You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
64 lines
2.0 KiB
64 lines
2.0 KiB
#pragma once
|
|
|
|
#if __has_include(<memory_resource>)
|
|
#define HAS_MEMORY_RESOURCE 1
|
|
#include <memory_resource>
|
|
#endif
|
|
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
|
#include "system/camerad/cameras/camera_common.h"
|
|
#include "tools/replay/filereader.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:
|
|
Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
|
|
// construct a dummy Event for binary search, e.g std::upper_bound
|
|
this->which = which;
|
|
this->mono_time = mono_time;
|
|
}
|
|
Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
|
|
inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }
|
|
|
|
struct lessThan {
|
|
inline bool operator()(const Event *l, const Event *r) {
|
|
return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
|
|
}
|
|
};
|
|
|
|
#if HAS_MEMORY_RESOURCE
|
|
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.
|
|
}
|
|
#endif
|
|
|
|
uint64_t mono_time;
|
|
cereal::Event::Which which;
|
|
cereal::Event::Reader event;
|
|
capnp::FlatArrayMessageReader reader;
|
|
kj::ArrayPtr<const capnp::word> words;
|
|
bool frame;
|
|
};
|
|
|
|
class LogReader {
|
|
public:
|
|
LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
|
|
~LogReader();
|
|
bool load(const std::string &url, std::atomic<bool> *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0);
|
|
bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
|
|
|
|
std::vector<Event*> events;
|
|
|
|
private:
|
|
std::string raw_;
|
|
#ifdef HAS_MEMORY_RESOURCE
|
|
std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
|
|
void *pool_buffer_ = nullptr;
|
|
#endif
|
|
};
|
|
|