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tsl/tools/replay/replay.cc

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#include "tools/replay/replay.h"
#include <QDebug>
#include <QtConcurrent>
#include <capnp/dynamic.h>
#include <csignal>
#include "cereal/services.h"
#include "common/params.h"
#include "common/timing.h"
#include "tools/replay/util.h"
static void interrupt_sleep_handler(int signal) {}
Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_,
uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
// Register signal handler for SIGUSR1
std::signal(SIGUSR1, interrupt_sleep_handler);
if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
block << "uiDebug" << "userFlag";
}
auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
sockets_.resize(event_struct.getUnionFields().size());
for (const auto &[name, _] : services) {
if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) {
uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue();
sockets_[which] = name.c_str();
}
}
if (!allow.isEmpty()) {
for (int i = 0; i < sockets_.size(); ++i) {
filters_.push_back(i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
}
}
std::vector<const char *> s;
std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s),
[](const char *name) { return name != nullptr; });
qDebug() << "services " << s;
qDebug() << "loading route " << route;
if (sm == nullptr) {
pm = std::make_unique<PubMaster>(s);
}
route_ = std::make_unique<Route>(route, data_dir);
}
Replay::~Replay() {
stop();
}
void Replay::stop() {
exit_ = true;
if (stream_thread_ != nullptr) {
rInfo("shutdown: in progress...");
pauseStreamThread();
stream_cv_.notify_one();
stream_thread_->quit();
stream_thread_->wait();
stream_thread_->deleteLater();
stream_thread_ = nullptr;
rInfo("shutdown: done");
}
timeline_future.waitForFinished();
camera_server_.reset(nullptr);
segments_.clear();
}
bool Replay::load() {
if (!route_->load()) {
qCritical() << "failed to load route" << route_->name()
<< "from" << (route_->dir().isEmpty() ? "server" : route_->dir());
return false;
}
for (auto &[n, f] : route_->segments()) {
bool has_log = !f.rlog.isEmpty() || !f.qlog.isEmpty();
bool has_video = !f.road_cam.isEmpty() || !f.qcamera.isEmpty();
if (has_log && (has_video || hasFlag(REPLAY_FLAG_NO_VIPC))) {
segments_.insert({n, nullptr});
}
}
if (segments_.empty()) {
qCritical() << "no valid segments in route" << route_->name();
return false;
}
rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size());
max_seconds_ = (segments_.rbegin()->first + 1) * 60;
return true;
}
void Replay::start(int seconds) {
seekTo(route_->identifier().begin_segment * 60 + seconds, false);
}
void Replay::updateEvents(const std::function<bool()> &update_events_function) {
pauseStreamThread();
{
std::unique_lock lk(stream_lock_);
events_ready_ = update_events_function();
paused_ = user_paused_;
}
stream_cv_.notify_one();
}
void Replay::seekTo(double seconds, bool relative) {
updateEvents([&]() {
double target_time = relative ? seconds + currentSeconds() : seconds;
target_time = std::max(double(0.0), target_time);
int target_segment = (int)target_time / 60;
if (segments_.count(target_segment) == 0) {
rWarning("Can't seek to %.2f s segment %d is invalid", target_time, target_segment);
return true;
}
if (target_time > max_seconds_) {
rWarning("Can't seek to %.2f s, time is invalid", target_time);
return true;
}
rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
current_segment_ = target_segment;
cur_mono_time_ = route_start_ts_ + target_time * 1e9;
seeking_to_ = target_time;
return false;
});
checkSeekProgress();
updateSegmentsCache();
}
void Replay::checkSeekProgress() {
if (seeking_to_) {
auto it = segments_.find(int(*seeking_to_ / 60));
if (it != segments_.end() && it->second && it->second->isLoaded()) {
emit seekedTo(*seeking_to_);
seeking_to_ = std::nullopt;
// wake up stream thread
updateEvents([]() { return true; });
} else {
// Emit signal indicating the ongoing seek operation
emit seeking(*seeking_to_);
}
}
}
