mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 21:12:07 +08:00
Dean Lee
a031b938b0
* no-cache mode * fix test cases build error * space * don't create cache dir in no-cache mode * fix errors in test cases * no_local_cache_ * set the number of connections by chunk_size * use size_t instead of int64_t * add test case for no-cache mode * rename variables * fix SIGSEGV * cleanup * faster decompressBZ2 * always decompress bz2 * add test cases * prepare for python interface * fix test cases build error * continue * camera_replay: cache remote file * protected inheritance * single option name * TODO * test_case for LogReader&FrameReader * fix wrong require * test case for FileReader * cleanup test * test:fix wrong filename * check cached file's checksum * fix mkdir permissions err cleanup filereader * remove initialize libav network libraries. dd * abort all loading if one failed * cleanup tests * use threadpool to limit concurrent downloads * cache more segments * merge 3 segments for replay * one segment uses about 100M of memory * use segments_need_merge.size() * shutdown * fix stuck if exit replay before keyboard thread started * load one segment at a time * small cleanup * cleanup filereader * space * tiny cleanup * merge master * cleanup test cases * use util:create_directories * cleanup framereader old-commit-hash: 2b4a477fbc8fc02da5876aee4f955194916f19a3
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
#include "selfdrive/ui/replay/logreader.h"
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#include <algorithm>
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#include "selfdrive/ui/replay/util.h"
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Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
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words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
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event = reader.getRoot<cereal::Event>();
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which = event.which();
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mono_time = event.getLogMonoTime();
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// 1) Send video data at t=timestampEof/timestampSof
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// 2) Send encodeIndex packet at t=logMonoTime
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if (frame) {
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auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
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// C2 only has eof set, and some older routes have neither
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uint64_t sof = idx.getTimestampSof();
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uint64_t eof = idx.getTimestampEof();
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if (sof > 0) {
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mono_time = sof;
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} else if (eof > 0) {
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mono_time = eof;
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}
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}
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}
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// class LogReader
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LogReader::LogReader(bool local_cache, int chunk_size, int retries, size_t memory_pool_block_size) : FileReader(local_cache, chunk_size, retries) {
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#ifdef HAS_MEMORY_RESOURCE
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const size_t buf_size = sizeof(Event) * memory_pool_block_size;
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pool_buffer_ = ::operator new(buf_size);
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mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
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#endif
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events.reserve(memory_pool_block_size);
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}
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LogReader::~LogReader() {
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#ifdef HAS_MEMORY_RESOURCE
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delete mbr_;
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::operator delete(pool_buffer_);
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#else
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for (Event *e : events) {
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delete e;
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}
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#endif
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}
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bool LogReader::load(const std::string &file, std::atomic<bool> *abort) {
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raw_ = decompressBZ2(read(file, abort));
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if (raw_.empty()) return false;
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kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
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while (words.size() > 0) {
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try {
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#ifdef HAS_MEMORY_RESOURCE
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Event *evt = new (mbr_) Event(words);
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#else
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Event *evt = new Event(words);
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#endif
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// Add encodeIdx packet again as a frame packet for the video stream
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if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
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evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
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evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
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#ifdef HAS_MEMORY_RESOURCE
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Event *frame_evt = new (mbr_) Event(words, true);
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#else
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Event *frame_evt = new Event(words, true);
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#endif
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events.push_back(frame_evt);
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}
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words = kj::arrayPtr(evt->reader.getEnd(), words.end());
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events.push_back(evt);
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} catch (const kj::Exception &e) {
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return false;
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}
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}
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std::sort(events.begin(), events.end(), Event::lessThan());
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return true;
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}
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