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81 lines
2.5 KiB
81 lines
2.5 KiB
#include "selfdrive/ui/replay/logreader.h"
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#include <algorithm>
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#include "selfdrive/ui/replay/util.h"
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Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
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words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
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event = reader.getRoot<cereal::Event>();
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which = event.which();
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mono_time = event.getLogMonoTime();
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// 1) Send video data at t=timestampEof/timestampSof
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// 2) Send encodeIndex packet at t=logMonoTime
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if (frame) {
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auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
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// C2 only has eof set, and some older routes have neither
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uint64_t sof = idx.getTimestampSof();
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uint64_t eof = idx.getTimestampEof();
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if (sof > 0) {
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mono_time = sof;
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} else if (eof > 0) {
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mono_time = eof;
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}
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}
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}
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// class LogReader
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LogReader::LogReader(bool local_cache, int chunk_size, int retries, size_t memory_pool_block_size) : FileReader(local_cache, chunk_size, retries) {
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#ifdef HAS_MEMORY_RESOURCE
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const size_t buf_size = sizeof(Event) * memory_pool_block_size;
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pool_buffer_ = ::operator new(buf_size);
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mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
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#endif
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events.reserve(memory_pool_block_size);
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}
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LogReader::~LogReader() {
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for (Event *e : events) {
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delete e;
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}
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#ifdef HAS_MEMORY_RESOURCE
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delete mbr_;
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::operator delete(pool_buffer_);
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#endif
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}
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bool LogReader::load(const std::string &file, std::atomic<bool> *abort) {
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raw_ = decompressBZ2(read(file, abort));
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if (raw_.empty()) return false;
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kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
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while (words.size() > 0) {
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try {
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#ifdef HAS_MEMORY_RESOURCE
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Event *evt = new (mbr_) Event(words);
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#else
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Event *evt = new Event(words);
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#endif
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// Add encodeIdx packet again as a frame packet for the video stream
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if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
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evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
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evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
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#ifdef HAS_MEMORY_RESOURCE
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Event *frame_evt = new (mbr_) Event(words, true);
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#else
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Event *frame_evt = new Event(words, true);
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#endif
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events.push_back(frame_evt);
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}
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words = kj::arrayPtr(evt->reader.getEnd(), words.end());
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events.push_back(evt);
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} catch (const kj::Exception &e) {
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return false;
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}
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}
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std::sort(events.begin(), events.end(), Event::lessThan());
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return true;
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}
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