qt replay (#20602)
* initial commit, works * remove nui * working again * visionipc * cleanup * cleanup * moving VisionIpcServer to Unlogger class * works * tab cleanup * headless mode * headless mode works * working headless mode * gitignore update * small unlogger refactor * refactor param in UIState * works, very slow, hacks * cleanup * works * cleanup * cleanup * unused * works for whole route * nicer * a little nicer * different threshold * maintains 1 segment window * works with public api * comments * networkTimer works * cleanup * unified HttpRequest * tabs * tabs * comments' * gitignore * gitignore * only on PC * same line else * no changes in home.cc * scons * update scons * works * revert mainc.c * revert home * else * just api + problem with api send * works * include cleanup * general json fail * whitespace * remove active * adding request repeater * removing comments * tabs * update comment * cereal * fix * trailing new lines * grammar * if whitespace * indentation * Update selfdrive/ui/SConscript Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update selfdrive/ui/qt/request_repeater.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * works * sort by dir * no blockSignal * replay is now QOBject * cant take const char * rename inner it * get width and height from frame readeR * resolve TODO * seek in next pr * spaces * ui stuff * fix CI * remove comments * no repalce * trim segment fix * remove seek from stream * no cache key * final changes' * fix Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/20740/head
iejMac
4 years ago
committed by
GitHub
parent
0fe155b7c3
commit
19d962cdf3
26 changed files with 267 additions and 440 deletions
@ -0,0 +1,12 @@ |
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#include "request_repeater.hpp" |
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|
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RequestRepeater::RequestRepeater(QObject *parent, QString requestURL, const QString &cache_key, int period_seconds, bool disableWithScreen) : |
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HttpRequest(parent, requestURL, cache_key), disableWithScreen(disableWithScreen) { |
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QTimer* timer = new QTimer(this); |
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QObject::connect(timer, &QTimer::timeout, [=](){ |
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if (!GLWindow::ui_state.scene.started && reply == NULL && (GLWindow::ui_state.awake || !disableWithScreen)) { |
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sendRequest(requestURL); |
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} |
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}); |
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timer->start(period_seconds * 1000); |
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} |
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@ -0,0 +1,9 @@ |
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#include "api.hpp" |
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#include "home.hpp" |
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class RequestRepeater : public HttpRequest { |
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public: |
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RequestRepeater(QObject *parent, QString requestURL, const QString &cache_key = "", int period_seconds = 0, bool disableWithScreen = true); |
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bool disableWithScreen; |
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}; |
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@ -0,0 +1,18 @@ |
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#include <QApplication> |
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#include "replay.hpp" |
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int main(int argc, char *argv[]){ |
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QApplication a(argc, argv); |
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|
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QString route(argv[1]); |
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if (route == "") { |
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printf("Usage: ./replay \"route\"\n"); |
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return 1; |
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} |
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|
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Replay *replay = new Replay(route, 0); |
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replay->stream(0); |
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|
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return a.exec(); |
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} |
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@ -0,0 +1,71 @@ |
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#include "replay.hpp" |
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|
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Replay::Replay(QString route_, int seek) : route(route_) { |
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unlogger = new Unlogger(&events, &events_lock, &frs, seek); |
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current_segment = 0; |
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|
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http = new HttpRequest(this, "https://api.commadotai.com/v1/route/" + route + "/files"); |
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QObject::connect(http, SIGNAL(receivedResponse(QString)), this, SLOT(parseResponse(QString))); |
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} |
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|
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void Replay::parseResponse(QString response){ |
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response = response.trimmed(); |
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QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); |
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if (doc.isNull()) { |
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qDebug() << "JSON Parse failed"; |
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return; |
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} |
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|
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camera_paths = doc["cameras"].toArray(); |
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log_paths = doc["logs"].toArray(); |
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|
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// add first segment
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addSegment(0); |
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} |
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|
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void Replay::addSegment(int i){ |
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if (lrs.find(i) != lrs.end()) { |
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return; |
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} |
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|
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QThread* thread = new QThread; |
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|
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QString log_fn = this->log_paths.at(i).toString(); |
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lrs.insert(i, new LogReader(log_fn, &events, &events_lock, &unlogger->eidx)); |
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|
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lrs[i]->moveToThread(thread); |
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QObject::connect(thread, SIGNAL (started()), lrs[i], SLOT (process())); |
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thread->start(); |
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|
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QString camera_fn = this->camera_paths.at(i).toString(); |
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frs.insert(i, new FrameReader(qPrintable(camera_fn))); |
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} |
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|
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void Replay::trimSegment(int n){ |
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event_sizes.enqueue(events.size() - event_sizes.last()); |
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auto first = events.begin(); |
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for(int i = 0 ; i < n ; i++){ |
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int remove = event_sizes.dequeue(); |
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for(int j = 0 ; j < remove ; j++){ |
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first = events.erase(first); |
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} |
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} |
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} |
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|
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void Replay::stream(SubMaster *sm){ |
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QThread* thread = new QThread; |
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unlogger->moveToThread(thread); |
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QObject::connect(thread, &QThread::started, [=](){ |
