replay: add flag to disable video (#23353)

old-commit-hash: 1e309a51f5

selfdrive/ui/replay/main.cc

@@ -107,6 +107,7 @@ int main(int argc, char *argv[]) {
       {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
       {"yuv", REPLAY_FLAG_SEND_YUV, "send yuv frame"},
       {"no-cuda", REPLAY_FLAG_NO_CUDA, "disable CUDA"},
+      {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
   };
 
   QCommandLineParser parser;

selfdrive/ui/replay/replay.cc

@@ -58,8 +58,10 @@ bool Replay::load() {
   }
 
   for (auto &[n, f] : route_->segments()) {
-    if ((!f.rlog.isEmpty() || !f.qlog.isEmpty()) && (!f.road_cam.isEmpty() || !f.qcamera.isEmpty())) {
-      segments_[n] = nullptr;
+    bool has_log = !f.rlog.isEmpty() || !f.qlog.isEmpty();
+    bool has_video = !f.road_cam.isEmpty() || !f.qcamera.isEmpty();
+    if (has_log && (has_video || hasFlag(REPLAY_FLAG_NO_VIPC))) {
+      segments_.insert({n, nullptr});
     }
   }
   if (segments_.empty()) {
@@ -218,13 +220,15 @@ void Replay::startStream(const Segment *cur_segment) {
   }
 
   // start camera server
-  std::pair<int, int> camera_size[MAX_CAMERAS] = {};
-  for (auto type : ALL_CAMERAS) {
-    if (auto &fr = cur_segment->frames[type]) {
-      camera_size[type] = {fr->width, fr->height};
+  if (!hasFlag(REPLAY_FLAG_NO_VIPC)) {
+    std::pair<int, int> camera_size[MAX_CAMERAS] = {};
+    for (auto type : ALL_CAMERAS) {
+      if (auto &fr = cur_segment->frames[type]) {
+        camera_size[type] = {fr->width, fr->height};
+      }
     }
+    camera_server_ = std::make_unique<CameraServer>(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV));
   }
-  camera_server_ = std::make_unique<CameraServer>(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV));
 
   // start stream thread
   stream_thread_ = new QThread();
@@ -318,18 +322,20 @@ void Replay::stream() {
           precise_nano_sleep(behind_ns);
         }
 
-        if (evt->frame) {
+        if (!evt->frame) {
+          publishMessage(evt);
+        } else if (camera_server_) {
           if (hasFlag(REPLAY_FLAG_FULL_SPEED)) {
             camera_server_->waitFinish();
           }
           publishFrame(evt);
-        } else {
-          publishMessage(evt);
         }
       }
     }
     // wait for frame to be sent before unlock.(frameReader may be deleted after unlock)
-    camera_server_->waitFinish();
+    if (camera_server_) {
+      camera_server_->waitFinish();
+    }
 
     if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
       int last_segment = segments_.rbegin()->first;

selfdrive/ui/replay/replay.h

@@ -18,6 +18,7 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_SEND_YUV = 0x0080,
   REPLAY_FLAG_NO_CUDA = 0x0100,
   REPLAY_FLAG_FULL_SPEED = 0x0200,
+  REPLAY_FLAG_NO_VIPC = 0x0400,
 };
 
 class Replay : public QObject {

selfdrive/ui/replay/route.cc

@@ -98,7 +98,7 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n),
       files.rlog.isEmpty() ? files.qlog : files.rlog,
   };
   for (int i = 0; i < file_list.size(); ++i) {
-    if (!file_list[i].isEmpty()) {
+    if (!file_list[i].isEmpty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) {
       ++loading_;
       synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i].toStdString()));
     }