replay: improve segment loading and event handling (#34490)

improve segment Loading and Event Handling

tools/cabana/streams/abstractstream.cc

@@ -226,7 +226,7 @@ std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const Messag
   if (!time_range) return {events.begin(), events.end()};
 
   auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent());
-  auto last = std::upper_bound(events.begin(), events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
+  auto last = std::upper_bound(first, events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
   return {first, last};
 }
 

tools/replay/replay.cc

@@ -109,6 +109,7 @@ void Replay::seekTo(double seconds, bool relative) {
   interruptStream([&]() {
     current_segment_.store(target_segment);
     cur_mono_time_ = route_start_ts_ + target_time * 1e9;
+    cur_which_ = cereal::Event::Which::INIT_DATA;
     seeking_to_.store(target_time, std::memory_order_relaxed);
     return false;
   });
@@ -250,7 +251,6 @@ void Replay::publishFrame(const Event *e) {
 
 void Replay::streamThread() {
   stream_thread_id = pthread_self();
-  cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
   std::unique_lock lk(stream_lock_);
 
   while (true) {
@@ -259,7 +259,7 @@ void Replay::streamThread() {
 
     event_data_ = seg_mgr_->getEventData();
     const auto &events = event_data_->events;
-    auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which, cur_mono_time_, {}));
+    auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which_, cur_mono_time_, {}));
     if (first == events.cend()) {
       rInfo("waiting for events...");
       events_ready_ = false;
@@ -273,9 +273,7 @@ void Replay::streamThread() {
       camera_server_->waitForSent();
     }
 
-    if (it != events.cend()) {
-      cur_which = it->which;
-    } else if (!hasFlag(REPLAY_FLAG_NO_LOOP)) {
+    if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
       int last_segment = seg_mgr_->route_.segments().rbegin()->first;
       if (event_data_->isSegmentLoaded(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
@@ -302,10 +300,12 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       seg_mgr_->setCurrentSegment(segment);
     }
 
+    cur_mono_time_ = evt.mono_time;
+    cur_which_ = evt.which;
+
     // Skip events if socket is not present
     if (!sockets_[evt.which]) continue;
 
-    cur_mono_time_ = evt.mono_time;
     const uint64_t current_nanos = nanos_since_boot();
     const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts);
 

tools/replay/replay.h

@@ -93,6 +93,7 @@ private:
   std::time_t route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
+  cereal::Event::Which cur_which_ = cereal::Event::Which::INIT_DATA;
   double min_seconds_ = 0;
   double max_seconds_ = 0;
   SubMaster *sm_ = nullptr;

tools/replay/seg_mgr.cc

@@ -6,7 +6,6 @@ SegmentManager::~SegmentManager() {
   {
     std::unique_lock lock(mutex_);
     exit_ = true;
-    onSegmentMergedCallback_ = nullptr;
   }
   cv_.notify_one();
   if (thread_.joinable()) thread_.join();
@@ -37,6 +36,8 @@ bool SegmentManager::load() {
 void SegmentManager::setCurrentSegment(int seg_num) {
   {
     std::unique_lock lock(mutex_);
+    if (cur_seg_num_ == seg_num) return;
+
     cur_seg_num_ = seg_num;
     needs_update_ = true;
   }
@@ -58,6 +59,8 @@ void SegmentManager::manageSegmentCache() {
     auto end = std::next(begin, std::min<int>(segment_cache_limit_, std::distance(begin, segments_.end())));
     begin = std::prev(end, std::min<int>(segment_cache_limit_, std::distance(segments_.begin(), end)));
 
+    lock.unlock();
+
     loadSegmentsInRange(begin, cur, end);
     bool merged = mergeSegments(begin, end);
 
@@ -65,8 +68,6 @@ void SegmentManager::manageSegmentCache() {
     std::for_each(segments_.begin(), begin, [](auto &segment) { segment.second.reset(); });
     std::for_each(end, segments_.end(), [](auto &segment) { segment.second.reset(); });
 
-    lock.unlock();
-
     if (merged && onSegmentMergedCallback_) {
       onSegmentMergedCallback_();  // Notify listener that segments have been merged
     }
@@ -118,7 +119,11 @@ void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap:
       if (!segment_ptr) {
         segment_ptr = std::make_shared<Segment>(
             it->first, route_.at(it->first), flags_, filters_,
-            [this](int seg_num, bool success) { setCurrentSegment(cur_seg_num_); });
+            [this](int seg_num, bool success) {
+              std::unique_lock lock(mutex_);
+              needs_update_ = true;
+              cv_.notify_one();
+            });
       }
 
       if (segment_ptr->getState() == Segment::LoadState::Loading) {

tools/replay/seg_mgr.h

@@ -45,7 +45,7 @@ private:
   std::mutex mutex_;
   std::condition_variable cv_;
   std::thread thread_;
-  std::atomic<int> cur_seg_num_ = -1;
+  int cur_seg_num_ = -1;
   bool needs_update_ = false;
   bool exit_ = false;