replay: migrate onroadevents, cleanup

tools/replay/logreader.cc

@@ -33,7 +33,7 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
       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;
+        requires_controls_migration = false;
       }
 
       if (!filters_.empty()) {
@@ -61,9 +61,7 @@ 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();
-  }
+  migrateOldEvents();
 
   if (!events.empty() && !(abort && *abort)) {
     events.shrink_to_fit();
@@ -74,43 +72,82 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
 }
 
 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.getActiveDEPRECATED());
-      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setState(old_state.getStateDEPRECATED());
-
-      // 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);
+  for (const auto &event : events) {
+    if (event.which == cereal::Event::CONTROLS_STATE && requires_controls_migration) {
+      migrateControlsState(event.data);
+    } else if (event.which == cereal::Event::ONROAD_EVENTS_D_E_P_R_E_C_A_T_E_D) {
+      migrateOnroadEvents(event.data);
     }
   }
 }
+
+void LogReader::migrateControlsState(const kj::ArrayPtr<const capnp::word> &event_data) {
+  // 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.getActiveDEPRECATED());
+  new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
+  new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
+  new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
+  new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
+  new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
+  new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
+  new_state.setEnabled(old_state.getEnabledDEPRECATED());
+  new_state.setEngageable(old_state.getEngageableDEPRECATED());
+  new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
+  new_state.setPersonality(old_state.getPersonalityDEPRECATED());
+  new_state.setState(old_state.getStateDEPRECATED());
+
+  // 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 migrated_event_data = kj::arrayPtr(reinterpret_cast<const capnp::word *>(buf), buf_size);
+  events.emplace_back(new_evt.which(), new_evt.getLogMonoTime(), migrated_event_data);
+}
+
+void LogReader::migrateOnroadEvents(const kj::ArrayPtr<const capnp::word> &event_data) {
+  // Read the old event data
+  capnp::FlatArrayMessageReader reader(event_data);
+  auto old_evt = reader.getRoot<cereal::Event>();
+  auto old_state = old_evt.getOnroadEventsDEPRECATED();
+
+  MessageBuilder msg;
+  auto new_evt = msg.initEvent(old_evt.getValid());
+  new_evt.setLogMonoTime(old_evt.getLogMonoTime());
+
+  size_t new_onroad_events_size = old_state.size();
+  auto new_onroad_events = new_evt.initOnroadEvents(new_onroad_events_size);
+  for (size_t j = 0; j < new_onroad_events_size; j++) {
+    new_onroad_events[j].setName(ONROAD_EVENT_NAME_MAP.at(old_state[j].getName()));
+    new_onroad_events[j].setEnable(old_state[j].getEnable());
+    new_onroad_events[j].setNoEntry(old_state[j].getNoEntry());
+    new_onroad_events[j].setWarning(old_state[j].getWarning());
+    new_onroad_events[j].setUserDisable(old_state[j].getUserDisable());
+    new_onroad_events[j].setSoftDisable(old_state[j].getSoftDisable());
+    new_onroad_events[j].setImmediateDisable(old_state[j].getImmediateDisable());
+    new_onroad_events[j].setPreEnable(old_state[j].getPreEnable());
+    new_onroad_events[j].setPermanent(old_state[j].getPermanent());
+    new_onroad_events[j].setOverrideLateral(old_state[j].getOverrideLateral());
+    new_onroad_events[j].setOverrideLongitudinal(old_state[j].getOverrideLongitudinal());
+  }
+
+  // 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 migrated_event_data = kj::arrayPtr(reinterpret_cast<const capnp::word *>(buf), buf_size);
+  events.emplace_back(new_evt.which(), new_evt.getLogMonoTime(), migrated_event_data);
+}

tools/replay/logreader.h

@@ -1,11 +1,112 @@
 #pragma once
 
+#include <map>
 #include <string>
 #include <vector>
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "tools/replay/util.h"
 
