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.
112 lines
3.5 KiB
112 lines
3.5 KiB
#pragma once
|
|
|
|
#include <optional>
|
|
|
|
#include <QThread>
|
|
|
|
#include "tools/replay/camera.h"
|
|
#include "tools/replay/route.h"
|
|
|
|
// one segment uses about 100M of memory
|
|
constexpr int FORWARD_SEGS = 5;
|
|
|
|
enum REPLAY_FLAGS {
|
|
REPLAY_FLAG_NONE = 0x0000,
|
|
REPLAY_FLAG_DCAM = 0x0002,
|
|
REPLAY_FLAG_ECAM = 0x0004,
|
|
REPLAY_FLAG_NO_LOOP = 0x0010,
|
|
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,
|
|
};
|
|
|
|
enum class FindFlag {
|
|
nextEngagement,
|
|
nextDisEngagement,
|
|
nextUserFlag,
|
|
};
|
|
|
|
enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
|
|
|
|
class Replay : public QObject {
|
|
Q_OBJECT
|
|
|
|
public:
|
|
Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
|
|
uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
|
|
~Replay();
|
|
bool load();
|
|
void start(int seconds = 0);
|
|
void stop();
|
|
void pause(bool pause);
|
|
void seekToFlag(FindFlag flag);
|
|
void seekTo(int seconds, bool relative);
|
|
inline bool isPaused() const { return paused_; }
|
|
inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
|
|
inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
|
|
inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
|
|
inline const Route* route() const { return route_.get(); }
|
|
inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; }
|
|
inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
|
|
inline int totalSeconds() const { return segments_.size() * 60; }
|
|
inline const std::string &carFingerprint() const { return car_fingerprint_; }
|
|
inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() {
|
|
std::lock_guard lk(timeline_lock);
|
|
return timeline;
|
|
}
|
|
|
|
signals:
|
|
void streamStarted();
|
|
|
|
protected slots:
|
|
void segmentLoadFinished(bool success);
|
|
|
|
protected:
|
|
typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
|
|
std::optional<uint64_t> find(FindFlag flag);
|
|
void startStream(const Segment *cur_segment);
|
|
void stream();
|
|
void setCurrentSegment(int n);
|
|
void queueSegment();
|
|
void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
|
|
void updateEvents(const std::function<bool()>& lambda);
|
|
void publishMessage(const Event *e);
|
|
void publishFrame(const Event *e);
|
|
void buildTimeline();
|
|
inline bool isSegmentMerged(int n) {
|
|
return std::find(segments_merged_.begin(), segments_merged_.end(), n) != segments_merged_.end();
|
|
}
|
|
|
|
QThread *stream_thread_ = nullptr;
|
|
|
|
// logs
|
|
std::mutex stream_lock_;
|
|
std::condition_variable stream_cv_;
|
|
std::atomic<bool> updating_events_ = false;
|
|
std::atomic<int> current_segment_ = 0;
|
|
SegmentMap segments_;
|
|
// the following variables must be protected with stream_lock_
|
|
std::atomic<bool> exit_ = false;
|
|
bool paused_ = false;
|
|
bool events_updated_ = false;
|
|
uint64_t route_start_ts_ = 0;
|
|
uint64_t cur_mono_time_ = 0;
|
|
std::unique_ptr<std::vector<Event *>> events_;
|
|
std::unique_ptr<std::vector<Event *>> new_events_;
|
|
std::vector<int> segments_merged_;
|
|
|
|
// messaging
|
|
SubMaster *sm = nullptr;
|
|
std::unique_ptr<PubMaster> pm;
|
|
std::vector<const char*> sockets_;
|
|
std::unique_ptr<Route> route_;
|
|
std::unique_ptr<CameraServer> camera_server_;
|
|
std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;
|
|
|
|
std::mutex timeline_lock;
|
|
QFuture<void> timeline_future;
|
|
std::vector<std::tuple<int, int, TimelineType>> timeline;
|
|
std::string car_fingerprint_;
|
|
};
|
|
|