Trey Moen
2 months ago
parent
9395bd5399
commit
57ef078106
19 changed files with 194 additions and 71 deletions
@ -1,22 +1,25 @@ |
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Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') |
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Import('qt_env', 'ui_libs', 'qt_libs', 'qt_ui', 'asset_obj', 'arch', 'common', 'messaging', 'visionipc', 'cereal') |
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replay_env = env.Clone() |
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replay_env = qt_env.Clone() |
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replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] |
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base_frameworks = [] |
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base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] |
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base_frameworks = replay_env["FRAMEWORKS"] |
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base_libs = replay_env["LIBS"] |
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if arch == "Darwin": |
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base_frameworks.append('OpenCL') |
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else: |
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base_libs.append('OpenCL') |
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if arch == 'larch64': |
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base_libs.append('EGL') |
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replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", |
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"route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] |
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"route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc", "clip/recorder/widget.cc", "clip/recorder/ffmpeg.cc", "clip/application.cc"] |
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replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) |
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Export('replay_lib') |
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replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs |
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replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) |
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replay_libs = [replay_lib, cereal, 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs + qt_libs + ui_libs + qt_ui |
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replay_env.Program("replay", ["main.cc", asset_obj], LIBS=replay_libs, FRAMEWORKS=base_frameworks) |
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if GetOption('extras'): |
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replay_env.Program('tests/test_replay', ['tests/test_replay.cc'], LIBS=replay_libs) |
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@ -0,0 +1,51 @@ |
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#include "tools/replay/clip/application.h" |
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#include <QApplication> |
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#include <QTranslator> |
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#include <selfdrive/ui/qt/util.h> |
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#include <selfdrive/ui/qt/window.h> |
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#include "recorder/widget.h" |
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Application::Application() { |
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} |
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Application::~Application() { |
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} |
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int Application::exec(int argc, char *argv[]) { |
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initApp(argc, argv); |
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QApplication a(argc, argv); |
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QString outputFile = "/Users/trey/Desktop/out.mp4"; |
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QTranslator translator; |
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QString translation_file = QString::fromStdString(Params().get("LanguageSetting")); |
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if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) { |
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qCritical() << "Failed to load translation file:" << translation_file; |
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} |
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a.installTranslator(&translator); |
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OnroadWindow w; |
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QThread recorderThread; |
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Recorder recorder; |
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recorder.moveToThread(&recorderThread); |
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QObject::connect(&recorderThread, &QThread::finished, &recorder, &QObject::deleteLater); |
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QObject::connect(&w, &OnroadWindow::drewOnroadFrame, &recorder, &Recorder::saveFrame, Qt::QueuedConnection); |
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recorderThread.start(); |
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w.setAttribute(Qt::WA_DontShowOnScreen); |
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w.setAttribute(Qt::WA_Mapped); |
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w.setAttribute(Qt::WA_NoSystemBackground); |
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w.resize(DEVICE_SCREEN_SIZE); |
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setMainWindow(&w); |
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return a.exec(); |
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} |
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@ -0,0 +1,9 @@ |
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#pragma once |
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class Application { |
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public: |
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Application(); |
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~Application(); |
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int exec(int argc, char* argv[]); |
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}; |
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@ -1,4 +1,4 @@ |
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#include "selfdrive/ui/qt/recorder/recorder.h" |
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#include "tools/replay/clip/recorder/ffmpeg.h" |
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#include <QDebug> |
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@ -0,0 +1,46 @@ |
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#include "tools/replay/clip/recorder/widget.h" |
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#include "tools/replay/clip/recorder/ffmpeg.h" |
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Recorder::~Recorder() { |
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fprintf(stderr, "closing\n"); |
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QObject::~QObject(); |
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} |
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void Recorder::saveFrame(QImage *frame) { |
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QMutexLocker locker(&mutex); |
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frameQueue.enqueue(frame); // Add frame to queue
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if (!isProcessing) { |
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isProcessing = true; |
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QMetaObject::invokeMethod(this, &Recorder::processQueue, Qt::QueuedConnection); |
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} |
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} |
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void Recorder::processQueue() { |
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while (true) { |
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QImage *frame; |
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{ |
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QMutexLocker locker(&mutex); |
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if (frameQueue.isEmpty() || !keepRunning) { |
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isProcessing = false; |
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return; |
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} |
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frame = frameQueue.dequeue(); |
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} |
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// Save the frame (this runs in the worker thread)
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static int frameCount = 0; |
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if (frameCount == 0 && !encoder.startRecording()) { |
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fprintf(stderr, "failed to start record\n"); |
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} |
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fprintf(stderr, "processing frame %d: %p\n", frameCount++, &frame); |
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if (!encoder.writeFrame(frame->convertToFormat(QImage::Format_ARGB32_Premultiplied))) { |
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fprintf(stderr, "did not write\n"); |
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} |
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} |
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} |
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void Recorder::stop() { |
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QMutexLocker locker(&mutex); |
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keepRunning = false; |
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} |
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@ -0,0 +1,29 @@ |
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#pragma once |
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#include <QImage> |
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#include <QObject> |
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#include <QQueue> |
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#include <selfdrive/ui/ui.h> |
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#include <selfdrive/ui/qt/qt_window.h> |
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#include "ffmpeg.h" |
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class Recorder : public QObject { |
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Q_OBJECT |
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public: |
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Recorder(QObject *parent = nullptr) : QObject(parent) {} |
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~Recorder() override; |
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public slots: |
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void saveFrame(QImage *frame); |
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void stop(); |
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private: |
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FFmpegEncoder encoder = FFmpegEncoder("/Users/trey/Desktop/out.mp4", DEVICE_SCREEN_SIZE.width(), DEVICE_SCREEN_SIZE.height(), UI_FREQ); |
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QQueue<QImage *> frameQueue; |
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QMutex mutex; |
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bool isProcessing = false; |
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bool keepRunning = true; |
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void processQueue(); |
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}; |
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