+using OldOnroadEventName = cereal::OnroadEventDEPRECATED::EventName;
+using NewOnroadEventName = cereal::OnroadEvent::EventName;
+
+#define MAP_ONROAD_EVENT_NAME(name) {OldOnroadEventName::name, NewOnroadEventName::name}
+
+static const std::map<OldOnroadEventName, NewOnroadEventName> ONROAD_EVENT_NAME_MAP = {
+  MAP_ONROAD_EVENT_NAME(CAN_ERROR),
+  MAP_ONROAD_EVENT_NAME(STEER_UNAVAILABLE),
+  MAP_ONROAD_EVENT_NAME(WRONG_GEAR),
+  MAP_ONROAD_EVENT_NAME(DOOR_OPEN),
+  MAP_ONROAD_EVENT_NAME(SEATBELT_NOT_LATCHED),
+  MAP_ONROAD_EVENT_NAME(ESP_DISABLED),
+  MAP_ONROAD_EVENT_NAME(WRONG_CAR_MODE),
+  MAP_ONROAD_EVENT_NAME(STEER_TEMP_UNAVAILABLE),
+  MAP_ONROAD_EVENT_NAME(REVERSE_GEAR),
+  MAP_ONROAD_EVENT_NAME(BUTTON_CANCEL),
+  MAP_ONROAD_EVENT_NAME(BUTTON_ENABLE),
+  MAP_ONROAD_EVENT_NAME(PEDAL_PRESSED),
+  MAP_ONROAD_EVENT_NAME(CRUISE_DISABLED),
+  MAP_ONROAD_EVENT_NAME(SPEED_TOO_LOW),
+  MAP_ONROAD_EVENT_NAME(OUT_OF_SPACE),
+  MAP_ONROAD_EVENT_NAME(OVERHEAT),
+  MAP_ONROAD_EVENT_NAME(CALIBRATION_INCOMPLETE),
+  MAP_ONROAD_EVENT_NAME(CALIBRATION_INVALID),
+  MAP_ONROAD_EVENT_NAME(CONTROLS_MISMATCH),
+  MAP_ONROAD_EVENT_NAME(PCM_ENABLE),
+  MAP_ONROAD_EVENT_NAME(PCM_DISABLE),
+  MAP_ONROAD_EVENT_NAME(RADAR_FAULT),
+  MAP_ONROAD_EVENT_NAME(BRAKE_HOLD),
+  MAP_ONROAD_EVENT_NAME(PARK_BRAKE),
+  MAP_ONROAD_EVENT_NAME(MANUAL_RESTART),
+  MAP_ONROAD_EVENT_NAME(JOYSTICK_DEBUG),
+  MAP_ONROAD_EVENT_NAME(STEER_TEMP_UNAVAILABLE_SILENT),
+  MAP_ONROAD_EVENT_NAME(RESUME_REQUIRED),
+  MAP_ONROAD_EVENT_NAME(PRE_DRIVER_DISTRACTED),
+  MAP_ONROAD_EVENT_NAME(PROMPT_DRIVER_DISTRACTED),
+  MAP_ONROAD_EVENT_NAME(DRIVER_DISTRACTED),
+  MAP_ONROAD_EVENT_NAME(PRE_DRIVER_UNRESPONSIVE),
+  MAP_ONROAD_EVENT_NAME(PROMPT_DRIVER_UNRESPONSIVE),
+  MAP_ONROAD_EVENT_NAME(DRIVER_UNRESPONSIVE),
+  MAP_ONROAD_EVENT_NAME(BELOW_STEER_SPEED),
+  MAP_ONROAD_EVENT_NAME(LOW_BATTERY),
+  MAP_ONROAD_EVENT_NAME(PARAMSD_TEMPORARY_ERROR),
+  MAP_ONROAD_EVENT_NAME(ACC_FAULTED),
+  MAP_ONROAD_EVENT_NAME(SENSOR_DATA_INVALID),
+  MAP_ONROAD_EVENT_NAME(COMM_ISSUE),
+  MAP_ONROAD_EVENT_NAME(TOO_DISTRACTED),
+  MAP_ONROAD_EVENT_NAME(POSENET_INVALID),
+  MAP_ONROAD_EVENT_NAME(PRE_LANE_CHANGE_LEFT),
+  MAP_ONROAD_EVENT_NAME(PRE_LANE_CHANGE_RIGHT),
+  MAP_ONROAD_EVENT_NAME(LANE_CHANGE),
+  MAP_ONROAD_EVENT_NAME(LOW_MEMORY),
+  MAP_ONROAD_EVENT_NAME(STOCK_AEB),
+  MAP_ONROAD_EVENT_NAME(LDW),
+  MAP_ONROAD_EVENT_NAME(CAR_UNRECOGNIZED),
+  MAP_ONROAD_EVENT_NAME(INVALID_LKAS_SETTING),
+  MAP_ONROAD_EVENT_NAME(SPEED_TOO_HIGH),
+  MAP_ONROAD_EVENT_NAME(LANE_CHANGE_BLOCKED),
+  MAP_ONROAD_EVENT_NAME(RELAY_MALFUNCTION),
+  MAP_ONROAD_EVENT_NAME(PRE_ENABLE_STANDSTILL),
+  MAP_ONROAD_EVENT_NAME(STOCK_FCW),
