openpilot_comma/selfdrive/ui/main.cc

#include <sys/resource.h>

#include <QApplication>
#include <QTranslator>
#include <QImage>
#include <QTimer>
#include <QPainter>
#include <QBuffer>
#include <QDebug>
#include <QPixmap>
#include <QScreen>
#include <QEventLoop>
#include <QOffscreenSurface>
#include <QOpenGLContext>
#include <QCommandLineParser>
#include <QCommandLineOption>
#include <QScopedPointer>

#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/window.h"
#include "selfdrive/ui/qt/recorder/recorder.h"

int main(int argc, char *argv[]) {
  setpriority(PRIO_PROCESS, 0, -20);

  qInstallMessageHandler(swagLogMessageHandler);
  initApp(argc, argv);

  QApplication a(argc, argv);
  QCommandLineParser parser;
  parser.setApplicationDescription("OpenPilot UI with screen recording");
  parser.addHelpOption();
  parser.addVersionOption();

  QCommandLineOption outputOption(QStringList() << "o" << "output",
      "Output file path for the recorded video", "file");
  parser.addOption(outputOption);

  parser.process(a);

  if (!parser.isSet(outputOption)) {
    qCritical() << "Error: Output file path is required. Use --output or -o to specify it.";
    return -1;
  }

  QString outputFile = parser.value(outputOption);

  QTranslator translator;
  QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
  if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) {
    qCritical() << "Failed to load translation file:" << translation_file;
  }

  a.installTranslator(&translator);

  MainWindow w;
  w.setAttribute(Qt::WA_DontShowOnScreen);
  w.setAttribute(Qt::WA_Mapped);
  w.setAttribute(Qt::WA_NoSystemBackground);
  w.resize(DEVICE_SCREEN_SIZE);
  setMainWindow(&w);
  a.installEventFilter(&w);

  QSurfaceFormat format;
  format.setRenderableType(QSurfaceFormat::OpenGLES);
  format.setVersion(3, 0);
  format.setProfile(QSurfaceFormat::CoreProfile);
  QSurfaceFormat::setDefaultFormat(format);

  QOffscreenSurface surface;
  surface.create();
  QOpenGLContext context;
  context.create();
  context.makeCurrent(&surface);

  QScopedPointer<FFmpegEncoder> encoder(new FFmpegEncoder(outputFile, DEVICE_SCREEN_SIZE.width(), DEVICE_SCREEN_SIZE.height(), 30));
  encoder->startRecording();

  QScopedPointer<QTimer> captureTimer(new QTimer);
  QObject::connect(captureTimer.data(), &QTimer::timeout, [&]() {
    context.makeCurrent(&surface);

    QCoreApplication::processEvents();

    QImage image = w.grab().toImage();

    if (image.isNull() || image.size() != DEVICE_SCREEN_SIZE) {
      qWarning() << "Invalid image captured";
      context.doneCurrent();
      return;
    }

    image = image.convertToFormat(QImage::Format_ARGB32_Premultiplied);

    if (!encoder->writeFrame(image)) {
      qWarning() << "Failed to write frame";
    }

    context.doneCurrent();
  });

  captureTimer->start(1000/30);

  return a.exec();
}