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262 lines
6.7 KiB
262 lines
6.7 KiB
#include <QApplication>
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#include <QWidget>
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#include <QString>
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#include <QTimer>
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#include <QPushButton>
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#include <QGraphicsScene>
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#include <QPainter>
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#include <QThread>
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#include <QMouseEvent>
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#include <QReadWriteLock>
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#include <QLineEdit>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonArray>
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#include <QDebug>
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#include <stdlib.h>
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#include <QTextStream>
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#include "FileReader.hpp"
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#include "Unlogger.hpp"
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#include "FrameReader.hpp"
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class Window : public QWidget {
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public:
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Window(QString route_, int seek, int use_api);
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bool addSegment(int i);
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QJsonArray camera_paths;
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QJsonArray log_paths;
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int use_api;
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protected:
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void keyPressEvent(QKeyEvent *event) override;
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void mousePressEvent(QMouseEvent *event) override;
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void paintEvent(QPaintEvent *event) override;
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uint64_t ct;
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Unlogger *unlogger;
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private:
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int timeToPixel(uint64_t ns);
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uint64_t pixelToTime(int px);
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QString route;
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QReadWriteLock events_lock;
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Events events;
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int last_event_size = 0;
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QMap<int, LogReader*> lrs;
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QMap<int, FrameReader*> frs;
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// cache the bar
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QPixmap *px = NULL;
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int seg_add = 0;
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QLineEdit *timeLE;
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};
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Window::Window(QString route_, int seek, int use_api_) : route(route_), use_api(use_api_) {
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timeLE = new QLineEdit(this);
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timeLE->setPlaceholderText("Placeholder Text");
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timeLE->move(50, 650);
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QThread* thread = new QThread;
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unlogger = new Unlogger(&events, &events_lock, &frs, seek);
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unlogger->moveToThread(thread);
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connect(thread, SIGNAL (started()), unlogger, SLOT (process()));
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connect(unlogger, SIGNAL (elapsed()), this, SLOT (update()));
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thread->start();
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if (use_api) {
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QString settings;
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QFile file;
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file.setFileName("routes.json");
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file.open(QIODevice::ReadOnly | QIODevice::Text);
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settings = file.readAll();
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file.close();
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QJsonDocument sd = QJsonDocument::fromJson(settings.toUtf8());
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qWarning() << sd.isNull(); // <- print false :)
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QJsonObject sett2 = sd.object();
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this->camera_paths = sett2.value("camera").toArray();
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this->log_paths = sett2.value("logs").toArray();
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}
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this->setFocusPolicy(Qt::StrongFocus);
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// add the first segment
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addSegment(seek/60);
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}
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bool Window::addSegment(int i) {
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if (lrs.find(i) == lrs.end()) {
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QString fn = QString("http://data.comma.life/%1/%2/rlog.bz2").arg(route).arg(i);
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QThread* thread = new QThread;
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if (!use_api) {
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lrs.insert(i, new LogReader(fn, &events, &events_lock, &unlogger->eidx));
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} else {
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QString log_fn = this->log_paths.at(i).toString();
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lrs.insert(i, new LogReader(log_fn, &events, &events_lock, &unlogger->eidx));
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}
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lrs[i]->moveToThread(thread);
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connect(thread, SIGNAL (started()), lrs[i], SLOT (process()));
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thread->start();
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//connect(lrs[i], SIGNAL (finished()), this, SLOT (update()));
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QString frn = QString("http://data.comma.life/%1/%2/fcamera.hevc").arg(route).arg(i);
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if (!use_api) {
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frs.insert(i, new FrameReader(qPrintable(frn)));
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} else {
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QString camera_fn = this->camera_paths.at(i).toString();
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frs.insert(i, new FrameReader(qPrintable(camera_fn)));
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}
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return true;
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}
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return false;
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}
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#define PIXELS_PER_SEC 0.5
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int Window::timeToPixel(uint64_t ns) {
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// TODO: make this dynamic
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return int(ns*1e-9*PIXELS_PER_SEC+0.5);
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}
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uint64_t Window::pixelToTime(int px) {
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// TODO: make this dynamic
