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99 lines
2.9 KiB
99 lines
2.9 KiB
#pragma once
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#include <optional>
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#include <QThread>
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#include "selfdrive/ui/replay/camera.h"
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#include "selfdrive/ui/replay/route.h"
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// one segment uses about 100M of memory
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constexpr int FORWARD_SEGS = 5;
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enum REPLAY_FLAGS {
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REPLAY_FLAG_NONE = 0x0000,
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REPLAY_FLAG_DCAM = 0x0002,
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REPLAY_FLAG_ECAM = 0x0004,
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REPLAY_FLAG_NO_LOOP = 0x0010,
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REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
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REPLAY_FLAG_QCAMERA = 0x0040,
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REPLAY_FLAG_SEND_YUV = 0x0080,
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REPLAY_FLAG_NO_CUDA = 0x0100,
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REPLAY_FLAG_FULL_SPEED = 0x0200,
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REPLAY_FLAG_NO_VIPC = 0x0400,
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};
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enum class FindFlag {
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nextEngagement,
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nextDisEngagement
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};
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class Replay : public QObject {
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Q_OBJECT
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public:
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Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
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uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
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~Replay();
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bool load();
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void start(int seconds = 0);
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void pause(bool pause);
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bool isPaused() const { return paused_; }
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inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
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inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
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inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
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signals:
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void segmentChanged();
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void seekTo(int seconds, bool relative);
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void seekToFlag(FindFlag flag);
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void stop();
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protected slots:
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void queueSegment();
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void doStop();
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void doSeek(int seconds, bool relative);
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void doSeekToFlag(FindFlag flag);
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void segmentLoadFinished(bool sucess);
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protected:
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typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
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std::optional<uint64_t> find(FindFlag flag);
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void startStream(const Segment *cur_segment);
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void stream();
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void setCurrentSegment(int n);
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void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
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void updateEvents(const std::function<bool()>& lambda);
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void publishMessage(const Event *e);
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void publishFrame(const Event *e);
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inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; }
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inline bool isSegmentMerged(int n) {
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return std::find(segments_merged_.begin(), segments_merged_.end(), n) != segments_merged_.end();
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}
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QThread *stream_thread_ = nullptr;
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// logs
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std::mutex stream_lock_;
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std::condition_variable stream_cv_;
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std::atomic<bool> updating_events_ = false;
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std::atomic<int> current_segment_ = 0;
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SegmentMap segments_;
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// the following variables must be protected with stream_lock_
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bool exit_ = false;
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bool paused_ = false;
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bool events_updated_ = false;
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uint64_t route_start_ts_ = 0;
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uint64_t cur_mono_time_ = 0;
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std::unique_ptr<std::vector<Event *>> events_;
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std::unique_ptr<std::vector<Event *>> new_events_;
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std::vector<int> segments_merged_;
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// messaging
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SubMaster *sm = nullptr;
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std::unique_ptr<PubMaster> pm;
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std::vector<const char*> sockets_;
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std::unique_ptr<Route> route_;
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std::unique_ptr<CameraServer> camera_server_;
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std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;
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};
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