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68 lines
1.4 KiB
68 lines
1.4 KiB
#pragma once
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#include <iostream>
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#include <termios.h>
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#include <QJsonArray>
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#include <QReadWriteLock>
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#include <QThread>
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#include <capnp/dynamic.h>
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#include "cereal/visionipc/visionipc_server.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/ui/qt/api.h"
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#include "selfdrive/ui/replay/filereader.h"
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#include "selfdrive/ui/replay/framereader.h"
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constexpr int FORWARD_SEGS = 2;
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constexpr int BACKWARD_SEGS = 2;
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class Replay : public QObject {
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Q_OBJECT
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public:
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Replay(QString route, SubMaster *sm = nullptr, QObject *parent = 0);
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void start();
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void addSegment(int n);
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void removeSegment(int n);
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void seekTime(int ts);
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public slots:
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void stream();
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void keyboardThread();
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void segmentQueueThread();
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void parseResponse(const QString &response);
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void mergeEvents();
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private:
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float last_print = 0;
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uint64_t route_start_ts;
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std::atomic<int> seek_ts = 0;
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std::atomic<int> current_ts = 0;
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std::atomic<int> current_segment = 0;
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QThread *thread;
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QThread *kb_thread;
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QThread *queue_thread;
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// logs
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QMultiMap<uint64_t, Event*> events;
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QReadWriteLock events_lock;
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std::unordered_map<uint32_t, EncodeIdx> eidx[MAX_CAMERAS];
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HttpRequest *http;
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QJsonArray camera_paths;
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QJsonArray log_paths;
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QMap<int, LogReader*> lrs;
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QMap<int, FrameReader*> frs;
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// messaging
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SubMaster *sm;
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PubMaster *pm;
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QVector<std::string> socks;
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VisionIpcServer *vipc_server = nullptr;
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};
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