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unlogger->process(sm); |
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}); |
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thread->start(); |
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|
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QObject::connect(unlogger, &Unlogger::loadSegment, [=](){ |
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addSegment(++current_segment); |
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if (current_segment > 1) { |
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trimSegment(1); |
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} |
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}); |
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} |
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@ -0,0 +1,48 @@ |
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#pragma once |
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#include <QFile> |
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#include <QQueue> |
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#include <QJsonArray> |
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#include <QJsonObject> |
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#include <QJsonDocument> |
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#include <capnp/dynamic.h> |
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#include "qt/api.hpp" |
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#include "Unlogger.hpp" |
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#include "FileReader.hpp" |
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#include "FrameReader.hpp" |
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#include "visionipc_server.h" |
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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_, int seek); |
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void stream(SubMaster *sm = nullptr); |
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void addSegment(int i); |
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void trimSegment(int n); |
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QJsonArray camera_paths; |
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QJsonArray log_paths; |
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QQueue<int> event_sizes; |
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public slots: |
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void parseResponse(QString response); |
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protected: |
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Unlogger *unlogger; |
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private: |
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QString route; |
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QReadWriteLock events_lock; |
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Events events; |
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QMap<int, LogReader*> lrs; |
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QMap<int, FrameReader*> frs; |
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HttpRequest *http; |
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int current_segment; |
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}; |
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@ -1,8 +0,0 @@ |
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.*.swp |
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*.o |
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_nui |
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moc_* |
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nui.app/* |
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routes.json |
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_nui.app |
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@ -1,11 +0,0 @@ |
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Import('qt_env', 'messaging') |
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qt_env['CPPPATH'] += ["#tools/clib"] |
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qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] |
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libs = [messaging, 'avutil', 'avcodec', 'avformat', 'bz2', 'capnp', 'kj', |
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'pthread', 'swscale', 'zmq'] |
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qt_env.Program("_nui", |
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['main.cpp', 'Unlogger.cpp', 'FileReader.cpp', '../clib/FrameReader.cpp'], |
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LIBS=qt_env['LIBS'] + libs) |
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@ -1,14 +0,0 @@ |
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#!/usr/bin/env python3 |
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import json |
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import sys |
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from tools.lib.route import Route |
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route_name = sys.argv[1] |
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routes = Route(route_name) |
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data_dump = { |
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"camera": routes.camera_paths(), |
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"logs": routes.log_paths() |
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} |
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json.dump(data_dump, open("routes.json", "w")) |
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@ -1,262 +0,0 @@ |
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#include <QApplication> |
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#include <QWidget> |
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#include <QString> |
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#include <QTimer> |
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#include <QPushButton> |
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#include <QGraphicsScene> |
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#include <QPainter> |
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#include <QThread> |
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#include <QMouseEvent> |
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#include <QReadWriteLock> |
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#include <QLineEdit> |
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#include <QJsonDocument> |
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#include <QJsonObject> |
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#include <QJsonArray> |
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#include <QDebug> |
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#include <stdlib.h> |
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#include <QTextStream> |
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#include "FileReader.hpp" |
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#include "Unlogger.hpp" |
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#include "FrameReader.hpp" |
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class Window : public QWidget { |
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public: |
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Window(QString route_, int seek, int use_api); |
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bool addSegment(int i); |
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QJsonArray camera_paths; |
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QJsonArray log_paths; |
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int use_api; |
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protected: |
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void keyPressEvent(QKeyEvent *event) override; |
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void mousePressEvent(QMouseEvent *event) override; |
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void paintEvent(QPaintEvent *event) override; |
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uint64_t ct; |
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Unlogger *unlogger; |
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private: |
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int timeToPixel(uint64_t ns); |
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uint64_t pixelToTime(int px); |
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QString route; |
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QReadWriteLock events_lock; |
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Events events; |
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int last_event_size = 0; |
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QMap<int, LogReader*> lrs; |
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QMap<int, FrameReader*> frs; |
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// cache the bar
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QPixmap *px = NULL; |
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int seg_add = 0; |
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QLineEdit *timeLE; |
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}; |
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Window::Window(QString route_, int seek, int use_api_) : route(route_), use_api(use_api_) { |
