openpilot_comma/selfdrive/ui/replay/main.cc

#include "selfdrive/ui/replay/replay.h"

#include <termios.h>

#include <QApplication>
#include <QThread>

int getch() {
  int ch;
  struct termios oldt;
  struct termios newt;

  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);

  return ch;
}

void keyboardThread(Replay *replay) {
  char c;
  while (true) {
    c = getch();
    if (c == '\n') {
      printf("Enter seek request: ");
      std::string r;
      std::cin >> r;

      try {
        if (r[0] == '#') {
          r.erase(0, 1);
          replay->seekTo(std::stoi(r) * 60);
        } else {
          replay->seekTo(std::stoi(r));
        }
      } catch (std::invalid_argument) {
        qDebug() << "invalid argument";
      }
      getch();  // remove \n from entering seek
    } else if (c == 'm') {
      replay->relativeSeek(+60);
    } else if (c == 'M') {
      replay->relativeSeek(-60);
    } else if (c == 's') {
      replay->relativeSeek(+10);
    } else if (c == 'S') {
      replay->relativeSeek(-10);
    } else if (c == 'G') {
      replay->relativeSeek(0);
    }
  }
}

int main(int argc, char *argv[]){
  QApplication a(argc, argv);

  QString route(argv[1]);
  if (route == "") {
    printf("Usage: ./replay \"route\"\n");
    printf("  For a public demo route, use '3533c53bb29502d1|2019-12-10--01-13-27'\n");
    return 1;
  }

  Replay *replay = new Replay(route);
  replay->start();

  QThread *t = QThread::create(keyboardThread, replay);
  QObject::connect(t, &QThread::finished, t, &QThread::deleteLater);
  t->start();
  return a.exec();
}