BMW_E8x_EPS/gateway/replay_runner.py

"""Hardware-aware replay engine, shared by gateway_app.py's Replay tab.

Unlike decoder/replay_source.py's ReplayPlayer (which only feeds a
FrameStore for visualization), this actually sends allowed frames to a real
adapter, and can also replay the CAN-IO board's own digital output changes
(see tools/extract_dio_timeline.py) - both driven by the same wall-clock
advance() call so it fits Streamlit's rerun-loop pattern with no background
thread needed.
"""
from __future__ import annotations

import csv
from pathlib import Path
from typing import Optional

CAN_ID_COMMAND = 0x101
CAN_ID_STATUS = 0x100
CMD_SET_ALL = 0x02


def load_capture(path: Path) -> list[tuple[float, int, bytes]]:
    """Same format/behaviour as decoder.replay_source.load_capture."""
    rows = []
    with open(path, newline="") as f:
        for row in csv.DictReader(f):
            rows.append((int(row["timestamp_ms"]), int(row["arbitration_id"], 16), bytes.fromhex(row["data_hex"])))
    rows.sort(key=lambda r: r[0])
    if not rows:
        return []
    t0 = rows[0][0]
    return [((ms - t0) / 1000, aid, data) for ms, aid, data in rows]


def load_dio_events(path: Path) -> list[tuple[float, int]]:
    """Read a DIO timeline, keeping only the times the outputs changed.

    Accepts both layouts we produce:
      - gateway/dio_monitor.py's DioLogger: t, uptime_s, in1..in4, out1, out2, event
      - the older tools/extract_dio_timeline.py: t, inputs, outputs
    """
    events = []
    prev = None
    with open(path, newline="") as f:
        reader = csv.DictReader(f)
        for row in reader:
            if "out1" in row:
                outputs = (int(row["out1"]) & 1) | ((int(row["out2"]) & 1) << 1)
            else:
                outputs = int(row["outputs"])
            if outputs != prev:
                events.append((float(row["t"]), outputs))
                prev = outputs
    return events


def gateway_log_to_capture(gateway_log: Path, direction: str = "car->eps", include_blocked: bool = False) -> list[tuple[float, int, bytes]]:
    """Same idea as tools/gateway_log_to_capture.py, but in-process."""
    rows = []
    with open(gateway_log, newline="") as f:
        for row in csv.DictReader(f):
            if row["direction"] != direction:
                continue
            if not include_blocked and row["relayed"] != "1":
                continue
            rows.append((float(row["t"]), int(row["arbitration_id"], 16), bytes.fromhex(row["data_hex"])))
    rows.sort(key=lambda r: r[0])
    if not rows:
        return []
    t0 = rows[0][0]
    return [(t - t0, aid, data) for t, aid, data in rows]


def extract_dio_events(gateway_log: Path) -> list[tuple[float, int]]:
    """Same idea as tools/extract_dio_timeline.py, but in-process."""
    samples = []
    with open(gateway_log, newline="") as f:
        for row in csv.DictReader(f):
            if int(row["arbitration_id"], 16) != CAN_ID_STATUS:
                continue
            data = bytes.fromhex(row["data_hex"])
            if len(data) < 2:
                continue
            samples.append((float(row["t"]), data[1]))
    events = []
    prev = None
    for t, outputs in samples:
        if outputs != prev:
            events.append((t, outputs))
            prev = outputs
    return events


class HardwareReplayPlayer:
    """Steps through a merged (frames + DIO events) timeline, sending to a
    real adapter as it goes, driven by repeated advance() calls (Streamlit
    rerun loop) rather than a background thread."""

    def __init__(self, frames: list[tuple[float, int, bytes]], dio_events: Optional[list[tuple[float, int]]] = None):
        self.frames = frames
        timeline = [(t, "frame", (aid, data)) for t, aid, data in frames]
        timeline += [(t, "dio", outputs) for t, outputs in (dio_events or [])]
        timeline.sort(key=lambda e: e[0])
        self.timeline = timeline
        self.duration = frames[-1][0] if frames else 0.0
        self.index = 0
        self.clock = 0.0
        self.sent = 0
        self.skipped = 0
        self.dio_sent = 0

    def reset(self) -> None:
        self.index = 0
        self.clock = 0.0
        self.sent = self.skipped = self.dio_sent = 0

    def at_end(self) -> bool:
        return self.index >= len(self.timeline)

    def advance(self, dt_wall: float, speed: float, store, rules, adapter=None) -> None:
        self.clock += dt_wall * speed
        while self.index < len(self.timeline) and self.timeline[self.index][0] <= self.clock:
            t, kind, payload = self.timeline[self.index]
            if kind == "frame":
                aid, data = payload
                allowed = rules.allows(aid)
                if allowed:
                    if adapter is not None:
                        adapter.send_frame(aid, data)
                    self.sent += 1
                    store.feed(aid, data, t)
                else:
                    self.skipped += 1
            else:  # "dio"
                if adapter is not None:
                    # Direct USB IO channel, not a CAN command frame: works even
                    # when the EPS bus has no other powered node to ACK traffic.
                    for idx in range(2):
                        adapter.set_output(idx, bool(payload & (1 << idx)))
                self.dio_sent += 1
            self.index += 1

    def seek(self, t: float, store) -> None:
        store.reset()
        self.reset()
        self.clock = t
        while self.index < len(self.timeline) and self.timeline[self.index][0] <= self.clock:
            frame_t, kind, payload = self.timeline[self.index]
            if kind == "frame":
                aid, data = payload
                store.feed(aid, data, frame_t)
                self.sent += 1
            else:
                self.dio_sent += 1
            self.index += 1