You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
111 lines
3.2 KiB
111 lines
3.2 KiB
#include "selfdrive/ui/replay/replay.h"
|
|
|
|
#include <csignal>
|
|
#include <iostream>
|
|
#include <termios.h>
|
|
|
|
#include <QApplication>
|
|
#include <QCommandLineParser>
|
|
#include <QDebug>
|
|
#include <QThread>
|
|
|
|
const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
|
|
|
|
struct termios oldt = {};
|
|
|
|
void sigHandler(int s) {
|
|
std::signal(s, SIG_DFL);
|
|
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
|
|
qApp->quit();
|
|
}
|
|
|
|
int getch() {
|
|
int ch;
|
|
struct termios newt;
|
|
|
|
tcgetattr(STDIN_FILENO, &oldt);
|
|
newt = oldt;
|
|
newt.c_lflag &= ~(ICANON | ECHO);
|
|
|
|
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
|
|
ch = getchar();
|
|
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
|
|
|
|
return ch;
|
|
}
|
|
|
|
void keyboardThread(Replay *replay) {
|
|
char c;
|
|
while (true) {
|
|
c = getch();
|
|
if (c == '\n') {
|
|
printf("Enter seek request: ");
|
|
std::string r;
|
|
std::cin >> r;
|
|
|
|
try {
|
|
if (r[0] == '#') {
|
|
r.erase(0, 1);
|
|
replay->seekTo(std::stoi(r) * 60, false);
|
|
} else {
|
|
replay->seekTo(std::stoi(r), false);
|
|
}
|
|
} catch (std::invalid_argument) {
|
|
qDebug() << "invalid argument";
|
|
}
|
|
getch(); // remove \n from entering seek
|
|
} else if (c == 'm') {
|
|
replay->seekTo(+60, true);
|
|
} else if (c == 'M') {
|
|
replay->seekTo(-60, true);
|
|
} else if (c == 's') {
|
|
replay->seekTo(+10, true);
|
|
} else if (c == 'S') {
|
|
replay->seekTo(-10, true);
|
|
} else if (c == 'G') {
|
|
replay->seekTo(0, true);
|
|
} else if (c == ' ') {
|
|
replay->pause(!replay->isPaused());
|
|
}
|
|
}
|
|
}
|
|
|
|
int main(int argc, char *argv[]){
|
|
QApplication app(argc, argv);
|
|
std::signal(SIGINT, sigHandler);
|
|
std::signal(SIGTERM, sigHandler);
|
|
|
|
QCommandLineParser parser;
|
|
parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
|
|
parser.addHelpOption();
|
|
parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
|
|
parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
|
|
parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
|
|
parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
|
|
parser.addOption({"demo", "use a demo route instead of providing your own"});
|
|
parser.addOption({"data_dir", "local directory with routes", "data_dir"});
|
|
parser.addOption({"dcam", "load driver camera"});
|
|
parser.addOption({"ecam", "load wide road camera"});
|
|
|
|
parser.process(app);
|
|
const QStringList args = parser.positionalArguments();
|
|
if (args.empty() && !parser.isSet("demo")) {
|
|
parser.showHelp();
|
|
}
|
|
|
|
const QString route = args.empty() ? DEMO_ROUTE : args.first();
|
|
QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
|
|
QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
|
|
|
|
Replay *replay = new Replay(route, allow, block, nullptr, parser.isSet("dcam"), parser.isSet("ecam"), parser.value("data_dir"), &app);
|
|
if (!replay->load()) {
|
|
return 0;
|
|
}
|
|
replay->start(parser.value("start").toInt());
|
|
// start keyboard control thread
|
|
QThread *t = QThread::create(keyboardThread, replay);
|
|
QObject::connect(t, &QThread::finished, t, &QThread::deleteLater);
|
|
t->start();
|
|
|
|
return app.exec();
|
|
}
|
|
|