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45 lines
1.4 KiB
45 lines
1.4 KiB
#include <QApplication>
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#include <QCommandLineParser>
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#include "common/prefix.h"
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#include "selfdrive/ui/qt/util.h"
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#include "tools/cabana/mainwin.h"
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int main(int argc, char *argv[]) {
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QCoreApplication::setApplicationName("Cabana");
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QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
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initApp(argc, argv);
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QApplication app(argc, argv);
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QCommandLineParser cmd_parser;
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cmd_parser.addHelpOption();
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cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
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cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
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cmd_parser.addOption({"qcam", "load qcamera"});
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cmd_parser.addOption({"ecam", "load wide road camera"});
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cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
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cmd_parser.process(app);
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const QStringList args = cmd_parser.positionalArguments();
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if (args.empty() && !cmd_parser.isSet("demo")) {
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cmd_parser.showHelp();
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}
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const QString route = args.empty() ? DEMO_ROUTE : args.first();
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uint32_t replay_flags = REPLAY_FLAG_NONE;
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if (cmd_parser.isSet("ecam")) {
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replay_flags |= REPLAY_FLAG_ECAM;
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} else if (cmd_parser.isSet("qcam")) {
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replay_flags |= REPLAY_FLAG_QCAMERA;
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}
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OpenpilotPrefix op_prefix;
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CANMessages p(&app);
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int ret = 0;
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if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
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MainWindow w;
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w.show();
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ret = app.exec();
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}
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return ret;
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}
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