void Replay::seekToFlag(FindFlag flag) {
if (auto next = find(flag)) {
seekTo(*next - 2, false); // seek to 2 seconds before next
}
}
void Replay::buildTimeline() {
uint64_t engaged_begin = 0;
bool engaged = false;
auto alert_status = cereal::ControlsState::AlertStatus::NORMAL;
auto alert_size = cereal::ControlsState::AlertSize::NONE;
uint64_t alert_begin = 0;
std::string alert_type;
const TimelineType timeline_types[] = {
[(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
[(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
[(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
};
const auto &route_segments = route_->segments();
for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
std::shared_ptr<LogReader> log(new LogReader());
if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
std::vector<std::tuple<double, double, TimelineType>> timeline;
for (const Event &e : log->events) {
if (e.which == cereal::Event::Which::CONTROLS_STATE) {
capnp::FlatArrayMessageReader reader(e.data);
auto event = reader.getRoot<cereal::Event>();
auto cs = event.getControlsState();
if (engaged != cs.getEnabled()) {
if (engaged) {
timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged});
}
engaged_begin = e.mono_time;
engaged = cs.getEnabled();
}
if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
}
alert_begin = e.mono_time;
alert_type = cs.getAlertType().cStr();
alert_size = cs.getAlertSize();
alert_status = cs.getAlertStatus();
}
} else if (e.which == cereal::Event::Which::USER_FLAG) {
timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag});
}
}
if (it->first == route_segments.rbegin()->first) {
if (engaged) {
timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged});
}
if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]});
}
max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time));
emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_);
}
{
std::lock_guard lk(timeline_lock);
timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
}
emit qLogLoaded(log);
}
}
std::optional<uint64_t> Replay::find(FindFlag flag) {
int cur_ts = currentSeconds();
for (auto [start_ts, end_ts, type] : getTimeline()) {
if (type == TimelineType::Engaged) {
if (flag == FindFlag::nextEngagement && start_ts > cur_ts) {
return start_ts;
} else if (flag == FindFlag::nextDisEngagement && end_ts > cur_ts) {
return end_ts;
}
} else if (start_ts > cur_ts) {
if ((flag == FindFlag::nextUserFlag && type == TimelineType::UserFlag) ||
(flag == FindFlag::nextInfo && type == TimelineType::AlertInfo) ||
(flag == FindFlag::nextWarning && type == TimelineType::AlertWarning) ||
(flag == FindFlag::nextCritical && type == TimelineType::AlertCritical)) {
return start_ts;
}
}
}
return std::nullopt;
}
void Replay::pause(bool pause) {
if (user_paused_ != pause) {
pauseStreamThread();
{
std::unique_lock lk(stream_lock_);
rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
paused_ = user_paused_ = pause;
}
stream_cv_.notify_one();
}
}
void Replay::pauseStreamThread() {
paused_ = true;
// Send SIGUSR1 to interrupt clock_nanosleep
if (stream_thread_ && stream_thread_id) {
pthread_kill(stream_thread_id, SIGUSR1);
}
}
void Replay::segmentLoadFinished(bool success) {
if (!success) {
Segment *seg = qobject_cast<Segment *>(sender());
rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num);
updateEvents([&]() {
segments_.erase(seg->seg_num);
return !segments_.empty();
});
}
updateSegmentsCache();
}
void Replay::updateSegmentsCache() {
auto cur = segments_.lower_bound(current_segment_.load());
if (cur == segments_.end()) return;
// Calculate the range of segments to load
auto begin = std::prev(cur, std::min<int>(segment_cache_limit / 2, std::distance(segments_.begin(), cur)));
auto end = std::next(begin, std::min<int>(segment_cache_limit, std::distance(begin, segments_.end())));
begin = std::prev(end, std::min<int>(segment_cache_limit, std::distance(segments_.begin(), end)));
loadSegmentInRange(begin, cur, end);
mergeSegments(begin, end);
// free segments out of current semgnt window.
