Add Support for Decompressing ZST Log Files

tools/cabana/SConscript

@@ -15,7 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 

tools/install_ubuntu_dependencies.sh

@@ -46,6 +46,7 @@ function install_ubuntu_common_requirements() {
     libssl-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
+    libzstd-dev \
     libsqlite3-dev \
     libsystemd-dev \
     locales \

tools/replay/SConscript

@@ -12,7 +12,7 @@ else:
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):

tools/replay/logreader.cc

@@ -7,8 +7,13 @@
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (!data.empty() && url.find(".bz2") != std::string::npos)
-    data = decompressBZ2(data, abort);
+  if (!data.empty()) {
+    if (url.find(".bz2") != std::string::npos) {
+      data = decompressBZ2(data, abort);
+    } else if (url.find(".zst") != std::string::npos) {
+      data = decompressZST((std::byte *)data.data(), data.size(), abort);
+    }
+  }
 
   bool success = !data.empty() && load(data.data(), data.size(), abort);
   if (filters_.empty())

tools/replay/route.cc

@@ -122,9 +122,9 @@ void Route::addFileToSegment(int n, const QString &file) {
   const int pos = name.lastIndexOf("--");
   name = pos != -1 ? name.mid(pos + 2) : name;
 
-  if (name == "rlog.bz2" || name == "rlog") {
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
     segments_[n].rlog = file;
-  } else if (name == "qlog.bz2" || name == "qlog") {
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
     segments_[n].road_cam = file;

tools/replay/util.cc

@@ -15,6 +15,7 @@
 #include <mutex>
 #include <numeric>
 #include <utility>
+#include <zstd.h>
 
 #include "common/timing.h"
 #include "common/util.h"
@@ -300,7 +301,7 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
     if (bzerror == BZ_OK && prev_write_pos == strm.next_out) {
       // content is corrupt
       bzerror = BZ_STREAM_END;
-      rWarning("decompressBZ2 error : content is corrupt");
+      rWarning("decompressBZ2 error: content is corrupt");
       break;
     }
 
@@ -318,6 +319,36 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort) {
+  ZSTD_DCtx* dctx = ZSTD_createDCtx();
+  assert(dctx != nullptr);
+
+  // Initialize input and output buffers
+  ZSTD_inBuffer input = { in, in_size, 0 };
+  std::string decompressedData;
+  const size_t bufferSize = ZSTD_DStreamOutSize(); // recommended output buffer size
+  std::string outputBuffer(bufferSize, '\0');
+
+  while (input.pos < input.size && !(abort && *abort)) {
+      ZSTD_outBuffer output = { outputBuffer.data(), bufferSize, 0 };
+
+      size_t result = ZSTD_decompressStream(dctx, &output, &input);
+      if (ZSTD_isError(result)) {
+        rWarning("decompressZST error: content is corrupt");
+        break;
+      }
+
+      decompressedData.append(outputBuffer.data(), output.pos);
+  }
+
+  ZSTD_freeDCtx(dctx);
+  if (!(abort && *abort)) {
+    decompressedData.shrink_to_fit();
+    return decompressedData;
+  }
+  return {};
+}
+
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   struct timespec req, rem;
   req.tv_sec = nanoseconds / 1000000000;

tools/replay/util.h

@@ -40,6 +40,7 @@ std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
 size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
 std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);