openpilot v0.9.7

2026-09-30 19:33:45 +08:00 · 2024-05-16 05:57:03 +00:00
commit af25ebb9f4
2069 changed files with 1180572 additions and 0 deletions
@@ -0,0 +1,61 @@
+#include "tools/replay/logreader.h"
+
+#include <algorithm>
+#include <utility>
+#include "tools/replay/filereader.h"
+#include "tools/replay/util.h"
+
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
+  std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
+  if (!data.empty() && url.find(".bz2") != std::string::npos)
+    data = decompressBZ2(data, abort);
+
+  bool success = !data.empty() && load(data.data(), data.size(), abort);
+  if (filters_.empty())
+    raw_ = std::move(data);
+  return success;
+}
+
+bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
+  try {
+    events.reserve(65000);
+    kj::ArrayPtr<const capnp::word> words((const capnp::word *)data, size / sizeof(capnp::word));
+    while (words.size() > 0 && !(abort && *abort)) {
+      capnp::FlatArrayMessageReader reader(words);
+      auto event = reader.getRoot<cereal::Event>();
+      auto which = event.which();
+      auto event_data = kj::arrayPtr(words.begin(), reader.getEnd());
+      words = kj::arrayPtr(reader.getEnd(), words.end());
+
+      if (!filters_.empty()) {
+        if (which >= filters_.size() || !filters_[which])
+          continue;
+        auto buf = buffer_.allocate(event_data.size() * sizeof(capnp::word));
+        memcpy(buf, event_data.begin(), event_data.size() * sizeof(capnp::word));
+        event_data = kj::arrayPtr((const capnp::word *)buf, event_data.size());
+      }
+
+      uint64_t mono_time = event.getLogMonoTime();
+      const Event &evt = events.emplace_back(which, mono_time, event_data);
+      // Add encodeIdx packet again as a frame packet for the video stream
+      if (evt.which == cereal::Event::ROAD_ENCODE_IDX ||
+          evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
+          evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
+        auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
+        if (uint64_t sof = idx.getTimestampSof()) {
+          mono_time = sof;
+        }
+        events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
+      }
+    }
+  } catch (const kj::Exception &e) {
+    rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
+  }
+
+  if (!events.empty() && !(abort && *abort)) {
+    events.shrink_to_fit();
+    std::sort(events.begin(), events.end());
+    return true;
+  }
+  return false;
+}