std::for_each(segments_.begin(), begin, [](auto &e) { e.second.reset(nullptr); });
std::for_each(end, segments_.end(), [](auto &e) { e.second.reset(nullptr); });
// start stream thread
const auto &cur_segment = cur->second;
if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
startStream(cur_segment.get());
}
}
void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
auto loadNextSegment = [this](auto first, auto last) {
auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
if (it != last && !it->second) {
rDebug("loading segment %d...", it->first);
it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
return true;
}
return false;
};
// Try loading forward segments, then reverse segments
if (!loadNextSegment(cur, end)) {
loadNextSegment(std::make_reverse_iterator(cur), std::make_reverse_iterator(begin));
}
}
void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {
std::set<int> segments_to_merge;
size_t new_events_size = 0;
for (auto it = begin; it != end; ++it) {
if (it->second && it->second->isLoaded()) {
segments_to_merge.insert(it->first);
new_events_size += it->second->log->events.size();
}
}
if (segments_to_merge == merged_segments_) return;
rDebug("merge segments %s", std::accumulate(segments_to_merge.begin(), segments_to_merge.end(), std::string{},
[](auto & a, int b) { return a + (a.empty() ? "" : ", ") + std::to_string(b); }).c_str());
std::vector<Event> new_events;
new_events.reserve(new_events_size);
// Merge events from segments_to_merge into new_events
for (int n : segments_to_merge) {
size_t size = new_events.size();
const auto &events = segments_.at(n)->log->events;
std::copy_if(events.begin(), events.end(), std::back_inserter(new_events),
[this](const Event &e) { return e.which < sockets_.size() && sockets_[e.which] != nullptr; });
std::inplace_merge(new_events.begin(), new_events.begin() + size, new_events.end());
}
if (stream_thread_) {
emit segmentsMerged();
}
updateEvents([&]() {
events_.swap(new_events);
merged_segments_ = segments_to_merge;
// Wake up the stream thread if the current segment is loaded or invalid.
return !seeking_to_ && (isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0));
});
checkSeekProgress();
}
void Replay::startStream(const Segment *cur_segment) {
const auto &events = cur_segment->log->events;
route_start_ts_ = events.front().mono_time;
cur_mono_time_ += route_start_ts_ - 1;
// get datetime from INIT_DATA, fallback to datetime in the route name
route_date_time_ = route()->datetime();
auto it = std::find_if(events.cbegin(), events.cend(),
[](const Event &e) { return e.which == cereal::Event::Which::INIT_DATA; });
if (it != events.cend()) {
capnp::FlatArrayMessageReader reader(it->data);
auto event = reader.getRoot<cereal::Event>();
uint64_t wall_time = event.getInitData().getWallTimeNanos();
if (wall_time > 0) {
route_date_time_ = QDateTime::fromMSecsSinceEpoch(wall_time / 1e6);
}
}
// write CarParams
it = std::find_if(events.begin(), events.end(), [](const Event &e) { return e.which == cereal::Event::Which::CAR_PARAMS; });
if (it != events.end()) {
capnp::FlatArrayMessageReader reader(it->data);
auto event = reader.getRoot<cereal::Event>();
car_fingerprint_ = event.getCarParams().getCarFingerprint();
capnp::MallocMessageBuilder builder;
builder.setRoot(event.getCarParams());
auto words = capnp::messageToFlatArray(builder);
auto bytes = words.asBytes();
Params().put("CarParams", (const char *)bytes.begin(), bytes.size());
Params().put("CarParamsPersistent", (const char *)bytes.begin(), bytes.size());
} else {
rWarning("failed to read CarParams from current segment");
}
// start camera server
if (!hasFlag(REPLAY_FLAG_NO_VIPC)) {
std::pair<int, int> camera_size[MAX_CAMERAS] = {};
for (auto type : ALL_CAMERAS) {
if (auto &fr = cur_segment->frames[type]) {
camera_size[type] = {fr->width, fr->height};
}
}
camera_server_ = std::make_unique<CameraServer>(camera_size);
}
emit segmentsMerged();