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//printf("%d\n", px);
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return ((px+0.5)/PIXELS_PER_SEC) * 1e9;
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}
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void Window::keyPressEvent(QKeyEvent *event) {
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printf("keypress: %x\n", event->key());
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if (event->key() == Qt::Key_Space) unlogger->togglePause();
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}
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void Window::mousePressEvent(QMouseEvent *event) {
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//printf("mouse event\n");
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if (event->button() == Qt::LeftButton) {
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uint64_t t0 = events.begin().key();
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uint64_t tt = pixelToTime(event->x());
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int seg = int((tt*1e-9)/60);
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printf("segment %d\n", seg);
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addSegment(seg);
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//printf("seek to %lu\n", t0+tt);
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unlogger->setSeekRequest(t0+tt);
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}
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this->update();
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}
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void Window::paintEvent(QPaintEvent *event) {
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if (events.size() == 0) return;
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QElapsedTimer timer;
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timer.start();
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uint64_t t0 = events.begin().key();
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//p.drawRect(0, 0, 600, 100);
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// TODO: we really don't have to redraw this every time, only on updates to events
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float vEgo = 0.;
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int this_event_size = events.size();
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if (last_event_size != this_event_size) {
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if (px != NULL) delete px;
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px = new QPixmap(1920, 600);
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px->fill(QColor(0xd8, 0xd8, 0xd8));
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QPainter tt(px);
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tt.setBrush(Qt::cyan);
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int lt = -1;
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int lvv = 0;
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for (auto e : events) {
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auto type = e.which();
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//printf("%lld %d\n", e.getLogMonoTime()-t0, type);
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if (type == cereal::Event::CAR_STATE) {
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vEgo = e.getCarState().getVEgo();
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} else if (type == cereal::Event::CONTROLS_STATE) {
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auto controlsState = e.getControlsState();
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uint64_t t = (e.getLogMonoTime()-t0);
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int enabled = controlsState.getState() == cereal::ControlsState::OpenpilotState::ENABLED;
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int rt = timeToPixel(t); // 250 ms per pixel
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if (rt != lt) {
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int vv = vEgo*8.0;
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if (lt != -1) {
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tt.setPen(Qt::red);
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tt.drawLine(lt, 300-lvv, rt, 300-vv);
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if (enabled) {
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tt.setPen(Qt::green);
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} else {
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tt.setPen(Qt::blue);
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}
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tt.drawLine(rt, 300, rt, 600);
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}
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lt = rt;
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lvv = vv;
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}
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}
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}
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tt.end();
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last_event_size = this_event_size;
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if (lrs.find(seg_add) != lrs.end() && lrs[seg_add]->is_done) {
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while (!addSegment(++seg_add));
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}
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}
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QPainter p(this);
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if (px != NULL) p.drawPixmap(0, 0, 1920, 600, *px);
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p.setBrush(Qt::cyan);
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uint64_t ct = unlogger->getCurrentTime();
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if (ct != 0) {
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addSegment((((ct-t0)*1e-9)/60)+1);
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int rrt = timeToPixel(ct-t0);
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p.drawRect(rrt-1, 0, 2, 600);
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timeLE->setText(QString("%1").arg((ct-t0)*1e-9, '8', 'f', 2));
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}
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p.end();
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if (timer.elapsed() > 50) {
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qDebug() << "paint in" << timer.elapsed() << "ms";
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}
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}
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int main(int argc, char *argv[]) {
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QApplication app(argc, argv);
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QString route(argv[1]);
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int use_api = QString::compare(QString("use_api"), route, Qt::CaseInsensitive) == 0;
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int seek = QString(argv[2]).toInt();
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printf("seek: %d\n", seek);
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route = route.replace("|", "/");
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if (route == "") {
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printf("usage %s: <route>\n", argv[0]);
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exit(0);
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//route = "3a5d6ac1c23e5536/2019-10-29--10-06-58";
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//route = "0006c839f32a6f99/2019-02-18--06-21-29";
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//route = "02ec6bea180a4d36/2019-10-25--10-18-09";
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}
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Window window(route, seek, use_api);
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window.resize(1920, 800);
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window.setWindowTitle("nui unlogger");
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window.show();
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return app.exec();
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}
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