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https://github.com/firestar5683/StarPilot.git
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firestarsdog
88 lines
3.0 KiB
C++
88 lines
3.0 KiB
C++
#pragma once
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#include <cstdint>
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#include <functional>
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#include <string>
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#include <vector>
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#include "openpilot/cereal/gen/cpp/log.capnp.h"
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#include "tools/replay/util.h"
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const CameraType ALL_CAMERAS[] = {NarrowRoadCam, CabinCam, WideRoadCam};
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const int MAX_CAMERAS = std::size(ALL_CAMERAS);
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class Event {
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public:
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Event(cereal::Event::Which which, uint64_t mono_time, const kj::ArrayPtr<const capnp::word> &data, int eidx_segnum = -1)
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: which(which), mono_time(mono_time), data(data), eidx_segnum(eidx_segnum) {}
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bool operator<(const Event &other) const {
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return mono_time < other.mono_time || (mono_time == other.mono_time &&
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(which < other.which || (which == other.which && eidx_segnum < other.eidx_segnum)));
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}
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uint64_t mono_time;
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cereal::Event::Which which;
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kj::ArrayPtr<const capnp::word> data;
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int32_t eidx_segnum;
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};
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inline bool boot_clock_event(cereal::Event::Which which) {
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switch (which) {
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case cereal::Event::Which::INIT_DATA:
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case cereal::Event::Which::SENTINEL:
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case cereal::Event::Which::PANDA_STATES:
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case cereal::Event::Which::NARROW_ROAD_CAMERA_STATE:
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case cereal::Event::Which::WIDE_ROAD_CAMERA_STATE:
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case cereal::Event::Which::CABIN_CAMERA_STATE:
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case cereal::Event::Which::NARROW_ROAD_ENCODE_IDX:
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case cereal::Event::Which::WIDE_ROAD_ENCODE_IDX:
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case cereal::Event::Which::CABIN_ENCODE_IDX: return true;
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default: return false;
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}
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}
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class LogReader {
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public:
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enum class ProgressStage {
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Downloading,
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Parsing,
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};
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using ProgressCallback = std::function<void(ProgressStage stage, uint64_t current, uint64_t total)>;
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LogReader(const std::vector<bool> &filters = {}, size_t max_bytes = 0, int64_t boot_offset = -1)
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: filters_(filters), max_bytes_(max_bytes), boot_offset_(boot_offset) {}
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bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
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bool local_cache = false, const ProgressCallback &progress = {});
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bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr,
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const ProgressCallback &progress = {});
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std::vector<Event> events;
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uint64_t compressed_size() const { return compressed_size_; }
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uint64_t decompressed_size() const { return decompressed_size_; }
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double download_seconds() const { return download_seconds_; }
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double decompress_seconds() const { return decompress_seconds_; }
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double parse_seconds() const { return parse_seconds_; }
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bool corrupt() const { return corrupt_; }
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uint64_t lastMonoTime() const { return last_mono_time_; }
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private:
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bool parse(std::atomic<bool> *abort, const ProgressCallback &progress);
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void migrateOldEvents();
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std::string raw_; // Owns the serialized bytes referenced by events.
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bool requires_migration = true;
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std::vector<bool> filters_;
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size_t max_bytes_ = 0;
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int64_t boot_offset_ = -1;
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bool corrupt_ = false;
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uint64_t last_mono_time_ = 0;
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MonotonicBuffer buffer_{1024 * 1024};
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uint64_t compressed_size_ = 0;
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uint64_t decompressed_size_ = 0;
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double download_seconds_ = 0.0;
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double decompress_seconds_ = 0.0;
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double parse_seconds_ = 0.0;
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};
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