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209 lines
7.0 KiB
209 lines
7.0 KiB
#include <chrono>
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#include <thread>
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#include <QDebug>
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#include <QEventLoop>
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#include "catch2/catch.hpp"
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#include "common/util.h"
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#include "tools/replay/replay.h"
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#include "tools/replay/util.h"
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const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
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const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
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bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
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do {
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if (httpDownload(url, local_file, chunk_size)) {
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return true;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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} while (--retries >= 0);
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return false;
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}
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TEST_CASE("httpMultiPartDownload") {
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char filename[] = "/tmp/XXXXXX";
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close(mkstemp(filename));
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const size_t chunk_size = 5 * 1024 * 1024;
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std::string content;
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SECTION("download to file") {
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REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size));
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content = util::read_file(filename);
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}
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SECTION("download to buffer") {
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for (int i = 0; i < 3 && content.empty(); ++i) {
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content = httpGet(TEST_RLOG_URL, chunk_size);
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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}
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REQUIRE(!content.empty());
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}
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REQUIRE(content.size() == 9112651);
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REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
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}
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TEST_CASE("FileReader") {
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auto enable_local_cache = GENERATE(true, false);
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std::string cache_file = cacheFilePath(TEST_RLOG_URL);
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system(("rm " + cache_file + " -f").c_str());
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FileReader reader(enable_local_cache);
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std::string content = reader.read(TEST_RLOG_URL);
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REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
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if (enable_local_cache) {
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REQUIRE(sha256(util::read_file(cache_file)) == TEST_RLOG_CHECKSUM);
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} else {
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REQUIRE(util::file_exists(cache_file) == false);
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}
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}
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TEST_CASE("LogReader") {
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SECTION("corrupt log") {
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FileReader reader(true);
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std::string corrupt_content = reader.read(TEST_RLOG_URL);
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corrupt_content.resize(corrupt_content.length() / 2);
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corrupt_content = decompressBZ2(corrupt_content);
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LogReader log;
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REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
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REQUIRE(log.events.size() > 0);
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}
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}
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void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
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QEventLoop loop;
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Segment segment(n, segment_file, flags);
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QObject::connect(&segment, &Segment::loadFinished, [&]() {
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REQUIRE(segment.isLoaded() == true);
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REQUIRE(segment.log != nullptr);
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REQUIRE(segment.frames[RoadCam] != nullptr);
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if (flags & REPLAY_FLAG_DCAM) {
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REQUIRE(segment.frames[DriverCam] != nullptr);
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}
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if (flags & REPLAY_FLAG_ECAM) {
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REQUIRE(segment.frames[WideRoadCam] != nullptr);
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}
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// test LogReader & FrameReader
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REQUIRE(segment.log->events.size() > 0);
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REQUIRE(std::is_sorted(segment.log->events.begin(), segment.log->events.end(), Event::lessThan()));
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for (auto cam : ALL_CAMERAS) {
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auto &fr = segment.frames[cam];
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if (!fr) continue;
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if (cam == RoadCam || cam == WideRoadCam) {
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REQUIRE(fr->getFrameCount() == 1200);
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}
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auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height);
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VisionBuf buf;
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buf.allocate(nv12_buffer_size);
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buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height);
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// sequence get 100 frames
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for (int i = 0; i < 100; ++i) {
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REQUIRE(fr->get(i, &buf));
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}
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}
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loop.quit();
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});
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loop.exec();
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}
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TEST_CASE("Route") {
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// Create a local route from remote for testing
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Route remote_route(DEMO_ROUTE);
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REQUIRE(remote_route.load());
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char tmp_path[] = "/tmp/root_XXXXXX";
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const std::string data_dir = mkdtemp(tmp_path);
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const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
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for (int i = 0; i < 2; ++i) {
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std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
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util::create_directories(log_path, 0755);
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REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
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REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
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REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
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REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
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REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
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}
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SECTION("Local route") {
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auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
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Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
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REQUIRE(route.load());
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REQUIRE(route.segments().size() == 2);
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for (int i = 0; i < route.segments().size(); ++i) {
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read_segment(i, route.at(i), flags);
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}
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};
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SECTION("Remote route") {
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auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
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Route route(DEMO_ROUTE);
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REQUIRE(route.load());
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REQUIRE(route.segments().size() == 13);
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for (int i = 0; i < 2; ++i) {
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read_segment(i, route.at(i), flags);
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}
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};
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}
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// helper class for unit tests
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class TestReplay : public Replay {
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public:
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TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, {}, nullptr, flags) {}
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void test_seek();
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void testSeekTo(int seek_to);
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};
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void TestReplay::testSeekTo(int seek_to) {
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seekTo(seek_to, false);
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while (true) {
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std::unique_lock lk(stream_lock_);
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stream_cv_.wait(lk, [=]() { return events_updated_ == true; });
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events_updated_ = false;
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if (cur_mono_time_ != route_start_ts_ + seek_to * 1e9) {
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// wake up by the previous merging, skip it.
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continue;
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}
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Event cur_event(cereal::Event::Which::INIT_DATA, cur_mono_time_);
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auto eit = std::upper_bound(events_->begin(), events_->end(), &cur_event, Event::lessThan());
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if (eit == events_->end()) {
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qDebug() << "waiting for events...";
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continue;
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}
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REQUIRE(std::is_sorted(events_->begin(), events_->end(), Event::lessThan()));
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const int seek_to_segment = seek_to / 60;
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const int event_seconds = ((*eit)->mono_time - route_start_ts_) / 1e9;
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current_segment_ = event_seconds / 60;
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INFO("seek to [" << seek_to << "s segment " << seek_to_segment << "], events [" << event_seconds << "s segment" << current_segment_ << "]");
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REQUIRE(event_seconds >= seek_to);
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if (event_seconds > seek_to) {
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auto it = segments_.lower_bound(seek_to_segment);
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REQUIRE(it->first == current_segment_);
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}
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break;
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}
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}
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void TestReplay::test_seek() {
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// create a dummy stream thread
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stream_thread_ = new QThread(this);
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QEventLoop loop;
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std::thread thread = std::thread([&]() {
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for (int i = 0; i < 10; ++i) {
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testSeekTo(util::random_int(0, 2 * 60));
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}
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loop.quit();
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});
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loop.exec();
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thread.join();
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}
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TEST_CASE("Replay") {
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TestReplay replay(DEMO_ROUTE);
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REQUIRE(replay.load());
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replay.test_seek();
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}
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