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timeLE = new QLineEdit(this); |
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timeLE->setPlaceholderText("Placeholder Text"); |
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timeLE->move(50, 650); |
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QThread* thread = new QThread; |
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unlogger = new Unlogger(&events, &events_lock, &frs, seek); |
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unlogger->moveToThread(thread); |
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connect(thread, SIGNAL (started()), unlogger, SLOT (process())); |
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connect(unlogger, SIGNAL (elapsed()), this, SLOT (update())); |
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thread->start(); |
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if (use_api) { |
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QString settings; |
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QFile file; |
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file.setFileName("routes.json"); |
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file.open(QIODevice::ReadOnly | QIODevice::Text); |
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settings = file.readAll(); |
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file.close(); |
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QJsonDocument sd = QJsonDocument::fromJson(settings.toUtf8()); |
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qWarning() << sd.isNull(); // <- print false :)
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QJsonObject sett2 = sd.object(); |
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this->camera_paths = sett2.value("camera").toArray(); |
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this->log_paths = sett2.value("logs").toArray(); |
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} |
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this->setFocusPolicy(Qt::StrongFocus); |
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// add the first segment
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addSegment(seek/60); |
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} |
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bool Window::addSegment(int i) { |
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if (lrs.find(i) == lrs.end()) { |
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QString fn = QString("http://data.comma.life/%1/%2/rlog.bz2").arg(route).arg(i); |
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QThread* thread = new QThread; |
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if (!use_api) { |
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lrs.insert(i, new LogReader(fn, &events, &events_lock, &unlogger->eidx)); |
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} else { |
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QString log_fn = this->log_paths.at(i).toString(); |
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lrs.insert(i, new LogReader(log_fn, &events, &events_lock, &unlogger->eidx)); |
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} |
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lrs[i]->moveToThread(thread); |
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connect(thread, SIGNAL (started()), lrs[i], SLOT (process())); |
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thread->start(); |
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//connect(lrs[i], SIGNAL (finished()), this, SLOT (update()));
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QString frn = QString("http://data.comma.life/%1/%2/fcamera.hevc").arg(route).arg(i); |
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if (!use_api) { |
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frs.insert(i, new FrameReader(qPrintable(frn))); |
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} else { |
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QString camera_fn = this->camera_paths.at(i).toString(); |
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frs.insert(i, new FrameReader(qPrintable(camera_fn))); |
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} |
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return true; |
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} |
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return false; |
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} |
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#define PIXELS_PER_SEC 0.5 |
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int Window::timeToPixel(uint64_t ns) { |
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// TODO: make this dynamic
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return int(ns*1e-9*PIXELS_PER_SEC+0.5); |
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} |
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uint64_t Window::pixelToTime(int px) { |
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// TODO: make this dynamic
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//printf("%d\n", px);
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return ((px+0.5)/PIXELS_PER_SEC) * 1e9; |
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} |
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void Window::keyPressEvent(QKeyEvent *event) { |
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printf("keypress: %x\n", event->key()); |
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if (event->key() == Qt::Key_Space) unlogger->togglePause(); |
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} |
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void Window::mousePressEvent(QMouseEvent *event) { |
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//printf("mouse event\n");
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if (event->button() == Qt::LeftButton) { |
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uint64_t t0 = events.begin().key(); |
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uint64_t tt = pixelToTime(event->x()); |
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int seg = int((tt*1e-9)/60); |
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printf("segment %d\n", seg); |
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addSegment(seg); |
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//printf("seek to %lu\n", t0+tt);
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unlogger->setSeekRequest(t0+tt); |
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} |
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this->update(); |
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} |
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void Window::paintEvent(QPaintEvent *event) { |
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if (events.size() == 0) return; |
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QElapsedTimer timer; |
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timer.start(); |
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uint64_t t0 = events.begin().key(); |
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//p.drawRect(0, 0, 600, 100);
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// TODO: we really don't have to redraw this every time, only on updates to events
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float vEgo = 0.; |
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int this_event_size = events.size(); |
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if (last_event_size != this_event_size) { |
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if (px != NULL) delete px; |
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px = new QPixmap(1920, 600); |
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px->fill(QColor(0xd8, 0xd8, 0xd8)); |
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QPainter tt(px); |
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tt.setBrush(Qt::cyan); |
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int lt = -1; |
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int lvv = 0; |
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for (auto e : events) { |
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auto type = e.which(); |
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//printf("%lld %d\n", e.getLogMonoTime()-t0, type);
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if (type == cereal::Event::CAR_STATE) { |
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vEgo = e.getCarState().getVEgo(); |
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} else if (type == cereal::Event::CONTROLS_STATE) { |
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auto controlsState = e.getControlsState(); |
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uint64_t t = (e.getLogMonoTime()-t0); |
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int enabled = controlsState.getState() == cereal::ControlsState::OpenpilotState::ENABLED; |
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int rt = timeToPixel(t); // 250 ms per pixel
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if (rt != lt) { |
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int vv = vEgo*8.0; |
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if (lt != -1) { |
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tt.setPen(Qt::red); |
