Improve seeking and zooming

tools/cabana/chart/chart.cc

@@ -22,6 +22,7 @@
 
 // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
 const int AXIS_X_TOP_MARGIN = 4;
+const double MIN_ZOOM_SECONDS = 0.1; // 100ms
 // Define a small value of epsilon to compare double values
 const float EPSILON = 0.000001;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); }
@@ -511,7 +512,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
  if (rubber->width() <= 0) {
  // no rubber dragged, seek to mouse position
  can->seekTo(min);
- } else if (rubber->width() > 10 && (max - min) > 0.01) { // Minimum range is 10 milliseconds.
+ } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
  charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
  } else {
  viewport()->update();

tools/cabana/chart/chartswidget.cc

@@ -197,7 +197,8 @@ void ChartsWidget::updateState() {
  display_range.second = display_range.first + max_chart_range;
  } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
  // loop in zoomed range
- can->seekTo(zoomed_range.first);
+ QTimer::singleShot(0, [ts = zoomed_range.first]() { can->seekTo(ts);});
+ return;
  }
 
  const auto &range = is_zoomed ? zoomed_range : display_range;

tools/cabana/streams/abstractstream.h

@@ -90,6 +90,7 @@ class AbstractStream : public QObject {
 signals:
  void paused();
  void resume();
+ void seekingTo(double sec);
  void seekedTo(double sec);
  void streamStarted();
  void eventsMerged(const MessageEventsMap &events_map);
@@ -107,14 +108,14 @@ class AbstractStream : public QObject {
  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
  std::vector<const CanEvent *> all_events_;
+ double current_sec_ = 0;
  uint64_t lastest_event_ts = 0;
 
 private:
  void updateLastMessages();
  void updateLastMsgsTo(double sec);
  void updateMasks();
 
- double current_sec_ = 0;
  MessageEventsMap events_;
  std::unordered_map<MessageId, CanData> last_msgs;
  std::unique_ptr<MonotonicBuffer> event_buffer_;

tools/cabana/streams/replaystream.cc

@@ -84,6 +84,16 @@ bool ReplayStream::eventFilter(const Event *event) {
  return true;
 }
 
+void ReplayStream::seekTo(double ts) {
+ // Update timestamp and notify receivers of the time change.
+ current_sec_ = ts;
+ std::set<MessageId> new_msgs;
+ msgsReceived(&new_msgs, false);
+
+ // Seek to the specified timestamp
+ replay->seekTo(std::max(double(0), ts), false);
+}
+
 void ReplayStream::pause(bool pause) {
  replay->pause(pause);
  emit(pause ? paused() : resume());

tools/cabana/streams/replaystream.h

@@ -18,7 +18,7 @@ class ReplayStream : public AbstractStream {
  void start() override;
  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
  bool eventFilter(const Event *event);
- void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
+ void seekTo(double ts) override;
  bool liveStreaming() const override { return false; }
  inline QString routeName() const override { return replay->route()->name(); }
  inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }

tools/replay/camera.cc

@@ -1,12 +1,13 @@
 #include "tools/replay/camera.h"
 
 #include <capnp/dynamic.h>
-
 #include <cassert>
 
 #include "third_party/linux/include/msm_media_info.h"
 #include "tools/replay/util.h"
 
+const int BUFFER_COUNT = 40;
+
 std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
@@ -36,10 +37,12 @@ CameraServer::~CameraServer() {
 void CameraServer::startVipcServer() {
  vipc_server_.reset(new VisionIpcServer("camerad"));
  for (auto &cam : cameras_) {
+ cam.cached_buf.clear();
+
  if (cam.width > 0 && cam.height > 0) {
  rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
  auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
- vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height,
+ vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height,
  nv12_buffer_size, nv12_width, nv12_width * nv12_height);
  if (!cam.thread.joinable()) {
  cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
@@ -50,13 +53,6 @@ void CameraServer::startVipcServer() {
 }
 
 void CameraServer::cameraThread(Camera &cam) {
- auto read_frame = [&](FrameReader *fr, int frame_id) {
- VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
- assert(yuv_buf);
- bool ret = fr->get(frame_id, yuv_buf);
- return ret ? yuv_buf : nullptr;
- };
-
  while (true) {
  const auto [fr, event] = cam.queue.pop();
  if (!fr) break;
@@ -66,29 +62,45 @@ void CameraServer::cameraThread(Camera &cam) {
  auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
  if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
 
- const int id = eidx.getSegmentId();
- bool prefetched = (id == cam.cached_id && eidx.getSegmentNum() == cam.cached_seg);
- auto yuv = prefetched ? cam.cached_buf : read_frame(fr, id);
- if (yuv) {
+ int segment_id = eidx.getSegmentId();
+ uint32_t frame_id = eidx.getFrameId();
+ // Attempt to retrieve the frame data
+ if (auto yuv = getFrame(cam, fr, segment_id, frame_id)) {
  VisionIpcBufExtra extra = {
- .frame_id = eidx.getFrameId(),
+ .frame_id = frame_id,
  .timestamp_sof = eidx.getTimestampSof(),
  .timestamp_eof = eidx.getTimestampEof(),
  };
- yuv->set_frame_id(eidx.getFrameId());
  vipc_server_->send(yuv, &extra);
  } else {
  rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId());
  }
 
- cam.cached_id = id + 1;
- cam.cached_seg = eidx.getSegmentNum();
- cam.cached_buf = read_frame(fr, cam.cached_id);
+ // Prefetch the next frame
+ getFrame(cam, fr, segment_id + 1, frame_id + 1);
 
  --publishing_;
  }
 }
 
+VisionBuf *CameraServer::getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id) {
+ // Check if the frame is cached
+ auto buf_it = std::find_if(cam.cached_buf.begin(), cam.cached_buf.end(),
+ [frame_id](VisionBuf *buf) { return buf->get_frame_id() == frame_id; });
+ if (buf_it != cam.cached_buf.end()) {
+ return *buf_it;
+ }
+
+ // If the frame is not cached, retrieve it from the frame reader
+ VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
+ bool ret = fr->get(segment_id, yuv_buf);
+ if (ret) {
+ yuv_buf->set_frame_id(frame_id);
+ cam.cached_buf.insert(yuv_buf);
+ }
+ return ret ? yuv_buf : nullptr;
+}
+
 void CameraServer::pushFrame(CameraType type, FrameReader *fr, const Event *event) {
  auto &cam = cameras_[type];
  if (cam.width != fr->width || cam.height != fr->height) {

tools/replay/camera.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <set>
 #include <tuple>
 #include <utility>
 
@@ -26,12 +27,11 @@ class CameraServer {
  int height;
  std::thread thread;
  SafeQueue<std::pair<FrameReader*, const Event *>> queue;
- int cached_id = -1;
- int cached_seg = -1;
- VisionBuf * cached_buf;
+ std::set<VisionBuf *> cached_buf;
  };
  void startVipcServer();
  void cameraThread(Camera &cam);
+ VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
 
  Camera cameras_[MAX_CAMERAS] = {
  {.type = RoadCam, .stream_type = VISION_STREAM_ROAD},