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109 lines
3.8 KiB
109 lines
3.8 KiB
#include <QApplication>
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#include <QCommandLineParser>
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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/streamselector.h"
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#include "tools/cabana/streams/devicestream.h"
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#include "tools/cabana/streams/pandastream.h"
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#include "tools/cabana/streams/replaystream.h"
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#include "tools/cabana/streams/socketcanstream.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, false);
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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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UnixSignalHandler signalHandler;
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utils::setTheme(settings.theme);
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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({"dcam", "load driver camera"});
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cmd_parser.addOption({"stream", "read can messages from live streaming"});
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cmd_parser.addOption({"panda", "read can messages from panda"});
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cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
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if (SocketCanStream::available()) {
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cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
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}
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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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QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
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AbstractStream *stream = nullptr;
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if (cmd_parser.isSet("stream")) {
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stream = new DeviceStream(&app, cmd_parser.value("zmq"));
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} else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
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PandaStreamConfig config = {};
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if (cmd_parser.isSet("panda-serial")) {
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config.serial = cmd_parser.value("panda-serial");
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}
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try {
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stream = new PandaStream(&app, config);
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} catch (std::exception &e) {
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qWarning() << e.what();
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return 0;
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}
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} else if (cmd_parser.isSet("socketcan")) {
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SocketCanStreamConfig config = {};
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config.device = cmd_parser.value("socketcan");
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stream = new SocketCanStream(&app, config);
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} else {
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uint32_t replay_flags = REPLAY_FLAG_NONE;
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if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
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if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
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if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
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if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
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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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if (!route.isEmpty()) {
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auto replay_stream = new ReplayStream(&app);
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if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
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return 0;
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}
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stream = replay_stream;
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}
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}
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int ret = 0;
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{
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MainWindow w;
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QTimer::singleShot(0, [&]() {
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if (!stream) {
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StreamSelector dlg(&stream);
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dlg.exec();
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dbc_file = dlg.dbcFile();
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}
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if (!stream) {
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stream = new DummyStream(&app);
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}
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stream->start();
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if (!dbc_file.isEmpty()) {
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w.loadFile(dbc_file);
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}
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w.show();
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});
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ret = app.exec();
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}
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delete can;
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return ret;
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}
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