replay: build on devices (#22632)

* there is no QThread::create on device

* add files to files_common

* modify SConscript

* no memory_resouce on device

* #define HAS_MEMORY_RESOURCE

* fix hangs on shutdown

* build on device with the --extra flag

* delete later

* setup -> extras

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

SConstruct

@@ -13,9 +13,9 @@ AddOption('--test',
           action='store_true',
           help='build test files')
 
-AddOption('--setup',
+AddOption('--extras',
           action='store_true',
-          help='build setup and installer files')
+          help='build misc extras, like setup and installer files')
 
 AddOption('--kaitai',
           action='store_true',

release/files_common

@@ -351,8 +351,8 @@ selfdrive/ui/qt/widgets/*.h
 selfdrive/ui/qt/spinner_aarch64
 selfdrive/ui/qt/text_aarch64
 
-selfdrive/ui/replay/framereader.cc
-selfdrive/ui/replay/framereader.h
+selfdrive/ui/replay/*.cc
+selfdrive/ui/replay/*.h
 
 selfdrive/camerad/SConscript
 selfdrive/camerad/main.cc

selfdrive/ui/SConscript

@@ -61,13 +61,13 @@ qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
 
 
 # setup and factory resetter
-if arch != 'aarch64' and GetOption('setup'):
+if arch != 'aarch64' and GetOption('extras'):
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
                  LIBS=qt_libs + ['curl', 'common', 'json11'])
 
 
-if GetOption('setup'):
+if GetOption('extras'):
   # buidl updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
@@ -107,7 +107,7 @@ if GetOption('setup'):
 
 
 # build headless replay
-if arch in ['x86_64', 'Darwin'] and os.path.exists(Dir("#tools/").get_abspath()):
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
   qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
   replay_lib_src = ["replay/replay.cc", "replay/camera.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]

selfdrive/ui/replay/logreader.cc

@@ -28,16 +28,23 @@ Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(a
 // class LogReader
 
 LogReader::LogReader(size_t memory_pool_block_size) {
+#ifdef HAS_MEMORY_RESOURCE
   const size_t buf_size = sizeof(Event) * memory_pool_block_size;
   pool_buffer_ = ::operator new(buf_size);
   mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
-
+#endif
   events.reserve(memory_pool_block_size);
 }
 
 LogReader::~LogReader() {
+#ifdef HAS_MEMORY_RESOURCE
   delete mbr_;
   ::operator delete(pool_buffer_);
+#else
+  for (Event *e : events) {
+    delete e;
+  }
+#endif
 }
 
 bool LogReader::load(const std::string &file) {
@@ -56,15 +63,22 @@ bool LogReader::load(const std::string &file) {
   kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
   while (words.size() > 0) {
     try {
+#ifdef HAS_MEMORY_RESOURCE
       Event *evt = new (mbr_) Event(words);
+#else
+      Event *evt = new Event(words);
+#endif
 
       // Add encodeIdx packet again as a frame packet for the video stream
       if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
           evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
           evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
-
-          Event *frame_evt = new (mbr_) Event(words, true);
-          events.push_back(frame_evt);
+#ifdef HAS_MEMORY_RESOURCE
+        Event *frame_evt = new (mbr_) Event(words, true);
+#else
+        Event *frame_evt = new Event(words, true);
+#endif
+        events.push_back(frame_evt);
       }
 
       words = kj::arrayPtr(evt->reader.getEnd(), words.end());

selfdrive/ui/replay/logreader.h

@@ -1,6 +1,9 @@
 #pragma once
 
+#if __has_include(<memory_resource>)
+#define HAS_MEMORY_RESOURCE 1
 #include <memory_resource>
+#endif
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
@@ -25,12 +28,14 @@ public:
     }
   };
 
+#if HAS_MEMORY_RESOURCE
   void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
     return mbr->allocate(size);
   }
   void operator delete(void *ptr) {
     // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed. 
   }
+#endif
 
   uint64_t mono_time;
   cereal::Event::Which which;
@@ -50,6 +55,8 @@ public:
 
 private:
   std::string raw_;
+#ifdef HAS_MEMORY_RESOURCE
   std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
   void *pool_buffer_ = nullptr;
+#endif
 };

selfdrive/ui/replay/main.cc

@@ -115,7 +115,8 @@ int main(int argc, char *argv[]){
   }
   replay->start(parser.value("start").toInt());
   // start keyboard control thread
-  QThread *t = QThread::create(keyboardThread, replay);
+  QThread *t = new QThread();
+  QObject::connect(t, &QThread::started, [=]() { keyboardThread(replay); });
   QObject::connect(t, &QThread::finished, t, &QThread::deleteLater);
   t->start();
 

selfdrive/ui/replay/replay.cc

@@ -222,7 +222,8 @@ void Replay::startStream(const Segment *cur_segment) {
   camera_server_ = std::make_unique<CameraServer>(camera_size);
 
   // start stream thread
-  stream_thread_ = QThread::create(&Replay::stream, this);
+  stream_thread_ = new QThread();
+  QObject::connect(stream_thread_, &QThread::started, [=]() { stream(); });
   QObject::connect(stream_thread_, &QThread::finished, stream_thread_, &QThread::deleteLater);
   stream_thread_->start();
 }

selfdrive/ui/replay/route.cc

@@ -100,7 +100,9 @@ Segment::Segment(int n, const SegmentFile &files, bool load_dcam, bool load_ecam
   for (int i = 0; i < std::size(file_list); i++) {
     if (!file_list[i].isEmpty()) {
       loading_++;
-      loading_threads_.emplace_back(QThread::create(&Segment::loadFile, this, i, file_list[i].toStdString()))->start();
+      QThread *t = new QThread();
+      QObject::connect(t, &QThread::started, [=]() { loadFile(i, file_list[i].toStdString()); });
+      loading_threads_.emplace_back(t)->start();
     }
   }
 }
@@ -108,7 +110,10 @@ Segment::Segment(int n, const SegmentFile &files, bool load_dcam, bool load_ecam
 Segment::~Segment() {
   aborting_ = true;
   for (QThread *t : loading_threads_) {
-    if (t->isRunning()) t->wait();
+    if (t->isRunning()) {
+      t->quit();
+      t->wait();
+    }
     delete t;
   }
 }