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.
73 lines
3.0 KiB
73 lines
3.0 KiB
#include <QApplication>
|
|
#include <QCommandLineParser>
|
|
|
|
#include "common/prefix.h"
|
|
#include "tools/replay/consoleui.h"
|
|
#include "tools/replay/replay.h"
|
|
|
|
int main(int argc, char *argv[]) {
|
|
QCoreApplication app(argc, argv);
|
|
|
|
const QStringList base_blacklist = {"uiDebug", "userFlag"};
|
|
const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
|
|
{"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
|
|
{"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
|
|
{"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
|
|
{"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
|
|
{"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
|
|
{"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
|
|
{"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
|
|
{"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") +
|
|
". this may causes issues when used along with UI"}
|
|
};
|
|
|
|
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({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
|
|
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({"prefix", "set OPENPILOT_PREFIX", "prefix"});
|
|
for (auto &[name, _, desc] : flags) {
|
|
parser.addOption({name, desc});
|
|
}
|
|
|
|
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(",");
|
|
|
|
uint32_t replay_flags = REPLAY_FLAG_NONE;
|
|
for (const auto &[name, flag, _] : flags) {
|
|
if (parser.isSet(name)) {
|
|
replay_flags |= flag;
|
|
}
|
|
}
|
|
|
|
std::unique_ptr<OpenpilotPrefix> op_prefix;
|
|
auto prefix = parser.value("prefix");
|
|
if (!prefix.isEmpty()) {
|
|
op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
|
|
}
|
|
|
|
Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app);
|
|
if (!parser.value("c").isEmpty()) {
|
|
replay->setSegmentCacheLimit(parser.value("c").toInt());
|
|
}
|
|
if (!replay->load()) {
|
|
return 0;
|
|
}
|
|
|
|
ConsoleUI console_ui(replay);
|
|
replay->start(parser.value("start").toInt());
|
|
return app.exec();
|
|
}
|
|
|