replay: ncurses GUI (#23608)
* initial version
* print all message's in ncurses window
* show download progress bar
* move all to class ConsoleUI
* timeline
* improve timeline&stats
* fix logMessage
* add warning indicator
* continue
* cleanup
* cast type to int
* simplify seekToFlag
* more
* <=
* handle enter
* add box to logging window
* fix multiple threads problem
* fix concurrency issues
* draw indicator
* many improvements
* more
* fix multipe threads logging
* stop replay before exit
* use lambda instead of std::bind
* cleanup
* small cleanup
* use carFingerPrint
* don't emit signal in replay::stream
* merge car_events into timeline
* cleanup DonloadStats
* cleanup
* rename carname to carFingerprint
* improve alert
* add comments
* add help functions
templete function
* handle term resize
* display replaying status
* rename to INSTANT
* helper function pauseReplay
* more
* cleanup
use rDebug
* no template
* less colors
* remove function mv_add_str
* use BORDER_SIZE
* tune colors
* add spaces
* apply reviews
use /
old-commit-hash: 3ca8e3653b
commatwo_master
Dean Lee
3 years ago
committed by
GitHub
parent
31857ee45b
commit
c8b528e850
13 changed files with 634 additions and 220 deletions
@ -0,0 +1,353 @@ |
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#include "selfdrive/ui/replay/consoleui.h" |
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#include <QApplication> |
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#include <initializer_list> |
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#include "selfdrive/common/version.h" |
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namespace { |
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const int BORDER_SIZE = 3; |
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const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortcuts[] = { |
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{ |
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{"s", "+10s"}, |
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{"shift+s", "-10s"}, |
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{"m", "+60s"}, |
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{"shift+m", "-60s"}, |
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{"p", "Pause/Resume"}, |
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{"e", "Next Engagement"}, |
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{"d", "Next Disengagement"}, |
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}, |
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{ |
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{"enter", "Enter seek request"}, |
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{"x", "+/-Replay speed"}, |
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{"q", "Exit"}, |
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}, |
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}; |
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enum Color { |
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Default, |
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Debug, |
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Yellow, |
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Green, |
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Red, |
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BrightWhite, |
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Engaged, |
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Disengaged, |
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}; |
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void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold = false) { |
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if (color != Color::Default) wattron(w, COLOR_PAIR(color)); |
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if (bold) wattron(w, A_BOLD); |
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waddstr(w, str); |
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if (bold) wattroff(w, A_BOLD); |
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if (color != Color::Default) wattroff(w, COLOR_PAIR(color)); |
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} |
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std::string format_seconds(int s) { |
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int total_minutes = s / 60; |
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int seconds = s % 60; |
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int hours = total_minutes / 60; |
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int minutes = total_minutes % 60; |
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return util::string_format("%02d:%02d:%02d", hours, minutes, seconds); |
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} |
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} // namespace
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ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) { |
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// Initialize curses
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initscr(); |
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clear(); |
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curs_set(false); |
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cbreak(); // Line buffering disabled. pass on everything
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noecho(); |
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keypad(stdscr, true); |
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nodelay(stdscr, true); // non-blocking getchar()
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// Initialize all the colors. https://www.ditig.com/256-colors-cheat-sheet
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start_color(); |
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init_pair(Color::Debug, 246, COLOR_BLACK); // #949494
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init_pair(Color::Yellow, 184, COLOR_BLACK); |
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init_pair(Color::Red, COLOR_RED, COLOR_BLACK); |
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init_pair(Color::BrightWhite, 15, COLOR_BLACK); |
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init_pair(Color::Disengaged, COLOR_BLUE, COLOR_BLUE); |
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init_pair(Color::Engaged, 28, 28); |
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init_pair(Color::Green, 34, COLOR_BLACK); |
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initWindows(); |
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qRegisterMetaType<uint64_t>("uint64_t"); |
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qRegisterMetaType<ReplyMsgType>("ReplyMsgType"); |
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installMessageHandler([this](ReplyMsgType type, const std::string msg) { |
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emit logMessageSignal(type, QString::fromStdString(msg)); |
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}); |
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installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { |
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emit updateProgressBarSignal(cur, total, success); |
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}); |
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QObject::connect(replay, &Replay::streamStarted, this, &ConsoleUI::updateSummary); |
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QObject::connect(¬ifier, SIGNAL(activated(int)), SLOT(readyRead())); |
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QObject::connect(this, &ConsoleUI::updateProgressBarSignal, this, &ConsoleUI::updateProgressBar); |
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QObject::connect(this, &ConsoleUI::logMessageSignal, this, &ConsoleUI::logMessage); |
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sm_timer.callOnTimeout(this, &ConsoleUI::updateStatus); |
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sm_timer.start(100); |
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getch_timer.start(1000, this); |
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readyRead(); |
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} |
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ConsoleUI::~ConsoleUI() { |
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endwin(); |
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} |
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void ConsoleUI::initWindows() { |
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getmaxyx(stdscr, max_height, max_width); |
