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94 lines
2.7 KiB
94 lines
2.7 KiB
#include "selfdrive/ui/replay/replay.h"
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#include <iostream>
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#include <termios.h>
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#include <QApplication>
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#include <QCommandLineParser>
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#include <QThread>
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const QString DEMO_ROUTE = "3533c53bb29502d1|2019-12-10--01-13-27";
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int getch() {
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int ch;
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struct termios oldt;
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struct termios newt;
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tcgetattr(STDIN_FILENO, &oldt);
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newt = oldt;
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newt.c_lflag &= ~(ICANON | ECHO);
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tcsetattr(STDIN_FILENO, TCSANOW, &newt);
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ch = getchar();
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tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
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return ch;
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}
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void keyboardThread(Replay *replay) {
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char c;
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while (true) {
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c = getch();
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if (c == '\n') {
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printf("Enter seek request: ");
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std::string r;
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std::cin >> r;
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try {
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if (r[0] == '#') {
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r.erase(0, 1);
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replay->seekTo(std::stoi(r) * 60);
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} else {
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replay->seekTo(std::stoi(r));
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}
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} catch (std::invalid_argument) {
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qDebug() << "invalid argument";
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}
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getch(); // remove \n from entering seek
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} else if (c == 'm') {
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replay->relativeSeek(+60);
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} else if (c == 'M') {
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replay->relativeSeek(-60);
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} else if (c == 's') {
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replay->relativeSeek(+10);
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} else if (c == 'S') {
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replay->relativeSeek(-10);
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} else if (c == 'G') {
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replay->relativeSeek(0);
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} else if (c == ' ') {
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replay->pause(!replay->isPaused());
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}
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}
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}
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int main(int argc, char *argv[]){
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QApplication a(argc, argv);
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QCommandLineParser parser;
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parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
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parser.addHelpOption();
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parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
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parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
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parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
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parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
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parser.addOption({"demo", "use a demo route instead of providing your own"});
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parser.process(a);
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const QStringList args = parser.positionalArguments();
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if (args.empty() && !parser.isSet("demo")) {
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parser.showHelp();
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}
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const QString route = args.empty() ? DEMO_ROUTE : args.first();
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QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
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QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
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Replay *replay = new Replay(route, allow, block);
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replay->start(parser.value("start").toInt());
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// start keyboard control thread
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QThread *t = QThread::create(keyboardThread, replay);
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QObject::connect(t, &QThread::finished, t, &QThread::deleteLater);
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t->start();
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return a.exec();
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}
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