Cabana: add `--ecam` flag to dispaly the wide road camera (#26727)

old-commit-hash: 7006230e08

tools/cabana/cabana

@@ -1,4 +1,4 @@
 #!/bin/sh
 cd "$(dirname "$0")"
 export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_cabana "$1"
+exec ./_cabana "$@"

tools/cabana/cabana.cc

@@ -15,6 +15,7 @@ int main(int argc, char *argv[]) {
   cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
   cmd_parser.addOption({"qcam", "load qcamera"});
+  cmd_parser.addOption({"ecam", "load wide road camera"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   cmd_parser.process(app);
   const QStringList args = cmd_parser.positionalArguments();
@@ -29,10 +30,17 @@ int main(int argc, char *argv[]) {
   dir.mkdir(msgq_path);
   setenv("OPENPILOT_PREFIX", qPrintable(uuid), 1);
 
-  int ret = 0;
   const QString route = args.empty() ? DEMO_ROUTE : args.first();
+  uint32_t replay_flags = REPLAY_FLAG_NONE;
+  if (cmd_parser.isSet("ecam")) {
+    replay_flags |= REPLAY_FLAG_ECAM;
+  } else if (cmd_parser.isSet("qcam")) {
+    replay_flags |= REPLAY_FLAG_QCAMERA;
+  }
+
   CANMessages p(&app);
-  if (p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) {
+  int ret = 0;
+  if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
     MainWindow w;
     w.showMaximized();
     ret = app.exec();

tools/cabana/canmessages.cc

@@ -21,8 +21,8 @@ static bool event_filter(const Event *e, void *opaque) {
   return c->eventFilter(e);
 }
 
-bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
-  replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
+bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
+  replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this);
   replay->setSegmentCacheLimit(settings.cached_segment_limit);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged);

tools/cabana/canmessages.h

@@ -26,13 +26,14 @@ public:
   enum FindFlags{ EQ, LT, GT };
   CANMessages(QObject *parent);
   ~CANMessages();
-  bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
+  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   void seekTo(double ts);
   QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
   bool eventFilter(const Event *event);
 
   inline QString routeName() const { return replay->route()->name(); }
   inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
+  inline VisionStreamType visionStreamType() const { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
   inline double totalSeconds() const { return replay->totalSeconds(); }
   inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const { return replay->currentSeconds(); }

tools/cabana/videowidget.cc

@@ -21,7 +21,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
 
-  cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);
+  cam_widget = new CameraWidget("camerad", can->visionStreamType(), false, this);
   cam_widget->setFixedSize(parent->width(), parent->width() / 1.596);
   main_layout->addWidget(cam_widget);