replay: support for setting a custom playback speed (#30462)

* support for setting a custom playback speed

* rename to playback speed

tools/replay/consoleui.cc

@@ -29,7 +29,7 @@ const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortc
   },
   {
     {"enter", "Enter seek request"},
-    {"x", "+/-Replay speed"},
+    {"+/-", "Playback speed"},
     {"q", "Exit"},
   },
 };
@@ -331,13 +331,18 @@ void ConsoleUI::handleKey(char c) {
     refresh();
     getch_timer.start(1000, this);
 
-  } else if (c == 'x') {
+  } else if (c == '+' || c == '=') {
-    if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+    auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
-      replay->removeFlag(REPLAY_FLAG_FULL_SPEED);
+    if (it != speed_array.end()) {
-      rWarning("replay at normal speed");
+      rWarning("playback speed: %.1fx", *it);
-    } else {
+      replay->setSpeed(*it);
-      replay->addFlag(REPLAY_FLAG_FULL_SPEED);
+    }
-      rWarning("replay at full speed");
+  } else if (c == '_' || c == '-') {
+    auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
+    if (it != speed_array.begin()) {
+      auto prev = std::prev(it);
+      rWarning("playback speed: %.1fx", *prev);
+      replay->setSpeed(*prev);
     }
   } else if (c == 'e') {
     replay->seekToFlag(FindFlag::nextEngagement);

tools/replay/consoleui.h

@@ -16,6 +16,7 @@ class ConsoleUI : public QObject {
 public:
   ConsoleUI(Replay *replay, QObject *parent = 0);
   ~ConsoleUI();
+  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
 
 private:
   void initWindows();

tools/replay/main.cc

@@ -33,6 +33,8 @@ int main(int argc, char *argv[]) {
   parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
   parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
+  parser.addOption({"x", QString("playback <speed>. between %1 - %2")
+                        .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
   parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
@@ -67,6 +69,10 @@ int main(int argc, char *argv[]) {
   if (!parser.value("c").isEmpty()) {
     replay->setSegmentCacheLimit(parser.value("c").toInt());
   }
+  if (!parser.value("x").isEmpty()) {
+    replay->setSpeed(std::clamp(parser.value("x").toFloat(),
+                                ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
+  }
   if (!replay->load()) {
     return 0;
   }

tools/replay/replay.cc

@@ -363,7 +363,7 @@ void Replay::publishFrame(const Event *e) {
 
 void Replay::stream() {
   cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
-  double prev_replay_speed = 1.0;
+  double prev_replay_speed = speed_;
   std::unique_lock lk(stream_lock_);
 
   while (true) {
@@ -398,14 +398,14 @@ void Replay::stream() {
           evt_start_ts = cur_mono_time_;
           loop_start_ts = nanos_since_boot();
           prev_replay_speed = speed_;
-        } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+        } else if (behind_ns > 0) {
           precise_nano_sleep(behind_ns);
         }
 
         if (!evt->frame) {
           publishMessage(evt);
         } else if (camera_server_) {
-          if (hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+          if (speed_ > 1.0) {
             camera_server_->waitForSent();
           }
           publishFrame(evt);

tools/replay/replay.h

@@ -27,7 +27,6 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
-  REPLAY_FLAG_FULL_SPEED = 0x0200,
   REPLAY_FLAG_NO_VIPC = 0x0400,
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
 };