openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

tools/replay/logreader.h

@@ -0,0 +1,67 @@
+#pragma once
+
+#if __has_include(<memory_resource>)
+#define HAS_MEMORY_RESOURCE 1
+#include <memory_resource>
+#endif
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "system/camerad/cameras/camera_common.h"
+
+const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
+const int MAX_CAMERAS = std::size(ALL_CAMERAS);
+const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000;
+
+class Event {
+public:
+  Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
+    // construct a dummy Event for binary search, e.g std::upper_bound
+    this->which = which;
+    this->mono_time = mono_time;
+  }
+  Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
+  inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }
+
+  struct lessThan {
+    inline bool operator()(const Event *l, const Event *r) {
+      return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
+    }
+  };
+
+#if HAS_MEMORY_RESOURCE
+  void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
+    return mbr->allocate(size);
+  }
+  void operator delete(void *ptr) {
+    // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed.
+  }
+#endif
+
+  uint64_t mono_time;
+  cereal::Event::Which which;
+  cereal::Event::Reader event;
+  capnp::FlatArrayMessageReader reader;
+  kj::ArrayPtr<const capnp::word> words;
+  bool frame;
+};
+
+class LogReader {
+public:
+  LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
+  ~LogReader();
+  bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
+            bool local_cache = false, int chunk_size = -1, int retries = 0);
+  bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
+  std::vector<Event*> events;
+
+private:
+  bool parse(std::atomic<bool> *abort);
+  std::string raw_;
+#ifdef HAS_MEMORY_RESOURCE
+  std::unique_ptr<std::pmr::monotonic_buffer_resource> mbr_;
+#endif
+};