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w.fill(nullptr); |
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w[Win::Title] = newwin(1, max_width, 0, 0); |
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w[Win::Stats] = newwin(2, max_width - 2 * BORDER_SIZE, 2, BORDER_SIZE); |
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w[Win::Timeline] = newwin(4, max_width - 2 * BORDER_SIZE, 5, BORDER_SIZE); |
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w[Win::TimelineDesc] = newwin(1, 100, 10, BORDER_SIZE); |
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w[Win::CarState] = newwin(3, 100, 12, BORDER_SIZE); |
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w[Win::DownloadBar] = newwin(1, 100, 16, BORDER_SIZE); |
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if (int log_height = max_height - 27; log_height > 4) { |
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w[Win::LogBorder] = newwin(log_height, max_width - 2 * (BORDER_SIZE - 1), 17, BORDER_SIZE - 1); |
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box(w[Win::LogBorder], 0, 0); |
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w[Win::Log] = newwin(log_height - 2, max_width - 2 * BORDER_SIZE, 18, BORDER_SIZE); |
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scrollok(w[Win::Log], true); |
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} |
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w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE); |
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// set the title bar
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wbkgd(w[Win::Title], A_REVERSE); |
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mvwprintw(w[Win::Title], 0, 3, "openpilot replay %s", COMMA_VERSION); |
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// show windows on the real screen
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refresh(); |
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displayTimelineDesc(); |
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displayHelp(); |
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updateSummary(); |
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updateTimeline(); |
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for (auto win : w) { |
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if (win) wrefresh(win); |
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} |
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} |
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void ConsoleUI::timerEvent(QTimerEvent *ev) { |
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if (ev->timerId() != getch_timer.timerId()) return; |
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if (is_term_resized(max_height, max_width)) { |
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for (auto win : w) { |
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if (win) delwin(win); |
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} |
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endwin(); |
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clear(); |
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refresh(); |
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initWindows(); |
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rWarning("resize term %dx%d", max_height, max_width); |
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} |
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updateTimeline(); |
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} |
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void ConsoleUI::updateStatus() { |
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auto write_item = [this](int y, int x, const char *key, const std::string &value, const char *unit, |
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bool bold = false, Color color = Color::BrightWhite) { |
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auto win = w[Win::CarState]; |
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wmove(win, y, x); |
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add_str(win, key); |
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add_str(win, value.c_str(), color, bold); |
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add_str(win, unit); |
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}; |
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static const std::pair<const char *, Color> status_text[] = { |
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{"loading...", Color::Red}, |
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{"playing", Color::Green}, |
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{"paused...", Color::Yellow}, |
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}; |
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sm.update(0); |
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if (status != Status::Paused) { |
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status = (sm.updated("carState") || sm.updated("liveParameters")) ? Status::Playing : Status::Waiting; |
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} |
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auto [status_str, status_color] = status_text[status]; |
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write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); |
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std::string suffix = util::string_format(" / %s [%d/%d] ", format_seconds(replay->totalSeconds()).c_str(), |
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replay->currentSeconds() / 60, replay->route()->segments().size()); |
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write_item(0, 25, "TIME: ", format_seconds(replay->currentSeconds()), suffix.c_str(), true); |
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auto p = sm["liveParameters"].getLiveParameters(); |
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write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " "); |
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write_item(1, 25, "SPEED: ", util::string_format("%.2f", sm["carState"].getCarState().getVEgo()), " m/s"); |
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write_item(2, 0, "STEER RATIO: ", util::string_format("%.2f", p.getSteerRatio()), ""); |
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auto angle_offsets = util::string_format("%.2f|%.2f", p.getAngleOffsetAverageDeg(), p.getAngleOffsetDeg()); |
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write_item(2, 25, "ANGLE OFFSET(AVG|INSTANT): ", angle_offsets, " deg"); |
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wrefresh(w[Win::CarState]); |
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} |
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void ConsoleUI::displayHelp() { |
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for (int i = 0; i < std::size(keyboard_shortcuts); ++i) { |
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wmove(w[Win::Help], i * 2, 0); |
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for (auto &[key, desc] : keyboard_shortcuts[i]) { |
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wattron(w[Win::Help], A_REVERSE); |
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waddstr(w[Win::Help], (' ' + key + ' ').c_str()); |
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wattroff(w[Win::Help], A_REVERSE); |
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waddstr(w[Win::Help], (' ' + desc + ' ').c_str()); |
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} |
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} |
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wrefresh(w[Win::Help]); |
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} |
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void ConsoleUI::displayTimelineDesc() { |
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std::tuple<Color, const char *, bool> indicators[]{ |
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{Color::Engaged, " Engaged ", false}, |
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{Color::Disengaged, " Disengaged ", false}, |
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{Color::Green, " Info ", true}, |
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{Color::Yellow, " Warning ", true}, |
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{Color::Red, " Critical ", true}, |
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}; |
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for (auto [color, name, bold] : indicators) { |
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add_str(w[Win::TimelineDesc], "__", color, bold); |
