openpilot_comma/tools/replay/route.cc

#include "tools/replay/route.h"

#include <QDir>
#include <QEventLoop>
#include <QJsonArray>
#include <QJsonDocument>
#include <QtConcurrent>
#include <array>
#include <filesystem>
#include <regex>

#include "selfdrive/ui/qt/api.h"
#include "system/hardware/hw.h"
#include "tools/replay/replay.h"
#include "tools/replay/util.h"

Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) {
  route_ = parseRoute(route);
}

RouteIdentifier Route::parseRoute(const std::string &str) {
  RouteIdentifier identifier = {};
  static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)");
  std::smatch match;

  if (std::regex_match(str, match, pattern)) {
    identifier.dongle_id = match[2].str();
    identifier.timestamp = match[3].str();
    identifier.str = identifier.dongle_id + "|" + identifier.timestamp;

    const auto separator = match[5].str();
    const auto range_str = match[6].str();
    if (!range_str.empty()) {
      if (separator == "/") {
        int pos = range_str.find(':');
        int begin_seg = std::stoi(range_str.substr(0, pos));
        identifier.begin_segment = identifier.end_segment = begin_seg;
        if (pos != std::string::npos) {
          auto end_seg_str = range_str.substr(pos + 1);
          identifier.end_segment = end_seg_str.empty() ? -1 : std::stoi(end_seg_str);
        }
      } else if (separator == "--") {
        identifier.begin_segment = std::atoi(range_str.c_str());
      }
    }
  }
  return identifier;
}

bool Route::load() {
  err_ = RouteLoadError::None;
  if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) {
    rInfo("invalid route format");
    return false;
  }
  date_time_ = QDateTime::fromString(route_.timestamp.c_str(), "yyyy-MM-dd--HH-mm-ss");
  bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal();
  if (ret) {
    if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first;
    if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first;
    for (auto it = segments_.begin(); it != segments_.end(); /**/) {
      if (it->first < route_.begin_segment || it->first > route_.end_segment) {
        it = segments_.erase(it);
      } else {
        ++it;
      }
    }
  }
  return !segments_.empty();
}

bool Route::loadFromServer(int retries) {
  for (int i = 1; i <= retries; ++i) {
    QString result;
    QEventLoop loop;
    HttpRequest http(nullptr, !Hardware::PC());
    QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) {
      result = json;
      loop.exit((int)err);
    });
    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files");
    auto err = (QNetworkReply::NetworkError)loop.exec();
    if (err == QNetworkReply::NoError) {
      return loadFromJson(result);
    } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
      rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
      err_ = RouteLoadError::AccessDenied;
      return false;
    } else if (err == QNetworkReply::ContentNotFoundError) {
      rWarning("The specified route could not be found on the server.");
      err_ = RouteLoadError::FileNotFound;
      return false;
    } else {
      err_ = RouteLoadError::NetworkError;
    }
    rWarning("Retrying %d/%d", i, retries);
    util::sleep_for(3000);
  }
  return false;
}

bool Route::loadFromJson(const QString &json) {
  QRegExp rx(R"(\/(\d+)\/)");
  for (const auto &value : QJsonDocument::fromJson(json.trimmed().toUtf8()).object()) {
    for (const auto &url : value.toArray()) {
      QString url_str = url.toString();
      if (rx.indexIn(url_str) != -1) {
        addFileToSegment(rx.cap(1).toInt(), url_str.toStdString());
      }
    }
  }
  return !segments_.empty();
}

bool Route::loadFromLocal() {
  std::string pattern = route_.timestamp + "--";
  for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) {
    if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) {
      std::string segment = entry.path().string();
      int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str());

      for (const auto &file : std::filesystem::directory_iterator(segment)) {
        if (file.is_regular_file()) {
          addFileToSegment(seg_num, file.path().string());
        }
      }
    }
  }
  return !segments_.empty();
}

void Route::addFileToSegment(int n, const std::string &file) {
  std::string name = extractFileName(file);
  auto pos = name.find_last_of("--");
  name = pos != std::string::npos ? name.substr(pos + 2) : name;

  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
    segments_[n].rlog = file;
  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
    segments_[n].qlog = file;
  } else if (name == "fcamera.hevc") {
    segments_[n].road_cam = file;
  } else if (name == "dcamera.hevc") {
    segments_[n].driver_cam = file;
  } else if (name == "ecamera.hevc") {
    segments_[n].wide_road_cam = file;
  } else if (name == "qcamera.ts") {
    segments_[n].qcamera = file;
  }
}

// class Segment

Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters)
    : seg_num(n), flags(flags), filters_(filters) {
  // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
  const std::array file_list = {
      (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam,
      flags & REPLAY_FLAG_DCAM ? files.driver_cam : "",
      flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "",
      files.rlog.empty() ? files.qlog : files.rlog,
  };
  for (int i = 0; i < file_list.size(); ++i) {
    if (!file_list[i].empty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) {
      ++loading_;
      synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i]));
    }
  }
}

Segment::~Segment() {
  disconnect();
  abort_ = true;
  synchronizer_.setCancelOnWait(true);
  synchronizer_.waitForFinished();
}

void Segment::loadFile(int id, const std::string file) {
  const bool local_cache = !(flags & REPLAY_FLAG_NO_FILE_CACHE);
  bool success = false;
  if (id < MAX_CAMERAS) {
    frames[id] = std::make_unique<FrameReader>();
    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
  } else {
    log = std::make_unique<LogReader>(filters_);
    success = log->load(file, &abort_, local_cache, 0, 3);
  }

  if (!success) {
    // abort all loading jobs.
    abort_ = true;
  }

  if (--loading_ == 0) {
    emit loadFinished(!abort_);
  }
}