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79 lines
2.6 KiB
79 lines
2.6 KiB
#include <QApplication>
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#include <QCommandLineParser>
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#include "common/prefix.h"
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#include "selfdrive/ui/qt/util.h"
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#include "tools/cabana/mainwin.h"
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#include "tools/cabana/route.h"
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#include "tools/cabana/streams/livestream.h"
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#include "tools/cabana/streams/replaystream.h"
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int main(int argc, char *argv[]) {
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QCoreApplication::setApplicationName("Cabana");
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QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
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initApp(argc, argv);
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QApplication app(argc, argv);
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app.setApplicationDisplayName("Cabana");
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app.setWindowIcon(QIcon(":cabana-icon.png"));
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QCommandLineParser cmd_parser;
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cmd_parser.addHelpOption();
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cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
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cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
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cmd_parser.addOption({"qcam", "load qcamera"});
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cmd_parser.addOption({"ecam", "load wide road camera"});
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cmd_parser.addOption({"stream", "read can messages from live streaming"});
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cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"});
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cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
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cmd_parser.addOption({"no-vipc", "do not output video"});
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cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
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cmd_parser.process(app);
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std::unique_ptr<OpenpilotPrefix> op_prefix;
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std::unique_ptr<AbstractStream> stream;
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if (cmd_parser.isSet("stream")) {
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stream.reset(new LiveStream(&app, cmd_parser.value("zmq")));
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} else {
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// TODO: Remove when OpenpilotPrefix supports ZMQ
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#ifndef __APPLE__
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op_prefix.reset(new OpenpilotPrefix());
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#endif
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uint32_t replay_flags = REPLAY_FLAG_NONE;
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if (cmd_parser.isSet("ecam")) {
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replay_flags |= REPLAY_FLAG_ECAM;
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} else if (cmd_parser.isSet("qcam")) {
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replay_flags |= REPLAY_FLAG_QCAMERA;
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} else if (cmd_parser.isSet("no-vipc")) {
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replay_flags |= REPLAY_FLAG_NO_VIPC;
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}
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const QStringList args = cmd_parser.positionalArguments();
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QString route;
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if (args.size() > 0) {
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route = args.first();
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} else if (cmd_parser.isSet("demo")) {
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route = DEMO_ROUTE;
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}
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auto replay_stream = new ReplayStream(replay_flags, &app);
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stream.reset(replay_stream);
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if (route.isEmpty()) {
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if (OpenRouteDialog dlg(nullptr); !dlg.exec()) {
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return 0;
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}
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} else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) {
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return 0;
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}
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}
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MainWindow w;
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// Load DBC
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if (cmd_parser.isSet("dbc")) {
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w.loadFile(cmd_parser.value("dbc"));
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}
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w.show();
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return app.exec();
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}
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