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add_str(w[Win::TimelineDesc], name); |
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} |
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} |
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void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) { |
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if (auto win = w[Win::Log]) { |
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Color color = Color::Default; |
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if (type == ReplyMsgType::Debug) { |
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color = Color::Debug; |
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} else if (type == ReplyMsgType::Warning) { |
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color = Color::Yellow; |
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} else if (type == ReplyMsgType::Critical) { |
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color = Color::Red; |
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} |
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add_str(win, qPrintable(msg + "\n"), color); |
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wrefresh(win); |
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} |
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} |
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void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) { |
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werase(w[Win::DownloadBar]); |
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if (success && cur < total) { |
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const int width = 35; |
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const float progress = cur / (double)total; |
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const int pos = width * progress; |
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wprintw(w[Win::DownloadBar], "Downloading [%s>%s] %d%% %s", std::string(pos, '=').c_str(), |
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std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(total).c_str()); |
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} |
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wrefresh(w[Win::DownloadBar]); |
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} |
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void ConsoleUI::updateSummary() { |
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const auto &route = replay->route(); |
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mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %d segments", qPrintable(route->name()), route->segments().size()); |
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mvwprintw(w[Win::Stats], 1, 0, "Car Fingerprint: %s", replay->carFingerprint().c_str()); |
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wrefresh(w[Win::Stats]); |
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} |
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void ConsoleUI::updateTimeline() { |
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auto win = w[Win::Timeline]; |
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int width = getmaxx(win); |
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werase(win); |
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wattron(win, COLOR_PAIR(Color::Disengaged)); |
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mvwhline(win, 1, 0, ' ', width); |
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mvwhline(win, 2, 0, ' ', width); |
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wattroff(win, COLOR_PAIR(Color::Disengaged)); |
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const int total_sec = replay->totalSeconds(); |
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for (auto [begin, end, type] : replay->getTimeline()) { |
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int start_pos = ((double)begin / total_sec) * width; |
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int end_pos = ((double)end / total_sec) * width; |
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if (type == TimelineType::Engaged) { |
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mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); |
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mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); |
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} else { |
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auto color_id = Color::Green; |
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if (type != TimelineType::AlertInfo) { |
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color_id = type == TimelineType::AlertWarning ? Color::Yellow : Color::Red; |
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} |
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mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, color_id, NULL); |
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} |
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} |
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int cur_pos = ((double)replay->currentSeconds() / total_sec) * width; |
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wattron(win, COLOR_PAIR(Color::BrightWhite)); |
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mvwaddch(win, 0, cur_pos, ACS_VLINE); |
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mvwaddch(win, 3, cur_pos, ACS_VLINE); |
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wattroff(win, COLOR_PAIR(Color::BrightWhite)); |
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wrefresh(win); |
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} |
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void ConsoleUI::readyRead() { |
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int c; |
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while ((c = getch()) != ERR) { |
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handleKey(c); |
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} |
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} |
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void ConsoleUI::pauseReplay(bool pause) { |
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replay->pause(pause); |
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status = pause ? Status::Paused : Status::Waiting; |
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} |
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void ConsoleUI::handleKey(char c) { |
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if (c == '\n') { |
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// pause the replay and blocking getchar()
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pauseReplay(true); |
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updateStatus(); |
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getch_timer.stop(); |
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curs_set(true); |
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nodelay(stdscr, false); |
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// Wait for user input
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rWarning("Waiting for input..."); |
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int y = getmaxy(stdscr) - 9; |
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move(y, BORDER_SIZE); |
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add_str(stdscr, "Enter seek request: ", Color::BrightWhite, true); |
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refresh(); |
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// Seek to choice
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echo(); |
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int choice = 0; |
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scanw((char *)"%d", &choice); |
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noecho(); |
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pauseReplay(false); |
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replay->seekTo(choice, false); |
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// Clean up and turn off the blocking mode
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move(y, 0); |
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clrtoeol(); |
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nodelay(stdscr, true); |
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curs_set(false); |
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refresh(); |
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getch_timer.start(1000, this); |
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} else if (c == 'x') { |
