((ts - last_print_ts) / 1000.);
+        std::cout << "downloading segments at " << formattedDataSize(average) << "/S" << std::endl;
       }
-      break;
+      prev_total_written = total_written;
+      last_print_ts = ts;
     }
+  }
 
-    if (ret == CURLM_OK) {
+  CURLMsg *msg;
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
+  int msgs_left = -1;
+  int complete = 0;
+  while ((msg = curl_multi_info_read(cm, &msgs_left)) && !(abort && *abort)) {
+    if (msg->msg == CURLMSG_DONE) {
+      if (msg->data.result == CURLE_OK) {
+        long res_status = 0;
+        curl_easy_getinfo(msg->easy_handle, CURLINFO_RESPONSE_CODE, &res_status);
+        if (res_status == 206) {
+          complete++;
+        } else {
+          std::cout << "Download failed: http error code: " << res_status << std::endl;
+        }
+      } else {
+        std::cout << "Download failed: connection failure: " << msg->data.result << std::endl;
+      }
     }
-  };
-
-  fclose(fp);
-  bool success = success_cnt == parts;
-  if (success) {
-    success = ::rename(tmp_file.c_str(), target_file.c_str()) == 0;
   }
 
-  // cleanup curl
   for (auto &[e, w] : writers) {
     curl_multi_remove_handle(cm, e);
     curl_easy_cleanup(e);
   }
+
   curl_multi_cleanup(cm);
-  return success;
+  fclose(fp);
+
+  bool ret = complete == parts;
+  ret = ret && ::rename(tmp_file.c_str(), target_file.c_str()) == 0;
+  return ret;
 }
 
 bool readBZ2File(const std::string_view file, std::ostream &stream) {
@@ -147,7 +197,7 @@ void precise_nano_sleep(long sleep_ns) {
   }
   // spin wait
   if (sleep_ns > 0) {
-    while ((nanos_since_boot() - start_sleep) <= sleep_ns) { 
+    while ((nanos_since_boot() - start_sleep) <= sleep_ns) {
       usleep(0);
     }
   }

selfdrive/ui/replay/util.h

@@ -3,8 +3,8 @@
 #include <atomic>
 #include <ostream>
 #include <string>
-#include <vector>
 
 void precise_nano_sleep(long sleep_ns);
 bool readBZ2File(const std::string_view file, std::ostream &stream);
+void enableHttpLogging(bool enable);
 bool httpMultiPartDownload(const std::string &url, const std::string &target_file, int parts, std::atomic<bool> *abort = nullptr);