diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d3de2dcb7..5747d6e62 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -20,7 +20,7 @@ SConscript(['#tools/replay/SConscript']) Import('replay_lib') qt_env = env.Clone() -qt_modules = ["Widgets", "Gui", "Core", "Concurrent"] +qt_modules = ["Widgets", "Gui", "Core"] qt_libs = [] if arch == "Darwin": diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 4e44a560b..efae1dded 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -1,13 +1,13 @@ #include "tools/cabana/chart/chartswidget.h" #include +#include #include -#include #include +#include #include #include -#include #include "tools/cabana/chart/chart.h" @@ -171,10 +171,11 @@ void ChartsWidget::updateTabBar() { } void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) { - QFutureSynchronizer future_synchronizer; + std::vector> futures; for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events)); + futures.push_back(std::async(std::launch::async, &ChartView::updateSeries, c, nullptr, &new_events)); } + for (auto &f : futures) f.get(); } void ChartsWidget::timeRangeChanged(const std::optional> &time_range) { diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index df05d287f..15baabe51 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signalview.h" #include +#include #include #include @@ -11,7 +12,6 @@ #include #include #include -#include #include #include "tools/cabana/commands.h" @@ -641,13 +641,13 @@ void SignalView::updateState(const std::set *msgs) { delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2); auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts)); - QFutureSynchronizer synchronizer; + std::vector> futures; for (int i = first_visible.row(); i <= last_visible.row(); ++i) { auto item = model->getItem(model->index(i, 1)); - synchronizer.addFuture(QtConcurrent::run( - &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size)); + futures.push_back(std::async(std::launch::async, + &Sparkline::update, &item->sparkline, item->sig, first, last, settings.sparkline_range, size)); } - synchronizer.waitForFinished(); + for (auto &f : futures) f.get(); } for (int i = 0; i < model->rowCount(); ++i) { diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc index 8539a00b5..07d8d1a0b 100644 --- a/tools/cabana/streams/routes.cc +++ b/tools/cabana/streams/routes.cc @@ -11,7 +11,7 @@ #include #include #include -#include +#include #include "tools/replay/py_downloader.h" @@ -72,13 +72,13 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) { // Fetch devices QPointer self = this; - QtConcurrent::run([self]() { + std::thread([self]() { std::string result = PyDownloader::getDevices(); auto [success, error_code] = checkApiResponse(result); QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), success, error_code]() { if (self) self->parseDeviceList(r, success, error_code); }, Qt::QueuedConnection); - }); + }).detach(); } void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) { @@ -114,14 +114,14 @@ void RoutesDialog::fetchRoutes() { int request_id = ++fetch_id_; QPointer self = this; - QtConcurrent::run([self, did, start_ms, end_ms, preserved, request_id]() { + std::thread([self, did, start_ms, end_ms, preserved, request_id]() { std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved); if (!self || self->fetch_id_ != request_id) return; auto [success, error_code] = checkApiResponse(result); QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), success, error_code, request_id]() { if (self && self->fetch_id_ == request_id) self->parseRouteList(r, success, error_code); }, Qt::QueuedConnection); - }); + }).detach(); } void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) { diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index 41da8fc4b..3dc28bb15 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -1,10 +1,11 @@ #include "tools/cabana/tools/findsignal.h" +#include + #include #include #include #include -#include #include #include @@ -35,22 +36,35 @@ void FindSignalModel::search(std::function cmp) { const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals; filtered_signals.clear(); filtered_signals.reserve(prev_sigs.size()); - QtConcurrent::blockingMap(prev_sigs, [&](auto &s) { - const auto &events = can->events(s.id); - auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent()); - auto last = events.cend(); - if (last_time < std::numeric_limits::max()) { - last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent()); - } - auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); - if (it != last) { - auto values = s.values; - values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); - std::lock_guard lk(lock); - filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); - } - }); + unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency()); + size_t chunk = (prev_sigs.size() + num_threads - 1) / num_threads; + std::vector threads; + for (unsigned int t = 0; t < num_threads && t * chunk < (size_t)prev_sigs.size(); ++t) { + size_t start = t * chunk; + size_t end = std::min(start + chunk, (size_t)prev_sigs.size()); + threads.emplace_back([&, start, end]() { + for (size_t i = start; i < end; ++i) { + const auto &s = prev_sigs[i]; + const auto &events = can->events(s.id); + auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent()); + auto last = events.cend(); + if (last_time < std::numeric_limits::max()) { + last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent()); + } + + auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); + if (it != last) { + auto values = s.values; + values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); + std::lock_guard lk(lock); + filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); + } + } + }); + } + for (auto &th : threads) th.join(); + histories.push_back(filtered_signals); endResetModel(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 850999640..f203ec663 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/videowidget.h" #include +#include #include #include @@ -9,7 +10,6 @@ #include #include #include -#include #include "tools/cabana/tools/routeinfo.h" @@ -334,19 +334,31 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str void StreamCameraView::parseQLog(std::shared_ptr qlog) { std::mutex mutex; - QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) { - if (e.which == cereal::Event::Which::THUMBNAIL) { - capnp::FlatArrayMessageReader reader(e.data); - auto thumb_data = reader.getRoot().getThumbnail(); - auto image_data = thumb_data.getThumbnail(); - if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) { - QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof())); - std::lock_guard lock(mutex); - thumbnails[thumb_data.getTimestampEof()] = generated_thumb; - big_thumbnails[thumb_data.getTimestampEof()] = thumb; + const auto &events = qlog->events; + unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency()); + size_t chunk = (events.size() + num_threads - 1) / num_threads; + std::vector threads; + for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) { + size_t start = t * chunk; + size_t end = std::min(start + chunk, events.size()); + threads.emplace_back([this, &mutex, &events, start, end]() { + for (size_t i = start; i < end; ++i) { + const Event &e = events[i]; + if (e.which == cereal::Event::Which::THUMBNAIL) { + capnp::FlatArrayMessageReader reader(e.data); + auto thumb_data = reader.getRoot().getThumbnail(); + auto image_data = thumb_data.getThumbnail(); + if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) { + QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof())); + std::lock_guard lock(mutex); + thumbnails[thumb_data.getTimestampEof()] = generated_thumb; + big_thumbnails[thumb_data.getTimestampEof()] = thumb; + } + } } - } - }); + }); + } + for (auto &th : threads) th.join(); update(); }