load d/e camera by command line flags (#22341)

old-commit-hash: e888a7e93984f1cb25a542772fdeec0eea9d5c9b

selfdrive/ui/replay/main.cc

@@ -72,6 +72,8 @@ int main(int argc, char *argv[]){
   parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
+  parser.addOption({"dcam", "load driver camera"});
+  parser.addOption({"ecam", "load wide road camera"});
 
   parser.process(a);
   const QStringList args = parser.positionalArguments();
@@ -82,7 +84,7 @@ int main(int argc, char *argv[]){
   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(",");
-  Replay *replay = new Replay(route, allow, block);
+  Replay *replay = new Replay(route, allow, block, nullptr, parser.isSet("dcam"), parser.isSet("ecam"));
   replay->start(parser.value("start").toInt());
 
   // start keyboard control thread

selfdrive/ui/replay/replay.cc

@@ -7,7 +7,8 @@
 #include "selfdrive/common/timing.h"
 #include "selfdrive/hardware/hw.h"
 
-Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, QObject *parent) : sm(sm_), QObject(parent) {
+Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, bool dcam, bool ecam, QObject *parent)
+    : sm(sm_), load_dcam(dcam), load_ecam(ecam), QObject(parent) {
   std::vector<const char*> s;
   for (const auto &it : services) {
     if ((allow.size() == 0 || allow.contains(it.name)) &&
@@ -90,7 +91,7 @@ void Replay::queueSegment() {
   int end_idx = cur_seg;
   for (int i = cur_seg, fwd = 0; i < segments.size() && fwd <= FORWARD_SEGS; ++i) {
     if (!segments[i]) {
-      segments[i] = std::make_unique<Segment>(i, route_->at(i));
+      segments[i] = std::make_unique<Segment>(i, route_->at(i), load_dcam, load_ecam);
       QObject::connect(segments[i].get(), &Segment::loadFinished, this, &Replay::queueSegment);
     }
     end_idx = i;

selfdrive/ui/replay/replay.h

@@ -14,7 +14,7 @@ class Replay : public QObject {
   Q_OBJECT
 
 public:
-  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, QObject *parent = 0);
+  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, bool dcam = false, bool ecam = false, QObject *parent = 0);
   ~Replay();
 
   void start(int seconds = 0);
@@ -34,6 +34,8 @@ protected:
   void setCurrentSegment(int n);
   void mergeSegments(int begin_idx, int end_idx);
 
+  bool load_dcam = false, load_ecam = false;
+
   float last_print = 0;
   uint64_t route_start_ts = 0;
   std::atomic<int> seek_ts = 0;

selfdrive/ui/replay/route.cc

@@ -70,7 +70,7 @@ bool Route::loadFromJson(const QString &json) {
 
 // class Segment
 
-Segment::Segment(int n, const SegmentFile &segment_files) : seg_num_(n), files_(segment_files) {
+Segment::Segment(int n, const SegmentFile &segment_files, bool load_dcam, bool load_ecam) : seg_num_(n), files_(segment_files) {
   static std::once_flag once_flag;
   std::call_once(once_flag, [=]() {
     if (!QDir(CACHE_DIR).exists()) QDir().mkdir(CACHE_DIR);
@@ -81,6 +81,13 @@ Segment::Segment(int n, const SegmentFile &segment_files) : seg_num_(n), files_(
   valid_ = !files_.rlog.isEmpty() && !road_cam_path_.isEmpty();
   if (!valid_) return;
 
+  if (!load_dcam) {
+    files_.driver_cam = "";
+  }
+  if (!load_ecam) {
+    files_.wide_road_cam = "";
+  }
+
   if (!QUrl(files_.rlog).isLocalFile()) {
     for (auto &url : {files_.rlog, road_cam_path_, files_.driver_cam, files_.wide_road_cam}) {
       if (!url.isEmpty() && !QFile::exists(localPath(url))) {

selfdrive/ui/replay/route.h

@@ -38,7 +38,7 @@ class Segment : public QObject {
   Q_OBJECT
 
 public:
-  Segment(int n, const SegmentFile &segment_files);
+  Segment(int n, const SegmentFile &segment_files, bool load_dcam, bool load_ecam);
   ~Segment();
   inline bool isValid() const { return valid_; };
   inline bool isLoaded() const { return loaded_; }