+  MAP_ONROAD_EVENT_NAME(STARTUP),
+  MAP_ONROAD_EVENT_NAME(STARTUP_NO_CAR),
+  MAP_ONROAD_EVENT_NAME(STARTUP_NO_CONTROL),
+  MAP_ONROAD_EVENT_NAME(STARTUP_MASTER),
+  MAP_ONROAD_EVENT_NAME(FCW),
+  MAP_ONROAD_EVENT_NAME(STEER_SATURATED),
+  MAP_ONROAD_EVENT_NAME(BELOW_ENGAGE_SPEED),
+  MAP_ONROAD_EVENT_NAME(NO_GPS),
+  MAP_ONROAD_EVENT_NAME(WRONG_CRUISE_MODE),
+  MAP_ONROAD_EVENT_NAME(MODELD_LAGGING),
+  MAP_ONROAD_EVENT_NAME(DEVICE_FALLING),
+  MAP_ONROAD_EVENT_NAME(FAN_MALFUNCTION),
+  MAP_ONROAD_EVENT_NAME(CAMERA_MALFUNCTION),
+  MAP_ONROAD_EVENT_NAME(PROCESS_NOT_RUNNING),
+  MAP_ONROAD_EVENT_NAME(DASHCAM_MODE),
+  MAP_ONROAD_EVENT_NAME(SELFDRIVE_INITIALIZING),
+  MAP_ONROAD_EVENT_NAME(USB_ERROR),
+  MAP_ONROAD_EVENT_NAME(LOCATIOND_TEMPORARY_ERROR),
+  MAP_ONROAD_EVENT_NAME(CRUISE_MISMATCH),
+  MAP_ONROAD_EVENT_NAME(GAS_PRESSED_OVERRIDE),
+  MAP_ONROAD_EVENT_NAME(COMM_ISSUE_AVG_FREQ),
+  MAP_ONROAD_EVENT_NAME(CAMERA_FRAME_RATE),
+  MAP_ONROAD_EVENT_NAME(CAN_BUS_MISSING),
+  MAP_ONROAD_EVENT_NAME(SELFDRIVED_LAGGING),
+  MAP_ONROAD_EVENT_NAME(RESUME_BLOCKED),
+  MAP_ONROAD_EVENT_NAME(STEER_OVERRIDE),
+  MAP_ONROAD_EVENT_NAME(STEER_TIME_LIMIT),
+  MAP_ONROAD_EVENT_NAME(VEHICLE_SENSORS_INVALID),
+  MAP_ONROAD_EVENT_NAME(CALIBRATION_RECALIBRATING),
+  MAP_ONROAD_EVENT_NAME(LOCATIOND_PERMANENT_ERROR),
+  MAP_ONROAD_EVENT_NAME(PARAMSD_PERMANENT_ERROR),
+  MAP_ONROAD_EVENT_NAME(ACTUATORS_API_UNAVAILABLE),
+  MAP_ONROAD_EVENT_NAME(ESP_ACTIVE),
+  MAP_ONROAD_EVENT_NAME(PERSONALITY_CHANGED),
+  MAP_ONROAD_EVENT_NAME(AEB),
+  MAP_ONROAD_EVENT_NAME(LONGITUDINAL_MANEUVER),
+  MAP_ONROAD_EVENT_NAME(STARTUP_NO_SEC_OC_KEY),
+};
+
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
 
@@ -34,9 +135,11 @@ class LogReader {
 
 private:
   void migrateOldEvents();
+  void migrateControlsState(const kj::ArrayPtr<const capnp::word> &event_data);
+  void migrateOnroadEvents(const kj::ArrayPtr<const capnp::word> &event_data);
 
   std::string raw_;
-  bool requires_migration = true;
+  bool requires_controls_migration = true;
   std::vector<bool> filters_;
   MonotonicBuffer buffer_{1024 * 1024};
 };

tools/replay/replay.cc

@@ -52,7 +52,10 @@ void Replay::setupSegmentManager(bool has_filters) {
   if (has_filters) {
     std::vector<bool> filters(sockets_.size(), false);
     for (size_t i = 0; i < sockets_.size(); ++i) {
-      filters[i] = (i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
+      filters[i] = (i == cereal::Event::Which::INIT_DATA ||
+                    i == cereal::Event::Which::CAR_PARAMS ||
+                    i == cereal::Event::Which::ONROAD_EVENTS_D_E_P_R_E_C_A_T_E_D ||
+                    sockets_[i]);
     }
     seg_mgr_->setFilters(filters);
   }