c++ replay: support local routes (#22288)

* support local route

* kind of works

* works

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 43a846843f1a8af33c21afb10195899e8880d775

selfdrive/debug/can_printer.py

@@ -27,7 +27,7 @@ def can_printer(bus, max_msg, addr):
         a = msgs[addr][-1].decode('ascii', 'backslashreplace')
         x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
         if max_msg is None or addr < max_msg:
-          dd += "%04X(%4d)(%6d) %s \"%s\"\n" % (addr, addr, len(msgs[addr]), x, a)
+          dd += "%04X(%4d)(%6d) %s \"%s\"\n" % (addr, addr, len(msgs[addr]), x.ljust(20), a)
       print(dd)
       lp = sec_since_boot()
 

selfdrive/ui/replay/main.cc

@@ -83,6 +83,7 @@ int main(int argc, char *argv[]){
   parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
+  parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   parser.addOption({"dcam", "load driver camera"});
   parser.addOption({"ecam", "load wide road camera"});
 
@@ -96,9 +97,9 @@ int main(int argc, char *argv[]){
   QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
   QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
 
-  Replay *replay = new Replay(route, allow, block, nullptr, parser.isSet("dcam"), parser.isSet("ecam"), &app);
+  Replay *replay = new Replay(route, allow, block, nullptr, parser.isSet("dcam"), parser.isSet("ecam"), parser.value("data_dir"), &app);
   if (!replay->load()) {
-    return 0;  
+    return 0;
   }
   replay->start(parser.value("start").toInt());
   // start keyboard control thread

selfdrive/ui/replay/replay.cc

@@ -9,7 +9,7 @@
 #include "selfdrive/hardware/hw.h"
 #include "selfdrive/ui/replay/util.h"
 
-Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, bool dcam, bool ecam, QObject *parent)
+Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, bool dcam, bool ecam, QString data_dir, QObject *parent)
     : sm(sm_), load_dcam(dcam), load_ecam(ecam), QObject(parent) {
   std::vector<const char *> s;
   auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
@@ -27,7 +27,7 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
   if (sm == nullptr) {
     pm = new PubMaster(s);
   }
-  route_ = std::make_unique<Route>(route);
+  route_ = std::make_unique<Route>(route, data_dir);
   events_ = new std::vector<Event *>();
   // doSeek & queueSegment are always executed in the same thread
   connect(this, &Replay::seekTo, this, &Replay::doSeek);

selfdrive/ui/replay/replay.h

@@ -12,7 +12,8 @@ class Replay : public QObject {
   Q_OBJECT
 
 public:
-  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, bool dcam = false, bool ecam = false, QObject *parent = 0);
+  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, bool dcam = false, bool ecam = false,
+         QString data_dir="", QObject *parent = 0);
   ~Replay();
   bool load();
   void start(int seconds = 0);

selfdrive/ui/replay/route.cc

@@ -12,23 +12,27 @@
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/replay/util.h"
 
-Route::Route(const QString &route) : route_(route) {}
+Route::Route(const QString &route, const QString &data_dir) : route_(route), data_dir_(data_dir) {}
 
 bool Route::load() {
-  QEventLoop loop;
-  auto onError = [&loop](const QString &err) { loop.quit(); };
+  if (data_dir_.isEmpty()) {
+    QEventLoop loop;
+    auto onError = [&loop](const QString &err) { loop.quit(); };
 
-  bool ret = false;
-  HttpRequest http(nullptr, !Hardware::PC());
-  QObject::connect(&http, &HttpRequest::failedResponse, onError);
-  QObject::connect(&http, &HttpRequest::timeoutResponse, onError);
-  QObject::connect(&http, &HttpRequest::receivedResponse, [&](const QString json) {
-    ret = loadFromJson(json);
-    loop.quit();
-  });
-  http.sendRequest("https://api.commadotai.com/v1/route/" + route_ + "/files");
-  loop.exec();
-  return ret;
+    bool ret = false;
+    HttpRequest http(nullptr, !Hardware::PC());
+    QObject::connect(&http, &HttpRequest::failedResponse, onError);
+    QObject::connect(&http, &HttpRequest::timeoutResponse, onError);
+    QObject::connect(&http, &HttpRequest::receivedResponse, [&](const QString json) {
+      ret = loadFromJson(json);
+      loop.quit();
+    });
+    http.sendRequest("https://api.commadotai.com/v1/route/" + route_ + "/files");
+    loop.exec();
+    return ret;
+  } else {
+    return loadFromLocal();
+  }
 }
 
 bool Route::loadFromJson(const QString &json) {
@@ -66,6 +70,40 @@ bool Route::loadFromJson(const QString &json) {
   return true;
 }
 
+bool Route::loadFromLocal() {
+  QString prefix = route_.split('|').last();
+  if (prefix.isEmpty()) return false;
+
+  QDir log_dir(data_dir_);
+  QStringList folders = log_dir.entryList(QDir::Dirs | QDir::NoDot | QDir::NoDotDot, QDir::NoSort);
+  if (folders.isEmpty()) return false;
+
+  for (auto folder : folders) {
+    const int seg_num = folder.split("--")[2].toInt();
+    if (segments_.size() <= seg_num) {
+      segments_.resize(seg_num + 1);
+    }
+    QDir segment_dir(log_dir.filePath(folder));
+    for (auto f : segment_dir.entryList(QDir::Files)) {
+      const QString file_path = segment_dir.absoluteFilePath(f);
+      if (f.startsWith("rlog")) {
+        segments_[seg_num].rlog = file_path;
+      } else if (f.startsWith("qlog")) {
+        segments_[seg_num].qlog = file_path;
+      } else if (f.startsWith("fcamera")) {
+        segments_[seg_num].road_cam = file_path;
+      } else if (f.startsWith("dcamera")) {
+        segments_[seg_num].driver_cam = file_path;
+      } else if (f.startsWith("ecamera")) {
+        segments_[seg_num].wide_road_cam = file_path;
+      } else if (f.startsWith("qcamera")) {
+        segments_[seg_num].qcamera = file_path;
+      }
+    }
+  }
+  return true;
+}
+
 // class Segment
 
 Segment::Segment(int n, const SegmentFile &segment_files, bool load_dcam, bool load_ecam) : seg_num_(n), files_(segment_files) {
@@ -154,7 +192,7 @@ void Segment::load() {
 }
 
 QString Segment::localPath(const QUrl &url) {
-  if (url.isLocalFile()) return url.toString();
+  if (url.isLocalFile() || QFile(url.toString()).exists()) return url.toString();
 
   QByteArray url_no_query = url.toString(QUrl::RemoveQuery).toUtf8();
   return CACHE_DIR.filePath(QString(QCryptographicHash::hash(url_no_query, QCryptographicHash::Sha256).toHex()));

selfdrive/ui/replay/route.h

@@ -23,15 +23,17 @@ struct SegmentFile {
 
 class Route {
 public:
-  Route(const QString &route);
+  Route(const QString &route, const QString &data_dir = {});
   bool load();
   inline const QString &name() const { return route_; };
   inline int size() const { return segments_.size(); }
   inline SegmentFile &at(int n) { return segments_[n]; }
 
 protected:
+  bool loadFromLocal();
   bool loadFromJson(const QString &json);
   QString route_;
+  QString data_dir_;
   std::vector<SegmentFile> segments_;
 };