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tt.drawLine(lt, 300-lvv, rt, 300-vv); |
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|
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if (enabled) { |
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tt.setPen(Qt::green); |
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} else { |
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tt.setPen(Qt::blue); |
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} |
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|
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tt.drawLine(rt, 300, rt, 600); |
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} |
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lt = rt; |
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lvv = vv; |
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} |
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} |
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} |
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tt.end(); |
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last_event_size = this_event_size; |
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if (lrs.find(seg_add) != lrs.end() && lrs[seg_add]->is_done) { |
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while (!addSegment(++seg_add)); |
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} |
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} |
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|
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QPainter p(this); |
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if (px != NULL) p.drawPixmap(0, 0, 1920, 600, *px); |
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p.setBrush(Qt::cyan); |
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uint64_t ct = unlogger->getCurrentTime(); |
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if (ct != 0) { |
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addSegment((((ct-t0)*1e-9)/60)+1); |
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int rrt = timeToPixel(ct-t0); |
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p.drawRect(rrt-1, 0, 2, 600); |
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timeLE->setText(QString("%1").arg((ct-t0)*1e-9, '8', 'f', 2)); |
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} |
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|
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p.end(); |
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|
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if (timer.elapsed() > 50) { |
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qDebug() << "paint in" << timer.elapsed() << "ms"; |
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} |
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} |
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|
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int main(int argc, char *argv[]) { |
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QApplication app(argc, argv); |
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|
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QString route(argv[1]); |
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int use_api = QString::compare(QString("use_api"), route, Qt::CaseInsensitive) == 0; |
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int seek = QString(argv[2]).toInt(); |
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printf("seek: %d\n", seek); |
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route = route.replace("|", "/"); |
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if (route == "") { |
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printf("usage %s: <route>\n", argv[0]); |
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exit(0); |
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//route = "3a5d6ac1c23e5536/2019-10-29--10-06-58";
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//route = "0006c839f32a6f99/2019-02-18--06-21-29";
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//route = "02ec6bea180a4d36/2019-10-25--10-18-09";
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} |
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|
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Window window(route, seek, use_api); |
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|
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window.resize(1920, 800); |
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window.setWindowTitle("nui unlogger"); |
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window.show(); |
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|
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return app.exec(); |
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} |
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@ -1,18 +0,0 @@ |
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#!/bin/bash -e |
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|
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if [ $# -gt 0 ]; then |
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if [ "$INTERNAL" = 1 ]; then |
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./_nui "$1" |
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else |
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./get_files_comma_api.py $1 |
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if [ -f ./_nui ]; then |
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./_nui use_api |
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elif [ -f _nui.app/Contents/MacOS/_nui ]; then |
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./_nui.app/Contents/MacOS/_nui use_api |
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else |
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echo "nui not found, please build it" |
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fi |
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fi |
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else |
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echo "Please Enter a Route" |
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fi |
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@ -1 +0,0 @@ |
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test |
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@ -1,14 +0,0 @@ |
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#include "../../clib/FrameReader.hpp" |
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#include "TestFrameReader.hpp" |
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|
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void TestFrameReader::frameread() { |
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QElapsedTimer t; |
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t.start(); |
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FrameReader fr("3a5d6ac1c23e5536/2019-10-29--10-06-58/2/fcamera.hevc"); |
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fr.get(2); |
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//QThread::sleep(10);
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qDebug() << t.nsecsElapsed()*1e-9 << "seconds"; |
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} |
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|
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QTEST_MAIN(TestFrameReader) |
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|
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@ -1,8 +0,0 @@ |
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#include <QtTest/QtTest> |
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|
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class TestFrameReader : public QObject { |
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Q_OBJECT |
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private slots: |
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void frameread(); |
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}; |
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|
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@ -1,16 +0,0 @@ |
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###################################################################### |
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# Automatically generated by qmake (3.0) Thu Oct 31 16:05:48 2019 |
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###################################################################### |
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|
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QT += testlib |
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TEMPLATE = app |
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TARGET = test |
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INCLUDEPATH += . ../ |
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|
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# Input |
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SOURCES += TestFrameReader.cpp ../../clib/FrameReader.cpp |
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HEADERS = TestFrameReader.hpp ../../clib/FrameReader.hpp |
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|
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CONFIG += c++14 |
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|
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LIBS += -lavformat -lavcodec -lavutil -lswscale |
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