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64 lines
1.8 KiB
64 lines
1.8 KiB
#pragma once
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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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constexpr int FORWARD_SEGS = 2;
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constexpr int BACKWARD_SEGS = 2;
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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, bool dcam = false, bool ecam = false,
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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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signals:
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void segmentChanged();
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void seekTo(int seconds, bool relative);
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protected slots:
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void queueSegment();
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void doSeek(int seconds, bool relative);
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protected:
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typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
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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 publishFrame(const Event *e);
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inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; }
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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_ = -1;
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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::vector<Event *> *events_ = nullptr;
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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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PubMaster *pm = nullptr;
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std::vector<const char*> sockets_;
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std::unique_ptr<Route> route_;
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bool load_dcam = false, load_ecam = false;
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std::unique_ptr<CameraServer> camera_server_;
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};
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