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@ -4,35 +4,44 @@ |
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#include <QEventLoop> |
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#include <QEventLoop> |
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#include <QJsonArray> |
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#include <QJsonArray> |
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#include <QJsonDocument> |
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#include <QJsonDocument> |
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#include <QRegularExpression> |
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#include <QtConcurrent> |
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#include <QtConcurrent> |
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#include <array> |
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#include <array> |
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#include <filesystem> |
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#include <regex> |
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#include "selfdrive/ui/qt/api.h" |
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#include "selfdrive/ui/qt/api.h" |
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#include "system/hardware/hw.h" |
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#include "system/hardware/hw.h" |
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#include "tools/replay/replay.h" |
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#include "tools/replay/replay.h" |
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#include "tools/replay/util.h" |
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#include "tools/replay/util.h" |
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Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) { |
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Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) { |
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route_ = parseRoute(route); |
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route_ = parseRoute(route); |
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} |
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} |
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RouteIdentifier Route::parseRoute(const QString &str) { |
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RouteIdentifier Route::parseRoute(const std::string &str) { |
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RouteIdentifier identifier = {}; |
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RouteIdentifier identifier = {}; |
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QRegularExpression rx(R"(^((?<dongle_id>[a-z0-9]{16})[|_/])?(?<timestamp>.{20})((?<separator>--|/)(?<range>((-?\d+(:(-?\d+)?)?)|(:-?\d+))))?$)"); |
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static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)"); |
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if (auto match = rx.match(str); match.hasMatch()) { |
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std::smatch match; |
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identifier.dongle_id = match.captured("dongle_id"); |
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identifier.timestamp = match.captured("timestamp"); |
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if (std::regex_match(str, match, pattern)) { |
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identifier.dongle_id = match[2].str(); |
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identifier.timestamp = match[3].str(); |
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identifier.str = identifier.dongle_id + "|" + identifier.timestamp; |
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identifier.str = identifier.dongle_id + "|" + identifier.timestamp; |
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auto range_str = match.captured("range"); |
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if (auto separator = match.captured("separator"); separator == "/" && !range_str.isEmpty()) { |
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const auto separator = match[5].str(); |
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auto range = range_str.split(":"); |
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const auto range_str = match[6].str(); |
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identifier.begin_segment = identifier.end_segment = range[0].toInt(); |
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if (!range_str.empty()) { |
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if (range.size() == 2) { |
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if (separator == "/") { |
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identifier.end_segment = range[1].isEmpty() ? -1 : range[1].toInt(); |
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int pos = range_str.find(':'); |
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int begin_seg = std::stoi(range_str.substr(0, pos)); |
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identifier.begin_segment = identifier.end_segment = begin_seg; |
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if (pos != std::string::npos) { |
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auto end_seg_str = range_str.substr(pos + 1); |
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identifier.end_segment = end_seg_str.empty() ? -1 : std::stoi(end_seg_str); |
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} |
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} else if (separator == "--") { |
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identifier.begin_segment = std::atoi(range_str.c_str()); |
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} |
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} |
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} else if (separator == "--") { |
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identifier.begin_segment = range_str.toInt(); |
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} |
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} |
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} |
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} |
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return identifier; |
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return identifier; |
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@ -40,12 +49,12 @@ RouteIdentifier Route::parseRoute(const QString &str) { |
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bool Route::load() { |
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bool Route::load() { |
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err_ = RouteLoadError::None; |
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err_ = RouteLoadError::None; |
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if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) { |
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if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) { |
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rInfo("invalid route format"); |
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rInfo("invalid route format"); |
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return false; |
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return false; |
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} |
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} |
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date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss"); |
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date_time_ = QDateTime::fromString(route_.timestamp.c_str(), "yyyy-MM-dd--HH-mm-ss"); |
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bool ret = data_dir_.isEmpty() ? loadFromServer() : loadFromLocal(); |
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bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); |
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if (ret) { |
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if (ret) { |
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if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; |
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if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; |
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if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first; |
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if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first; |
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@ -69,7 +78,7 @@ bool Route::loadFromServer(int retries) { |
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result = json; |
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result = json; |
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loop.exit((int)err); |
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loop.exit((int)err); |
