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89 lines
3.1 KiB
89 lines
3.1 KiB
#pragma once
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#include <atomic>
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#include <deque>
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#include <unordered_map>
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#include <QColor>
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#include <QHash>
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#include "tools/cabana/dbc/dbcmanager.h"
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#include "tools/cabana/settings.h"
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#include "tools/cabana/util.h"
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#include "tools/replay/replay.h"
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struct CanData {
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double ts = 0.;
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uint32_t count = 0;
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uint32_t freq = 0;
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QByteArray dat;
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QVector<QColor> colors;
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QVector<double> last_change_t;
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QVector<std::array<uint32_t, 8>> bit_change_counts;
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};
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struct CanEvent {
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uint64_t mono_time;
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uint8_t size;
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uint8_t dat[64];
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inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; }
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inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; }
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};
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class AbstractStream : public QObject {
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Q_OBJECT
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public:
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AbstractStream(QObject *parent, bool is_live_streaming);
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virtual ~AbstractStream() {};
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inline bool liveStreaming() const { return is_live_streaming; }
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inline double lastEventSecond() const { return last_event_ts / 1e9 - routeStartTime(); }
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virtual void seekTo(double ts) {}
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virtual QString routeName() const = 0;
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virtual QString carFingerprint() const { return ""; }
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virtual double totalSeconds() const { return 0; }
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virtual double routeStartTime() const { return 0; }
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virtual double currentSec() const = 0;
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virtual QDateTime currentDateTime() const { return {}; }
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virtual const CanData &lastMessage(const MessageId &id);
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virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
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virtual const Route *route() const { return nullptr; }
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virtual void setSpeed(float speed) {}
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virtual bool isPaused() const { return false; }
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virtual void pause(bool pause) {}
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virtual const std::vector<Event*> *rawEvents() const { return nullptr; }
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const std::unordered_map<MessageId, std::deque<CanEvent>> &events() const { return events_; }
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virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
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void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append);
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signals:
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void paused();
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void resume();
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void seekedTo(double sec);
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void streamStarted();
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void eventsMerged();
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void updated();
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void msgsReceived(const QHash<MessageId, CanData> *);
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void received(QHash<MessageId, CanData> *);
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void sourcesUpdated(const SourceSet &s);
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public:
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QHash<MessageId, CanData> last_msgs;
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SourceSet sources;
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protected:
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virtual void process(QHash<MessageId, CanData> *);
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bool updateEvent(const Event *event);
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void updateLastMsgsTo(double sec);
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void parseEvents(std::unordered_map<MessageId, std::deque<CanEvent>> &msgs, std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
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bool is_live_streaming = false;
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std::atomic<bool> processing = false;
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QHash<MessageId, uint32_t> counters;
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std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
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QHash<MessageId, ChangeTracker> change_trackers;
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std::unordered_map<MessageId, std::deque<CanEvent>> events_;
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uint64_t last_event_ts = 0;
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};
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// A global pointer referring to the unique AbstractStream object
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extern AbstractStream *can;
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