replay: allocate events in contiguous memory pool (#22535)

* memory pool

* reserve events too

* remove dctor

* cleanup

* move pool into class LogReader

* cleanup include
old-commit-hash: 94b3d4d267

selfdrive/ui/replay/logreader.cc

@@ -27,8 +27,17 @@ Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(a
 
 // class LogReader
 
+LogReader::LogReader(size_t memory_pool_block_size) {
+  const size_t buf_size = sizeof(Event) * memory_pool_block_size;
+  pool_buffer_ = ::operator new(buf_size);
+  mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
+
+  events.reserve(memory_pool_block_size);
+}
+
 LogReader::~LogReader() {
-  for (auto e : events) delete e;
+  delete mbr_;
+  ::operator delete(pool_buffer_);
 }
 
 bool LogReader::load(const std::string &file) {
@@ -47,19 +56,19 @@ bool LogReader::load(const std::string &file) {
   kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
   while (words.size() > 0) {
     try {
-      std::unique_ptr<Event> evt = std::make_unique<Event>(words);
+      Event *evt = new (mbr_) Event(words);
 
       // Add encodeIdx packet again as a frame packet for the video stream
       if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
           evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
           evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
 
-          std::unique_ptr<Event> frame_evt = std::make_unique<Event>(words, true);
+          Event *frame_evt = new (mbr_) Event(words, true);
-          events.push_back(frame_evt.release());
+          events.push_back(frame_evt);
       }
 
       words = kj::arrayPtr(evt->reader.getEnd(), words.end());
-      events.push_back(evt.release());
+      events.push_back(evt);
     } catch (const kj::Exception &e) {
       return false;
     }

selfdrive/ui/replay/logreader.h

@@ -1,11 +1,13 @@
 #pragma once
 
-#include <capnp/serialize.h>
+#include <memory_resource>
+
 #include "cereal/gen/cpp/log.capnp.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
+const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000;
 
 class Event {
 public:
@@ -23,6 +25,13 @@ public:
     }
   };
 
+  void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
+    return mbr->allocate(size);
+  }
+  void operator delete(void *ptr) {
+    // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed. 
+  }
+
   uint64_t mono_time;
   cereal::Event::Which which;
   cereal::Event::Reader event;
@@ -33,7 +42,7 @@ public:
 
 class LogReader {
 public:
-  LogReader() = default;
+  LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
   ~LogReader();
   bool load(const std::string &file);
 
@@ -41,4 +50,6 @@ public:
 
 private:
   std::string raw_;
+  std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
+  void *pool_buffer_ = nullptr;
 };