mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-23 01:04:01 +08:00
Dean Lee
504453c3e4
* support live streaming * update live stream's time * cleanup stream classes * disable video control in live streaming mode * emit streamStarted() in LiveStream::streamThread * disable some features in live streaming mode * refactor charts to support live streaming mode * disable dynamic mode checkbox in live streaming mode * updateDispalyRange * thread safe events * TODO: add support for ZMQ * atomic time stamp * only keep settings.cached_segment_limit*60 seconds data in liveStream * make charts work better in live mode * cleanup ChartView * fix toolbar * cleanup cleanup * disable openpilotPrefix and useOpenGL on macos * add comment * exit gracefully * support ZMQ * use ::operator new/delete * cleanup streams * cleanup * align stream buffers * check looping back * check if series is empty * cleanup * add TODO: write stream to log file to replay it * upper_bound * remove class member event_range * change default settings value * cleanup updateDisplayrange * fix merge error old-commit-hash: f9490739ab37ae680aef272d51eb3cf2b36b4103
77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
#pragma once
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#include <atomic>
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#include <QColor>
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#include <QHash>
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#include "tools/cabana/settings.h"
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#include "tools/replay/replay.h"
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struct CanData {
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double ts = 0.;
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uint8_t src = 0;
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uint32_t address = 0;
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uint32_t count = 0;
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uint32_t freq = 0;
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QByteArray dat;
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QList<QColor> colors;
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};
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class AbstractStream : public QObject {
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Q_OBJECT
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public:
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AbstractStream(QObject *parent, bool is_live_streaming);
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virtual ~AbstractStream() {};
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inline bool liveStreaming() const { return is_live_streaming; }
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virtual void seekTo(double ts) {}
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virtual QString routeName() const = 0;
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virtual QString carFingerprint() const { return ""; }
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virtual double totalSeconds() const { return 0; }
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virtual double routeStartTime() const { return 0; }
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virtual double currentSec() const = 0;
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virtual QDateTime currentDateTime() const { return {}; }
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virtual const CanData &lastMessage(const QString &id) { return can_msgs[id]; }
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virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
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virtual const Route *route() const { return nullptr; }
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virtual const std::vector<Event *> *events() const = 0;
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virtual void setSpeed(float speed) {}
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virtual bool isPaused() const { return false; }
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virtual void pause(bool pause) {}
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virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
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signals:
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void paused();
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void resume();
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void seekedTo(double sec);
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void streamStarted();
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void eventsMerged();
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void updated();
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void msgsReceived(const QHash<QString, CanData> *);
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void received(QHash<QString, CanData> *);
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public:
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QMap<QString, CanData> can_msgs;
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protected:
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void process(QHash<QString, CanData> *);
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bool updateEvent(const Event *event);
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bool is_live_streaming = false;
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std::atomic<double> counters_begin_sec = 0;
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std::atomic<bool> processing = false;
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QHash<QString, uint32_t> counters;
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};
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inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
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inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; }
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inline const QString &getColor(int i) {
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// TODO: add more colors
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static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
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return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
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}
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// A global pointer referring to the unique AbstractStream object
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extern AbstractStream *can;
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