You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
1.8 KiB
72 lines
1.8 KiB
4 years ago
|
#include "replay.hpp"
|
||
|
|
|
||
|
|
Replay::Replay(QString route_, int seek) : route(route_) {
|
||
|
|
unlogger = new Unlogger(&events, &events_lock, &frs, seek);
|
||
|
|
current_segment = 0;
|
||
|
|
|
||
|
|
http = new HttpRequest(this, "https://api.commadotai.com/v1/route/" + route + "/files");
|
||
|
|
QObject::connect(http, SIGNAL(receivedResponse(QString)), this, SLOT(parseResponse(QString)));
|
||
|
|
}
|
||
|
|
|
||
|
|
void Replay::parseResponse(QString response){
|
||
|
|
response = response.trimmed();
|
||
|
|
QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
|
||
|
|
|
||
|
|
if (doc.isNull()) {
|
||
|
|
qDebug() << "JSON Parse failed";
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
camera_paths = doc["cameras"].toArray();
|
||
|
|
log_paths = doc["logs"].toArray();
|
||
|
|
|
||
|
|
// add first segment
|
||
|
|
addSegment(0);
|
||
|
|
}
|
||
|
|
|
||
|
|
void Replay::addSegment(int i){
|
||
|
|
if (lrs.find(i) != lrs.end()) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
QThread* thread = new QThread;
|
||
|
|
|
||
|
|
QString log_fn = this->log_paths.at(i).toString();
|
||
|
|
lrs.insert(i, new LogReader(log_fn, &events, &events_lock, &unlogger->eidx));
|
||
|
|
|
||
|
|
lrs[i]->moveToThread(thread);
|
||
|
|
QObject::connect(thread, SIGNAL (started()), lrs[i], SLOT (process()));
|
||
|
|
thread->start();
|
||
|
|
|
||
|
|
QString camera_fn = this->camera_paths.at(i).toString();
|
||
|
|
frs.insert(i, new FrameReader(qPrintable(camera_fn)));
|
||
|
|
}
|
||
|
|
|
||
|
|
void Replay::trimSegment(int n){
|
||
|
|
event_sizes.enqueue(events.size() - event_sizes.last());
|
||
|
|
auto first = events.begin();
|
||
|
|
|
||
|
|
for(int i = 0 ; i < n ; i++){
|
||
|
|
int remove = event_sizes.dequeue();
|
||
|
|
for(int j = 0 ; j < remove ; j++){
|
||
|
|
first = events.erase(first);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void Replay::stream(SubMaster *sm){
|
||
|
|
QThread* thread = new QThread;
|
||
|
|
unlogger->moveToThread(thread);
|
||
|
|
QObject::connect(thread, &QThread::started, [=](){
|
||
|
|
unlogger->process(sm);
|
||
|
|
});
|
||
|
|
thread->start();
|
||
|
|
|
||
|
|
QObject::connect(unlogger, &Unlogger::loadSegment, [=](){
|
||
|
|
addSegment(++current_segment);
|
||
|
|
if (current_segment > 1) {
|
||
|
|
trimSegment(1);
|
||
|
|
}
|
||
|
|
});
|
||
|
|
}
|