Trey Moen
1 month ago
parent
ed54e9fbd9
commit
93873316c1
20 changed files with 329 additions and 82 deletions
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Import('qt_env', 'ui_libs', 'qt_libs', 'qt_ui', 'replay_lib', 'asset_obj', 'arch', 'common', 'messaging', 'visionipc', 'cereal') |
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clip_env = qt_env.Clone() |
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clip_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] |
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base_frameworks = clip_env["FRAMEWORKS"] |
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base_libs = clip_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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clip_lib_src = ["application.cc", "recorder/ffmpeg.cc", "recorder/widget.cc"] |
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clip_lib = clip_env.Library("clip", clip_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) |
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Export('clip_lib') |
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clip_libs = [clip_lib, replay_lib, cereal, 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs + qt_libs + ui_libs + qt_ui |
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clip_env.Program("clip", ["main.cc", asset_obj], LIBS=clip_libs, FRAMEWORKS=base_frameworks) |
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#include "tools/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(int argc, char *argv[]) { |
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initApp(argc, argv); |
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app = new QApplication(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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app->installTranslator(&translator); |
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window = new OnroadWindow(); |
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recorderThread = new QThread; |
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recorder = new Recorder; |
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recorder->moveToThread(recorderThread); |
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QObject::connect(recorderThread, &QThread::finished, recorder, &QObject::deleteLater); |
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recorderThread->start(); |
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QObject::connect(window, &OnroadWindow::drewOnroadFrame, recorder, &Recorder::saveFrame, Qt::QueuedConnection); |
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window->setAttribute(Qt::WA_DontShowOnScreen); |
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window->setAttribute(Qt::WA_Mapped); |
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window->setAttribute(Qt::WA_NoSystemBackground); |
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} |
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void Application::close() const { |
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recorderThread->quit(); |
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app->quit(); |
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} |
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Application::~Application() { |
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delete recorder; |
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delete recorderThread; |
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delete window; |
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delete app; |
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} |
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int Application::exec() const { |
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setMainWindow(window); |
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return app->exec(); |
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} |
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#pragma once |
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#include <selfdrive/ui/qt/onroad/onroad_home.h> |
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#include "recorder/widget.h" |
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class Application { |
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public: |
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Application(int argc, char* argv[]); |
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~Application(); |
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int exec() const; |
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void close() const; |
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private: |
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QApplication *app; |
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QThread *recorderThread = nullptr; |
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Recorder *recorder = nullptr; |
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OnroadWindow *window; |
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}; |
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#include <iostream> |
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#include <selfdrive/ui/ui.h> |
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#include "application.h" |
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#include "tools/replay/replay.h" |
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void startReplayThread() { |
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std::vector<std::string> allow = (std::vector<std::string>{ |
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"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", |
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"pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", |
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"wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan", |
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}); |
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std::vector<std::string> block; |
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Replay replay("a2a0ccea32023010|2023-07-27--13-01-19", allow, block); |
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if (!replay.load()) { |
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return; |
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} |
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std::cout << "Replay started." << std::endl; |
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replay.setEndSeconds(66); |
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replay.start(60); |
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replay.waitUntilEnd(); |
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std::cout << "Replay ended." << std::endl; |
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raise(SIGINT); |
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} |
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int main(int argc, char *argv[]) { |
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Application a(argc, argv); |
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std::thread thread(startReplayThread); |
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std::this_thread::sleep_for(std::chrono::milliseconds(2000)); |
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if (a.exec()) { |
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std::cerr << "Failed to start app." << std::endl; |
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} |
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thread.join(); |
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a.close(); |
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return 0; |
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} |
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@ -0,0 +1,125 @@ |
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/****************************************************************************
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** Meta object code from reading C++ file 'widget.h' |
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** |
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** Created by: The Qt Meta Object Compiler version 67 (Qt 5.15.16) |
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** |
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** WARNING! All changes made in this file will be lost! |
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*****************************************************************************/ |
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#include <memory> |
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#include "widget.h" |
