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47 lines
1.2 KiB
47 lines
1.2 KiB
#pragma once
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#include <unordered_map>
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#include <cassert>
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "selfdrive/camerad/cameras/camera_common.h"
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const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
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const int MAX_CAMERAS = std::size(ALL_CAMERAS);
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class Event {
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public:
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Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
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// construct a dummy Event for binary search, e.g std::upper_bound
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this->which = which;
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this->mono_time = mono_time;
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}
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Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
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inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }
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struct lessThan {
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inline bool operator()(const Event *l, const Event *r) {
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return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
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}
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};
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uint64_t mono_time;
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cereal::Event::Which which;
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cereal::Event::Reader event;
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capnp::FlatArrayMessageReader reader;
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kj::ArrayPtr<const capnp::word> words;
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bool frame;
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};
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class LogReader {
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public:
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LogReader() = default;
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~LogReader();
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bool load(const std::string &file, bool is_bz2file);
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std::vector<Event*> events;
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private:
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std::string raw_;
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};
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