#pragma once #include #include #include #include #include "openpilot/cereal/gen/cpp/log.capnp.h" #include "tools/replay/util.h" const CameraType ALL_CAMERAS[] = {NarrowRoadCam, CabinCam, WideRoadCam}; const int MAX_CAMERAS = std::size(ALL_CAMERAS); class Event { public: Event(cereal::Event::Which which, uint64_t mono_time, const kj::ArrayPtr &data, int eidx_segnum = -1) : which(which), mono_time(mono_time), data(data), eidx_segnum(eidx_segnum) {} bool operator<(const Event &other) const { return mono_time < other.mono_time || (mono_time == other.mono_time && (which < other.which || (which == other.which && eidx_segnum < other.eidx_segnum))); } uint64_t mono_time; cereal::Event::Which which; kj::ArrayPtr data; int32_t eidx_segnum; }; inline bool boot_clock_event(cereal::Event::Which which) { switch (which) { case cereal::Event::Which::INIT_DATA: case cereal::Event::Which::SENTINEL: case cereal::Event::Which::PANDA_STATES: case cereal::Event::Which::NARROW_ROAD_CAMERA_STATE: case cereal::Event::Which::WIDE_ROAD_CAMERA_STATE: case cereal::Event::Which::CABIN_CAMERA_STATE: case cereal::Event::Which::NARROW_ROAD_ENCODE_IDX: case cereal::Event::Which::WIDE_ROAD_ENCODE_IDX: case cereal::Event::Which::CABIN_ENCODE_IDX: return true; default: return false; } } class LogReader { public: enum class ProgressStage { Downloading, Parsing, }; using ProgressCallback = std::function; LogReader(const std::vector &filters = {}, size_t max_bytes = 0, int64_t boot_offset = -1) : filters_(filters), max_bytes_(max_bytes), boot_offset_(boot_offset) {} bool load(const std::string &url, std::atomic *abort = nullptr, bool local_cache = false, const ProgressCallback &progress = {}); bool load(const char *data, size_t size, std::atomic *abort = nullptr, const ProgressCallback &progress = {}); std::vector events; uint64_t compressed_size() const { return compressed_size_; } uint64_t decompressed_size() const { return decompressed_size_; } double download_seconds() const { return download_seconds_; } double decompress_seconds() const { return decompress_seconds_; } double parse_seconds() const { return parse_seconds_; } bool corrupt() const { return corrupt_; } uint64_t lastMonoTime() const { return last_mono_time_; } private: bool parse(std::atomic *abort, const ProgressCallback &progress); void migrateOldEvents(); std::string raw_; // Owns the serialized bytes referenced by events. bool requires_migration = true; std::vector filters_; size_t max_bytes_ = 0; int64_t boot_offset_ = -1; bool corrupt_ = false; uint64_t last_mono_time_ = 0; MonotonicBuffer buffer_{1024 * 1024}; uint64_t compressed_size_ = 0; uint64_t decompressed_size_ = 0; double download_seconds_ = 0.0; double decompress_seconds_ = 0.0; double parse_seconds_ = 0.0; };