// start stream thread
stream_thread_ = new QThread();
QObject::connect(stream_thread_, &QThread::started, [=]() { streamThread(); });
stream_thread_->start();
timeline_future = QtConcurrent::run(this, &Replay::buildTimeline);
emit streamStarted();
}
void Replay::publishMessage(const Event *e) {
if (event_filter && event_filter(e, filter_opaque)) return;
if (sm == nullptr) {
auto bytes = e->data.asBytes();
int ret = pm->send(sockets_[e->which], (capnp::byte *)bytes.begin(), bytes.size());
if (ret == -1) {
rWarning("stop publishing %s due to multiple publishers error", sockets_[e->which]);
sockets_[e->which] = nullptr;
}
} else {
capnp::FlatArrayMessageReader reader(e->data);
auto event = reader.getRoot<cereal::Event>();
sm->update_msgs(nanos_since_boot(), {{sockets_[e->which], event}});
}
}
void Replay::publishFrame(const Event *e) {
CameraType cam;
switch (e->which) {
case cereal::Event::ROAD_ENCODE_IDX: cam = RoadCam; break;
case cereal::Event::DRIVER_ENCODE_IDX: cam = DriverCam; break;
case cereal::Event::WIDE_ROAD_ENCODE_IDX: cam = WideRoadCam; break;
default: return; // Invalid event type
}
if ((cam == DriverCam && !hasFlag(REPLAY_FLAG_DCAM)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_ECAM)))
return; // Camera isdisabled
if (isSegmentMerged(e->eidx_segnum)) {
auto &segment = segments_.at(e->eidx_segnum);
if (auto &frame = segment->frames[cam]; frame) {
camera_server_->pushFrame(cam, frame.get(), e);
}
}
}
void Replay::streamThread() {
stream_thread_id = pthread_self();
cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
std::unique_lock lk(stream_lock_);
while (true) {
stream_cv_.wait(lk, [=]() { return exit_ || ( events_ready_ && !paused_); });
if (exit_) break;
Event event(cur_which, cur_mono_time_, {});
auto first = std::upper_bound(events_.cbegin(), events_.cend(), event);
if (first == events_.cend()) {
rInfo("waiting for events...");
events_ready_ = false;
continue;
}
auto it = publishEvents(first, events_.cend());
// Ensure frames are sent before unlocking to prevent race conditions
if (camera_server_) {
camera_server_->waitForSent();
}
if (it != events_.cend()) {
cur_which = it->which;
} else if (!hasFlag(REPLAY_FLAG_NO_LOOP)) {
// Check for loop end and restart if necessary
int last_segment = segments_.rbegin()->first;
if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
rInfo("reaches the end of route, restart from beginning");
QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, minSeconds(), false), Qt::QueuedConnection);
}
}
}
}
std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::const_iterator first,
std::vector<Event>::const_iterator last) {
uint64_t evt_start_ts = cur_mono_time_;
uint64_t loop_start_ts = nanos_since_boot();
double prev_replay_speed = speed_;
for (; !paused_ && first != last; ++first) {
const Event &evt = *first;
int segment = toSeconds(evt.mono_time) / 60;
if (current_segment_ != segment) {
current_segment_ = segment;
QMetaObject::invokeMethod(this, &Replay::updateSegmentsCache, Qt::QueuedConnection);
}
// Skip events if socket is not present
if (!sockets_[evt.which]) continue;
cur_mono_time_ = evt.mono_time;
const uint64_t current_nanos = nanos_since_boot();
const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts);
// Reset timestamps for potential synchronization issues:
// - A negative time_diff may indicate slow execution or system wake-up,
// - A time_diff exceeding 1 second suggests a skipped segment.
if ((time_diff < -1e9 || time_diff >= 1e9) || speed_ != prev_replay_speed) {
evt_start_ts = evt.mono_time;
loop_start_ts = current_nanos;
prev_replay_speed = speed_;
} else if (time_diff > 0) {
precise_nano_sleep(time_diff, paused_);
}
if (paused_) break;
if (evt.eidx_segnum == -1) {
publishMessage(&evt);
} else if (camera_server_) {
if (speed_ > 1.0) {
camera_server_->waitForSent();
}
publishFrame(&evt);
}
}
return first;
}
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