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if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) { |
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replay->removeFlag(REPLAY_FLAG_FULL_SPEED); |
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rWarning("replay at normal speed"); |
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} else { |
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replay->addFlag(REPLAY_FLAG_FULL_SPEED); |
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rWarning("replay at full speed"); |
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} |
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} else if (c == 'e') { |
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replay->seekToFlag(FindFlag::nextEngagement); |
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} else if (c == 'd') { |
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replay->seekToFlag(FindFlag::nextDisEngagement); |
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} else if (c == 'm') { |
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replay->seekTo(+60, true); |
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} else if (c == 'M') { |
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replay->seekTo(-60, true); |
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} else if (c == 's') { |
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replay->seekTo(+10, true); |
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} else if (c == 'S') { |
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replay->seekTo(-10, true); |
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} else if (c == ' ') { |
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pauseReplay(!replay->isPaused()); |
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} else if (c == 'q' || c == 'Q') { |
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replay->stop(); |
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qApp->exit(); |
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} |
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} |
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@ -0,0 +1,50 @@ |
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#pragma once |
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#include <array> |
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#include <QBasicTimer> |
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#include <QObject> |
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#include <QSocketNotifier> |
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#include <QTimer> |
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#include <QTimerEvent> |
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#include "selfdrive/ui/replay/replay.h" |
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#include <ncurses.h> |
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class ConsoleUI : public QObject { |
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Q_OBJECT |
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public: |
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ConsoleUI(Replay *replay, QObject *parent = 0); |
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~ConsoleUI(); |
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private: |
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void initWindows(); |
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void handleKey(char c); |
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void displayHelp(); |
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void displayTimelineDesc(); |
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void updateTimeline(); |
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void updateSummary(); |
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void updateStatus(); |
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void pauseReplay(bool pause); |
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enum Status { Waiting, Playing, Paused }; |
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enum Win { Title, Stats, Log, LogBorder, DownloadBar, Timeline, TimelineDesc, Help, CarState, Max}; |
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std::array<WINDOW*, Win::Max> w{}; |
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SubMaster sm; |
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Replay *replay; |
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QBasicTimer getch_timer; |
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QTimer sm_timer; |
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QSocketNotifier notifier{0, QSocketNotifier::Read, this}; |
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int max_width, max_height; |
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Status status = Status::Waiting; |
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signals: |
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void updateProgressBarSignal(uint64_t cur, uint64_t total, bool success); |
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void logMessageSignal(ReplyMsgType type, const QString &msg); |
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private slots: |
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void readyRead(); |
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void timerEvent(QTimerEvent *ev); |
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void updateProgressBar(uint64_t cur, uint64_t total, bool success); |
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void logMessage(ReplyMsgType type, const QString &msg); |
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}; |
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@ -1,14 +1,34 @@ |
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#pragma once |
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#include <atomic> |
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#include <functional> |
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#include <string> |
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enum class ReplyMsgType { |
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Info, |
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Debug, |
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Warning, |
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Critical |
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}; |
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typedef std::function<void(ReplyMsgType type, const std::string msg)> ReplayMessageHandler; |
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void installMessageHandler(ReplayMessageHandler); |
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void logMessage(ReplyMsgType type, const char* fmt, ...); |
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#define rInfo(fmt, ...) ::logMessage(ReplyMsgType::Info, fmt, ## __VA_ARGS__) |
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#define rDebug(fmt, ...) ::logMessage(ReplyMsgType::Debug, fmt, ## __VA_ARGS__) |
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#define rWarning(fmt, ...) ::logMessage(ReplyMsgType::Warning, fmt, ## __VA_ARGS__) |
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#define rError(fmt, ...) ::logMessage(ReplyMsgType::Critical , fmt, ## __VA_ARGS__) |
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std::string sha256(const std::string &str); |
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void precise_nano_sleep(long sleep_ns); |
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std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr); |
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std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr); |
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void enableHttpLogging(bool enable); |
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std::string getUrlWithoutQuery(const std::string &url); |
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size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr); |
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std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr); |
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typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler; |
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void installDownloadProgressHandler(DownloadProgressHandler); |
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bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr); |
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std::string formattedDataSize(size_t size); |
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Reference in new issue