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61 lines
1.4 KiB
61 lines
1.4 KiB
#pragma once
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#include <QThread>
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#include <set>
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#include <capnp/dynamic.h>
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#include "cereal/visionipc/visionipc_server.h"
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#include "selfdrive/ui/replay/route.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, QStringList allow, QStringList block, SubMaster *sm = nullptr, QObject *parent = 0);
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~Replay();
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void start(int seconds = 0);
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void relativeSeek(int seconds);
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void seekTo(int seconds);
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void pause(bool pause);
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bool isPaused() const { return paused_; }
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signals:
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void segmentChanged(int);
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protected slots:
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void queueSegment();
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protected:
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void stream();
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void setCurrentSegment(int n);
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void mergeSegments(int begin_idx, int end_idx);
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float last_print = 0;
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uint64_t route_start_ts = 0;
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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 = -1;
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QThread *thread;
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// logs
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std::mutex lock;
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bool paused_ = false;
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std::condition_variable stream_cv_;
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std::atomic<bool> updating_events = false;
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std::vector<Event *> *events = nullptr;
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std::unordered_map<uint32_t, EncodeIdx> *eidx = nullptr;
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std::vector<std::unique_ptr<Segment>> segments;
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std::vector<int> segments_merged;
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// messaging
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SubMaster *sm;
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PubMaster *pm;
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std::set<std::string> socks;
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VisionIpcServer *vipc_server = nullptr;
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std::unique_ptr<Route> route_;
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};
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