replay improvements (#22203)
* refactor replay
* cleanup
small cleanup
* merge 22239
* cleanup
* add optional argument for start time
* small cleaup
old-commit-hash: 50ae7dd6a9
commatwo_master
Dean Lee
4 years ago
committed by
GitHub
parent
e44eabb2f8
commit
5be69694ba
11 changed files with 418 additions and 315 deletions
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#include "selfdrive/ui/replay/route.h" |
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#include <QDir> |
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#include <QEventLoop> |
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#include <QFile> |
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#include <QJsonArray> |
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#include <QJsonDocument> |
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#include <QRegExp> |
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#include <future> |
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#include "selfdrive/hardware/hw.h" |
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#include "selfdrive/ui/qt/api.h" |
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Route::Route(const QString &route) : route_(route) {} |
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bool Route::load() { |
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QEventLoop loop; |
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auto onError = [&loop](const QString &err) { |
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qInfo() << err; |
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loop.quit(); |
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}; |
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bool ret = false; |
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HttpRequest http(nullptr, !Hardware::PC()); |
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QObject::connect(&http, &HttpRequest::failedResponse, onError); |
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QObject::connect(&http, &HttpRequest::timeoutResponse, onError); |
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QObject::connect(&http, &HttpRequest::receivedResponse, [&](const QString json) { |
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ret = loadFromJson(json); |
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loop.quit(); |
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}); |
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http.sendRequest("https://api.commadotai.com/v1/route/" + route_ + "/files"); |
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loop.exec(); |
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return ret; |
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} |
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bool Route::loadFromJson(const QString &json) { |
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QJsonObject route_files = QJsonDocument::fromJson(json.trimmed().toUtf8()).object(); |
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if (route_files.empty()) { |
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qInfo() << "JSON Parse failed"; |
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return false; |
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} |
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QRegExp rx(R"(\/(\d+)\/)"); |
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for (const QString &key : route_files.keys()) { |
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for (const auto &url : route_files[key].toArray()) { |
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QString url_str = url.toString(); |
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if (rx.indexIn(url_str) != -1) { |
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const int seg_num = rx.cap(1).toInt(); |
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if (segments_.size() <= seg_num) { |
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segments_.resize(seg_num + 1); |
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} |
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if (key == "logs") { |
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segments_[seg_num].rlog = url_str; |
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} else if (key == "qlogs") { |
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segments_[seg_num].qlog = url_str; |
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} else if (key == "cameras") { |
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segments_[seg_num].road_cam = url_str; |
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} else if (key == "dcameras") { |
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segments_[seg_num].driver_cam = url_str; |
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} else if (key == "ecameras") { |
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segments_[seg_num].wide_road_cam = url_str; |
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} else if (key == "qcameras") { |
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segments_[seg_num].qcamera = url_str; |
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} |
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} |
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} |
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} |
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return true; |
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} |
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// class Segment
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Segment::Segment(int n, const SegmentFile &segment_files) : seg_num_(n), files_(segment_files) { |
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static std::once_flag once_flag; |
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std::call_once(once_flag, [=]() { |
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if (!QDir(CACHE_DIR).exists()) QDir().mkdir(CACHE_DIR); |
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}); |
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// fallback to qcamera
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road_cam_path_ = files_.road_cam.isEmpty() ? files_.qcamera : files_.road_cam; |
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valid_ = !files_.rlog.isEmpty() && !road_cam_path_.isEmpty(); |
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if (!valid_) return; |
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if (!QUrl(files_.rlog).isLocalFile()) { |
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for (auto &url : {files_.rlog, road_cam_path_, files_.driver_cam, files_.wide_road_cam}) { |
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if (!url.isEmpty() && !QFile::exists(localPath(url))) { |
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qDebug() << "download" << url; |
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downloadFile(url); |
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++downloading_; |
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} |
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} |
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} |
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if (downloading_ == 0) { |
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QTimer::singleShot(0, this, &Segment::load); |
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} |
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} |
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Segment::~Segment() { |
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// cancel download, qnam will not abort requests, need to abort them manually
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aborting_ = true; |
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for (QNetworkReply *replay : replies_) { |
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if (replay->isRunning()) { |
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replay->abort(); |
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} |
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replay->deleteLater(); |
