openpilot v0.11.1 release

date: 2026-06-04T09:49:56
master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e

tools/replay/logreader.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <cstdint>
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "tools/replay/util.h"
+
+const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
+const int MAX_CAMERAS = std::size(ALL_CAMERAS);
+
+class Event {
+public:
+  Event(cereal::Event::Which which, uint64_t mono_time, const kj::ArrayPtr<const capnp::word> &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);
+  }
+
+  uint64_t mono_time;
+  cereal::Event::Which which;
+  kj::ArrayPtr<const capnp::word> data;
+  int32_t eidx_segnum;
+};
+
+class LogReader {
+public:
+  enum class ProgressStage {
+    Downloading,
+    Parsing,
+  };
+
+  using ProgressCallback = std::function<void(ProgressStage stage, uint64_t current, uint64_t total)>;
+
+  LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
+  bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
+            bool local_cache = false, const ProgressCallback &progress = {});
+  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr,
+            const ProgressCallback &progress = {});
+  std::vector<Event> 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_; }
+
+private:
+  void migrateOldEvents();
+
+  std::string raw_;
+  bool requires_migration = true;
+  std::vector<bool> filters_;
+  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;
+};