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openpilot v0.9.5 release

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date: 2023-11-17T23:53:40
master commit: d3aad9ca46
This commit is contained in:
Vehicle Researcher
2023-11-17 23:53:40 +00:00
parent eff388b1b6
commit b2f2dabe71
861 changed files with 33802 additions and 28415 deletions
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tools/replay/logreader.cc
+8 -21
View File
@@ -1,6 +1,7 @@
#include "tools/replay/logreader.h"
#include <algorithm>
#include "tools/replay/filereader.h"
#include "tools/replay/util.h"
Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
@@ -29,8 +30,7 @@ Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(a
LogReader::LogReader(size_t memory_pool_block_size) {
#ifdef HAS_MEMORY_RESOURCE
const size_t buf_size = sizeof(Event) * memory_pool_block_size;
pool_buffer_ = ::operator new(buf_size);
mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
mbr_ = std::make_unique<std::pmr::monotonic_buffer_resource>(buf_size);
#endif
events.reserve(memory_pool_block_size);
}
@@ -39,16 +39,9 @@ LogReader::~LogReader() {
for (Event *e : events) {
delete e;
}
#ifdef HAS_MEMORY_RESOURCE
delete mbr_;
::operator delete(pool_buffer_);
#endif
}
bool LogReader::load(const std::string &url, std::atomic<bool> *abort,
const std::set<cereal::Event::Which> &allow,
bool local_cache, int chunk_size, int retries) {
bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
if (raw_.empty()) return false;
@@ -56,36 +49,30 @@ bool LogReader::load(const std::string &url, std::atomic<bool> *abort,
raw_ = decompressBZ2(raw_, abort);
if (raw_.empty()) return false;
}
return parse(allow, abort);
return parse(abort);
}
bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
raw_.assign((const char *)data, size);
return parse({}, abort);
return parse(abort);
}
bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort) {
bool LogReader::parse(std::atomic<bool> *abort) {
try {
kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
while (words.size() > 0 && !(abort && *abort)) {
#ifdef HAS_MEMORY_RESOURCE
Event *evt = new (mbr_) Event(words);
Event *evt = new (mbr_.get()) Event(words);
#else
Event *evt = new Event(words);
#endif
if (!allow.empty() && allow.find(evt->which) == allow.end()) {
words = kj::arrayPtr(evt->reader.getEnd(), words.end());
delete evt;
continue;
}
// Add encodeIdx packet again as a frame packet for the video stream
if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
#ifdef HAS_MEMORY_RESOURCE
Event *frame_evt = new (mbr_) Event(words, true);
Event *frame_evt = new (mbr_.get()) Event(words, true);
#else
Event *frame_evt = new Event(words, true);
#endif