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} |
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} |
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void Segment::downloadFile(const QString &url) { |
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QNetworkReply *reply = qnam_.get(QNetworkRequest(url)); |
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replies_.insert(reply); |
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connect(reply, &QNetworkReply::finished, [=]() { |
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if (reply->error() == QNetworkReply::NoError) { |
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QFile file(localPath(url)); |
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if (file.open(QIODevice::WriteOnly)) { |
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file.write(reply->readAll()); |
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} |
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} |
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if (--downloading_ == 0 && !aborting_) { |
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load(); |
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} |
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}); |
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} |
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// load concurrency
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void Segment::load() { |
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std::vector<std::future<bool>> futures; |
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futures.emplace_back(std::async(std::launch::async, [=]() { |
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log = std::make_unique<LogReader>(); |
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return log->load(localPath(files_.rlog).toStdString()); |
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})); |
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QString camera_files[] = {road_cam_path_, files_.driver_cam, files_.wide_road_cam}; |
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for (int i = 0; i < std::size(camera_files); ++i) { |
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if (!camera_files[i].isEmpty()) { |
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futures.emplace_back(std::async(std::launch::async, [=]() { |
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frames[i] = std::make_unique<FrameReader>(); |
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return frames[i]->load(localPath(camera_files[i]).toStdString()); |
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})); |
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} |
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} |
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int success_cnt = std::accumulate(futures.begin(), futures.end(), 0, [=](int v, auto &f) { return f.get() + v; }); |
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loaded_ = valid_ = (success_cnt == futures.size()); |
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emit loadFinished(); |
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} |
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QString Segment::localPath(const QUrl &url) { |
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if (url.isLocalFile()) return url.toString(); |
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QByteArray url_no_query = url.toString(QUrl::RemoveQuery).toUtf8(); |
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return CACHE_DIR + QString(QCryptographicHash::hash(url_no_query, QCryptographicHash::Sha256).toHex()); |
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} |
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@ -0,0 +1,65 @@ |
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#pragma once |
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#include <QNetworkAccessManager> |
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#include <QString> |
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#include <vector> |
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#include "selfdrive/common/util.h" |
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#include "selfdrive/ui/replay/filereader.h" |
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#include "selfdrive/ui/replay/framereader.h" |
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const QString CACHE_DIR = util::getenv("COMMA_CACHE", "/tmp/comma_download_cache/").c_str(); |
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struct SegmentFile { |
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QString rlog; |
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QString qlog; |
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QString road_cam; |
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QString driver_cam; |
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QString wide_road_cam; |
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QString qcamera; |
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}; |
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class Route { |
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public: |
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Route(const QString &route); |
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bool load(); |
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inline const QString &name() const { return route_; }; |
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inline int size() const { return segments_.size(); } |
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inline SegmentFile &at(int n) { return segments_[n]; } |
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protected: |
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bool loadFromJson(const QString &json); |
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QString route_; |
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std::vector<SegmentFile> segments_; |
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}; |
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class Segment : public QObject { |
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Q_OBJECT |
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public: |
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Segment(int n, const SegmentFile &segment_files); |
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~Segment(); |
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inline bool isValid() const { return valid_; }; |
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inline bool isLoaded() const { return loaded_; } |
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std::unique_ptr<LogReader> log; |
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std::unique_ptr<FrameReader> frames[MAX_CAMERAS] = {}; |
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signals: |
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void loadFinished(); |
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protected: |
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void load(); |
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void downloadFile(const QString &url); |
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QString localPath(const QUrl &url); |
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bool loaded_ = false, valid_ = false; |
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bool aborting_ = false; |
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int downloading_ = 0; |
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int seg_num_ = 0; |
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SegmentFile files_; |
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QString road_cam_path_; |
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QSet<QNetworkReply *> replies_; |
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QNetworkAccessManager qnam_; |
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}; |
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