replay: migrate old ControlState event to new format during log file parsing (#33425)

Migrate Old ControlState Event to New Format During Log File Parsing
old-commit-hash: 6741877fbdfa638f392c488e82de001bbd6eafb7

tools/replay/logreader.cc

@@ -32,6 +32,9 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
       auto which = event.which();
       auto event_data = kj::arrayPtr(words.begin(), reader.getEnd());
       words = kj::arrayPtr(reader.getEnd(), words.end());
+      if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+        requires_migration = false;
+      }
 
       if (!filters_.empty()) {
         if (which >= filters_.size() || !filters_[which])
@@ -58,6 +61,10 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
     rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
   }
 
+  if (requires_migration) {
+    migrateOldEvents();
+  }
+
   if (!events.empty() && !(abort && *abort)) {
     events.shrink_to_fit();
     std::sort(events.begin(), events.end());
@@ -65,3 +72,45 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
   }
   return false;
 }
+
+void LogReader::migrateOldEvents() {
+  size_t events_size = events.size();
+  for (int i = 0; i < events_size; ++i) {
+    // Check if the event is of the old CONTROLS_STATE type
+    auto &event = events[i];
+    if (event.which == cereal::Event::CONTROLS_STATE) {
+      // Read the old event data
+      capnp::FlatArrayMessageReader reader(event.data);
+      auto old_evt = reader.getRoot<cereal::Event>();
+      auto old_state = old_evt.getControlsState();
+
+      // Migrate relevant fields from old CONTROLS_STATE to new SelfdriveState
+      MessageBuilder msg;
+      auto new_evt = msg.initEvent(old_evt.getValid());
+      new_evt.setLogMonoTime(old_evt.getLogMonoTime());
+      auto new_state = new_evt.initSelfdriveState();
+
+      new_state.setActive(old_state.getActive());
+      new_state.setAlertSize(old_state.getAlertSize());
+      new_state.setAlertSound(old_state.getAlertSound());
+      new_state.setAlertStatus(old_state.getAlertStatus());
+      new_state.setAlertText1(old_state.getAlertText1());
+      new_state.setAlertText2(old_state.getAlertText2());
+      new_state.setAlertType(old_state.getAlertType());
+      new_state.setEnabled(old_state.getEnabled());
+      new_state.setEngageable(old_state.getEngageable());
+      new_state.setExperimentalMode(old_state.getExperimentalMode());
+      new_state.setPersonality(old_state.getPersonality());
+      new_state.setState(old_state.getState());
+
+      // Serialize the new event to the buffer
+      auto buf_size = msg.getSerializedSize();
+      auto buf = buffer_.allocate(buf_size);
+      msg.serializeToBuffer(reinterpret_cast<unsigned char *>(buf), buf_size);
+
+      // Store the migrated event in the events list
+      auto event_data = kj::arrayPtr(reinterpret_cast<const capnp::word *>(buf), buf_size);
+      events.emplace_back(new_evt.which(), new_evt.getLogMonoTime(), event_data);
+    }
+  }
+}

tools/replay/logreader.h

@@ -34,7 +34,10 @@ public:
   std::vector<Event> events;
 
 private:
+  void migrateOldEvents();
+
   std::string raw_;
+  bool requires_migration = true;
   std::vector<bool> filters_;
   MonotonicBuffer buffer_{1024 * 1024};
 };

tools/replay/replay.cc

@@ -171,7 +171,7 @@ void Replay::buildTimeline() {
 
     std::vector<std::tuple<double, double, TimelineType>> timeline;
     for (const Event &e : log->events) {
-      if (e.which == cereal::Event::Which::CONTROLS_STATE) {
+      if (e.which == cereal::Event::Which::SELFDRIVE_STATE) {
         capnp::FlatArrayMessageReader reader(e.data);
         auto event = reader.getRoot<cereal::Event>();
         auto cs = event.getSelfdriveState();