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}); |
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}); |
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http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files"); |
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http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files"); |
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auto err = (QNetworkReply::NetworkError)loop.exec(); |
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auto err = (QNetworkReply::NetworkError)loop.exec(); |
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if (err == QNetworkReply::NoError) { |
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if (err == QNetworkReply::NoError) { |
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return loadFromJson(result); |
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return loadFromJson(result); |
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@ -96,7 +105,7 @@ bool Route::loadFromJson(const QString &json) { |
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for (const auto &url : value.toArray()) { |
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for (const auto &url : value.toArray()) { |
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QString url_str = url.toString(); |
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QString url_str = url.toString(); |
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if (rx.indexIn(url_str) != -1) { |
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if (rx.indexIn(url_str) != -1) { |
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addFileToSegment(rx.cap(1).toInt(), url_str); |
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addFileToSegment(rx.cap(1).toInt(), url_str.toStdString()); |
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} |
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} |
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} |
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} |
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} |
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} |
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@ -104,23 +113,26 @@ bool Route::loadFromJson(const QString &json) { |
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} |
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} |
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bool Route::loadFromLocal() { |
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bool Route::loadFromLocal() { |
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QDirIterator it(data_dir_, {QString("%1--*").arg(route_.timestamp)}, QDir::Dirs | QDir::NoDotAndDotDot); |
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std::string pattern = route_.timestamp + "--"; |
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while (it.hasNext()) { |
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for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) { |
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QString segment = it.next(); |
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if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) { |
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const int seg_num = segment.mid(segment.lastIndexOf("--") + 2).toInt(); |
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std::string segment = entry.path().string(); |
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QDir segment_dir(segment); |
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int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str()); |
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for (const auto &f : segment_dir.entryList(QDir::Files)) { |
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addFileToSegment(seg_num, segment_dir.absoluteFilePath(f)); |
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for (const auto &file : std::filesystem::directory_iterator(segment)) { |
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if (file.is_regular_file()) { |
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addFileToSegment(seg_num, file.path().string()); |
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} |
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} |
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} |
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} |
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} |
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} |
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return !segments_.empty(); |
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return !segments_.empty(); |
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} |
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} |
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void Route::addFileToSegment(int n, const QString &file) { |
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void Route::addFileToSegment(int n, const std::string &file) { |
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QString name = QUrl(file).fileName(); |
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std::string name = extractFileName(file); |
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auto pos = name.find_last_of("--"); |
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const int pos = name.lastIndexOf("--"); |
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name = pos != std::string::npos ? name.substr(pos + 2) : name; |
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name = pos != -1 ? name.mid(pos + 2) : name; |
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if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") { |
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if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") { |
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segments_[n].rlog = file; |
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segments_[n].rlog = file; |
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@ -143,15 +155,15 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vec |
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: seg_num(n), flags(flags), filters_(filters) { |
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: seg_num(n), flags(flags), filters_(filters) { |
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// [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
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// [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
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const std::array file_list = { |
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const std::array file_list = { |
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(flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, |
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(flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam, |
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flags & REPLAY_FLAG_DCAM ? files.driver_cam : "", |
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flags & REPLAY_FLAG_DCAM ? files.driver_cam : "", |
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flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "", |
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flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "", |
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files.rlog.isEmpty() ? files.qlog : files.rlog, |
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files.rlog.empty() ? files.qlog : files.rlog, |
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}; |
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}; |
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for (int i = 0; i < file_list.size(); ++i) { |
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for (int i = 0; i < file_list.size(); ++i) { |
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if (!file_list[i].isEmpty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) { |
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if (!file_list[i].empty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) { |
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++loading_; |
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++loading_; |
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synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i].toStdString())); |
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synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i])); |
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} |
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} |
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} |
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} |
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} |
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} |
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Dean Lee
6 months ago
committed by
GitHub