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#include <QtCore/qbytearray.h> |
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#include <QtCore/qmetatype.h> |
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#if !defined(Q_MOC_OUTPUT_REVISION) |
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#error "The header file 'widget.h' doesn't include <QObject>." |
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#elif Q_MOC_OUTPUT_REVISION != 67 |
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#error "This file was generated using the moc from 5.15.16. It" |
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#error "cannot be used with the include files from this version of Qt." |
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#error "(The moc has changed too much.)" |
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#endif |
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QT_BEGIN_MOC_NAMESPACE |
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QT_WARNING_PUSH |
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QT_WARNING_DISABLE_DEPRECATED |
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struct qt_meta_stringdata_Recorder_t { |
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QByteArrayData data[6]; |
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char stringdata0[39]; |
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}; |
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#define QT_MOC_LITERAL(idx, ofs, len) \ |
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Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
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qptrdiff(offsetof(qt_meta_stringdata_Recorder_t, stringdata0) + ofs \
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- idx * sizeof(QByteArrayData)) \
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) |
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static const qt_meta_stringdata_Recorder_t qt_meta_stringdata_Recorder = { |
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{ |
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QT_MOC_LITERAL(0, 0, 8), // "Recorder"
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QT_MOC_LITERAL(1, 9, 9), // "saveFrame"
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QT_MOC_LITERAL(2, 19, 0), // ""
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QT_MOC_LITERAL(3, 20, 7), // "QImage*"
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QT_MOC_LITERAL(4, 28, 5), // "frame"
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QT_MOC_LITERAL(5, 34, 4) // "stop"
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}, |
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"Recorder\0saveFrame\0\0QImage*\0frame\0" |
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"stop" |
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}; |
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#undef QT_MOC_LITERAL |
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static const uint qt_meta_data_Recorder[] = { |
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// content:
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8, // revision
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0, // classname
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0, 0, // classinfo
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2, 14, // methods
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0, 0, // properties
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0, 0, // enums/sets
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0, 0, // constructors
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0, // flags
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0, // signalCount
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// slots: name, argc, parameters, tag, flags
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1, 1, 24, 2, 0x0a /* Public */, |
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5, 0, 27, 2, 0x0a /* Public */, |
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// slots: parameters
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QMetaType::Void, 0x80000000 | 3, 4, |
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QMetaType::Void, |
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0 // eod
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}; |
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void Recorder::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) |
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{ |
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if (_c == QMetaObject::InvokeMetaMethod) { |
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auto *_t = static_cast<Recorder *>(_o); |
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(void)_t; |
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switch (_id) { |
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case 0: _t->saveFrame((*reinterpret_cast< QImage*(*)>(_a[1]))); break; |
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case 1: _t->stop(); break; |
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default: ; |
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} |
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} |
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} |
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QT_INIT_METAOBJECT const QMetaObject Recorder::staticMetaObject = { { |
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QMetaObject::SuperData::link<QObject::staticMetaObject>(), |
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qt_meta_stringdata_Recorder.data, |
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qt_meta_data_Recorder, |
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qt_static_metacall, |
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nullptr, |
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nullptr |
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} }; |
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const QMetaObject *Recorder::metaObject() const |
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{ |
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return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; |
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} |
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void *Recorder::qt_metacast(const char *_clname) |
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{ |
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if (!_clname) return nullptr; |
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if (!strcmp(_clname, qt_meta_stringdata_Recorder.stringdata0)) |
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return static_cast<void*>(this); |
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return QObject::qt_metacast(_clname); |
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} |
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int Recorder::qt_metacall(QMetaObject::Call _c, int _id, void **_a) |
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{ |
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_id = QObject::qt_metacall(_c, _id, _a); |
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if (_id < 0) |
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return _id; |
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if (_c == QMetaObject::InvokeMetaMethod) { |
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if (_id < 2) |
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qt_static_metacall(this, _c, _id, _a); |
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_id -= 2; |
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} else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { |
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if (_id < 2) |
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*reinterpret_cast<int*>(_a[0]) = -1; |
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_id -= 2; |
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} |
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return _id; |
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} |
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QT_WARNING_POP |
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QT_END_MOC_NAMESPACE |
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@ -1,51 +0,0 @@ |
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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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@ -1,9 +0,0 @@ |
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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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