cabana: eliminate deep copy of events in live stream mode (#27588)

tools/cabana/chartswidget.cc

@@ -108,14 +108,14 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
 
 void ChartsWidget::eventsMerged() {
   {
-    assert(!can->liveStreaming());
     QFutureSynchronizer<void> future_synchronizer;
-    const auto events = can->events();
     for (auto c : charts) {
-      future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, events, true));
+      future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
     }
   }
-  updateState();
+  if (can->isPaused()) {
+    updateState();
+  }
 }
 
 void ChartsWidget::zoomIn(double min, double max) {
@@ -133,20 +133,13 @@ void ChartsWidget::zoomReset() {
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
-  const auto events = can->events();
-  if (can->liveStreaming()) {
-    // appends incoming events to the end of series
-    for (auto c : charts) {
-      c->updateSeries(nullptr, events, false);
-    }
-  }
-
   const double cur_sec = can->currentSec();
   if (!is_zoomed) {
     double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first));
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
+    auto events = can->events();
     double max_event_sec = events->empty() ? 0 : (events->back()->mono_time / 1e9 - can->routeStartTime());
     double max_sec = std::min(std::floor(display_range.first + max_chart_range), max_event_sec);
     display_range.first = std::max(0.0, max_sec - max_chart_range);
@@ -502,11 +495,11 @@ void ChartView::updateSeriesPoints() {
   }
 }
 
-void ChartView::updateSeries(const cabana::Signal *sig, const std::vector<Event *> *events, bool clear) {
-  events = events ? events : can->events();
+void ChartView::updateSeries(const cabana::Signal *sig) {
+  const auto events = can->events();
   for (auto &s : sigs) {
     if (!sig || s.sig == sig) {
-      if (clear) {
+      if (!can->liveStreaming()) {
         s.vals.clear();
         s.step_vals.clear();
         s.vals.reserve(settings.max_cached_minutes * 60 * 100);  // [n]seconds * 100hz

tools/cabana/chartswidget.h

@@ -32,7 +32,7 @@ public:
   ChartView(QWidget *parent = nullptr);
   void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
   bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
-  void updateSeries(const cabana::Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true);
+  void updateSeries(const cabana::Signal *sig = nullptr);
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
   void updatePlotArea(int left);

tools/cabana/streams/abstractstream.h

@@ -59,7 +59,7 @@ public:
   QSet<uint8_t> sources;
 
 protected:
-  void process(QHash<MessageId, CanData> *);
+  virtual void process(QHash<MessageId, CanData> *);
   bool updateEvent(const Event *event);
   void updateLastMsgsTo(double sec);
 

tools/cabana/streams/livestream.cc

@@ -1,10 +1,8 @@
 #include "tools/cabana/streams/livestream.h"
 
-LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) {
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &LiveStream::removeExpiredEvents);
-  timer->start(3 * 1000);
+#include <QTimer>
 
+LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) {
   stream_thread = new QThread(this);
   QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); });
   QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
@@ -15,8 +13,6 @@ LiveStream::~LiveStream() {
   stream_thread->requestInterruption();
   stream_thread->quit();
   stream_thread->wait();
-  for (Event *e : can_events) ::delete e;
-  for (auto m : messages) delete m;
 }
 
 void LiveStream::streamThread() {
@@ -35,11 +31,8 @@ void LiveStream::streamThread() {
       QThread::msleep(50);
       continue;
     }
-    AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer());
-    Event *evt = ::new Event(buf->align(msg));
-    delete msg;
-
-    handleEvent(evt);
+    std::lock_guard lk(lock);
+    handleEvent(messages.emplace_back(msg).event);
     // TODO: write stream to log file to replay it with cabana --data_dir flag.
   }
 }
@@ -53,11 +46,10 @@ void LiveStream::handleEvent(Event *evt) {
     emit streamStarted();
   }
 
-  std::lock_guard lk(lock);
-  can_events.push_back(evt);
+  received.push_back(evt);
   if (!pause_) {
     if (speed_ < 1 && last_update_ts > 0) {
-      auto it = std::upper_bound(can_events.cbegin(), can_events.cend(), current_ts, [](uint64_t ts, auto &e) {
+      auto it = std::upper_bound(received.cbegin(), received.cend(), current_ts, [](uint64_t ts, auto &e) {
         return ts < e->mono_time;
       });
       if (it != can_events.cend()) {
@@ -73,27 +65,20 @@ void LiveStream::handleEvent(Event *evt) {
   }
 }
 
-void LiveStream::removeExpiredEvents() {
-  std::lock_guard lk(lock);
-  if (can_events.size() > 0) {
-    const uint64_t max_ns = settings.max_cached_minutes * 60 * 1e9;
-    const uint64_t last_ns = can_events.back()->mono_time;
-    while (!can_events.empty() && (last_ns - can_events.front()->mono_time) > max_ns) {
-      ::delete can_events.front();
-      delete messages.front();
-      can_events.pop_front();
-      messages.pop_front();
+void LiveStream::process(QHash<MessageId, CanData> *last_messages) {
+  {
+    std::lock_guard lk(lock);
+    uint64_t last_ts = can_events.empty() ? 0 : can_events.back()->mono_time;
+    auto first = std::upper_bound(received.cbegin(), received.cend(), last_ts, [](uint64_t ts, auto &e) {
+      return ts < e->mono_time;
+    });
+    can_events.insert(can_events.end(), first, received.cend());
+    if (speed_ == 1) {
+      received.clear();
     }
   }
-}
-
-const std::vector<Event *> *LiveStream::events() const {
-  std::lock_guard lk(lock);
-  if (events_vector.capacity() <= can_events.size()) {
-    events_vector.reserve(can_events.size() * 2);
-  }
-  events_vector.assign(can_events.begin(), can_events.end());
-  return &events_vector;
+  emit eventsMerged();
+  AbstractStream::process(last_messages);
 }
 
 void LiveStream::pause(bool pause) {

tools/cabana/streams/livestream.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <QTimer>
 #include "tools/cabana/streams/abstractstream.h"
 
 class LiveStream : public AbstractStream {
@@ -17,17 +16,29 @@ public:
   void setSpeed(float speed) override { speed_ = std::min<float>(1.0, speed); }
   bool isPaused() const override { return pause_; }
   void pause(bool pause) override;
-  const std::vector<Event *> *events() const override;
+  const std::vector<Event *> *events() const override { return &can_events; }
 
 protected:
+  void process(QHash<MessageId, CanData> *) override;
   virtual void handleEvent(Event *evt);
   virtual void streamThread();
-  virtual void removeExpiredEvents();
+
+  struct Msg {
+    Msg(Message *m) {
+      event = ::new Event(aligned_buf.align(m));
+      delete m;
+    }
+    ~Msg() {
+      ::delete event;
+    }
+    Event *event;
+    AlignedBuffer aligned_buf;
+  };
 
   mutable std::mutex lock;
-  mutable std::vector<Event *> events_vector;
-  std::deque<Event *> can_events;
-  std::deque<AlignedBuffer *> messages;
+  std::vector<Event *> can_events;
+  std::vector<Event *> received;
+  std::deque<Msg> messages;
   std::atomic<uint64_t> start_ts = 0;
   std::atomic<uint64_t> current_ts = 0;
   std::atomic<float> speed_ = 1;
@@ -36,5 +47,4 @@ protected:
 
   const QString zmq_address;
   QThread *stream_thread;
-  QTimer *timer;
 };