mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-02 03:52:11 +08:00
Dean Lee
66ca3985c9
* move functions into util * read bz2 into stream * pre-decompress log in the download thread * cleanup logreader * cache sha256 path * use readBZ2file in test_logger * Revert "cache sha256 path" This reverts commit 60459d3ea09a2c80f4560cf95b1ce7d6af59f06d. * use macro * use ostringstream * cleanup readBZ2File * move precise_nano_sleep into util old-commit-hash: d28b98c60244e2bb9e32810e881ea445a912606c
80 lines
2.4 KiB
C++
80 lines
2.4 KiB
C++
#include "selfdrive/ui/replay/logreader.h"
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#include <cassert>
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#include <sstream>
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#include "selfdrive/common/util.h"
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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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cereal::EncodeIndex::Reader idx;
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if (which == cereal::Event::ROAD_ENCODE_IDX) {
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idx = event.getRoadEncodeIdx();
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} else if (which == cereal::Event::DRIVER_ENCODE_IDX) {
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idx = event.getDriverEncodeIdx();
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} else if (which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
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idx = event.getWideRoadEncodeIdx();
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} else {
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assert(false);
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}
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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() {
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for (auto e : events) delete e;
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}
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bool LogReader::load(const std::string &file, bool is_bz2file) {
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if (is_bz2file) {
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std::ostringstream stream;
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if (!readBZ2File(file, stream)) {
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LOGW("bz2 decompress failed");
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return false;
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}
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raw_ = stream.str();
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} else {
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raw_ = util::read_file(file);
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}
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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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std::unique_ptr<Event> evt = std::make_unique<Event>(words);
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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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std::unique_ptr<Event> frame_evt = std::make_unique<Event>(words, true);
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events.push_back(frame_evt.release());
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}
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words = kj::arrayPtr(evt->reader.getEnd(), words.end());
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events.push_back(evt.release());
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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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