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cabana: support pause and slow motion playback in live stream mode (#27051)

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* support pause and slow motion playback in live stream mode

* override

* virtual functions

* move to function

fix

* lock handleEvent

* show speed controls in video widget

* fix pause signal

* set margins

* cleanup
This commit is contained in:
Dean Lee
2023-01-25 07:07:11 +08:00
committed by GitHub
parent 64ed44e3b5
commit 544ad25a0b
5 changed files with 93 additions and 48 deletions
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tools/cabana/mainwin.cc
+5 -6
View File
@@ -126,15 +126,14 @@ void MainWindow::createDockWindows() {
// splitter between video and charts
video_splitter = new QSplitter(Qt::Vertical, this);
if (!can->liveStreaming()) {
video_widget = new VideoWidget(this);
video_splitter->addWidget(video_widget);
QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged);
}
video_widget = new VideoWidget(this);
video_splitter->addWidget(video_widget);
QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged);
video_splitter->addWidget(charts_container);
video_splitter->setStretchFactor(1, 1);
video_splitter->restoreState(settings.video_splitter_state);
if (!can->liveStreaming() && video_splitter->sizes()[0] == 0) {
if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
// display video at minimum size.
video_splitter->setSizes({1, 1});
}
tools/cabana/streams/livestream.cc
+37 -16
View File
@@ -1,10 +1,6 @@
#include "tools/cabana/streams/livestream.h"
LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) {
if (!zmq_address.isEmpty()) {
setenv("ZMQ", "1", 1);
}
timer = new QTimer(this);
timer->callOnTimeout(this, &LiveStream::removeExpiredEvents);
timer->start(3 * 1000);
@@ -24,12 +20,14 @@ LiveStream::~LiveStream() {
}
void LiveStream::streamThread() {
if (!zmq_address.isEmpty()) {
setenv("ZMQ", "1", 1);
}
std::unique_ptr<Context> context(Context::create());
std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
assert(sock != NULL);
sock->setTimeout(50);
// run as fast as messages come in
while (!QThread::currentThread()->isInterruptionRequested()) {
Message *msg = sock->receive(true);
@@ -40,22 +38,40 @@ void LiveStream::streamThread() {
AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer());
Event *evt = ::new Event(buf->align(msg));
delete msg;
{
std::lock_guard lk(lock);
can_events.push_back(evt);
}
if (start_ts == 0) {
start_ts = evt->mono_time;
emit streamStarted();
}
current_ts = evt->mono_time;
handleEvent(evt);
// TODO: write stream to log file to replay it with cabana --data_dir flag.
}
}
void LiveStream::handleEvent(Event *evt) {
std::lock_guard lk(lock);
can_events.push_back(evt);
current_ts = evt->mono_time;
if (start_ts == 0 || current_ts < start_ts) {
if (current_ts < start_ts) {
qDebug() << "stream is looping back to old time stamp";
start_ts = current_ts.load();
}
start_ts = current_ts.load();
emit streamStarted();
}
if (!pause_) {
if (speed_ < 1 && last_update_ts > 0) {
auto it = std::upper_bound(can_events.begin(), can_events.end(), last_update_event_ts, [](uint64_t ts, auto &e) {
return ts < e->mono_time;
});
if (it != can_events.end() &&
(nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) {
return;
}
evt = (*it);
}
updateEvent(evt);
// TODO: write stream to log file to replay it with cabana --data_dir flag.
last_update_event_ts = evt->mono_time;
last_update_ts = nanos_since_boot();
}
}
@@ -80,3 +96,8 @@ const std::vector<Event *> *LiveStream::events() const {
std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector));
return &events_vector;
}
void LiveStream::pause(bool pause) {
pause_ = pause;
emit paused();
}
tools/cabana/streams/livestream.h
+12 -3
View File
@@ -8,17 +8,21 @@ class LiveStream : public AbstractStream {
public:
LiveStream(QObject *parent, QString address = {});
~LiveStream();
virtual ~LiveStream();
inline QString routeName() const override {
return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
}
inline double routeStartTime() const override { return start_ts / (double)1e9; }
inline double currentSec() const override { return (current_ts - start_ts) / (double)1e9; }
void setSpeed(float speed) override { speed_ = std::min<float>(1.0, speed); }
bool isPaused() const override { return pause_; }
void pause(bool pause) override;
const std::vector<Event *> *events() const override;
protected:
void streamThread();
void removeExpiredEvents();
virtual void handleEvent(Event *evt);
virtual void streamThread();
virtual void removeExpiredEvents();
mutable std::mutex lock;
mutable std::vector<Event *> events_vector;
@@ -26,6 +30,11 @@ protected:
std::deque<AlignedBuffer *> messages;
std::atomic<uint64_t> start_ts = 0;
std::atomic<uint64_t> current_ts = 0;
std::atomic<float> speed_ = 1;
std::atomic<bool> pause_ = false;
uint64_t last_update_event_ts = 0;
uint64_t last_update_ts = 0;
const QString zmq_address;
QThread *stream_thread;
QTimer *timer;
tools/cabana/videowidget.cc
+38 -23
View File
@@ -27,8 +27,41 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
main_layout->addWidget(frame);
QVBoxLayout *frame_layout = new QVBoxLayout(frame);
if (!can->liveStreaming()) {
frame_layout->addWidget(createCameraWidget());
}
// btn controls
QHBoxLayout *control_layout = new QHBoxLayout();
play_btn = new QPushButton();
control_layout->addWidget(play_btn);
QButtonGroup *group = new QButtonGroup(this);
group->setExclusive(true);
for (float speed : {0.1, 0.5, 1., 2.}) {
if (can->liveStreaming() && speed > 1) continue;
QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
btn->setCheckable(true);
QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); });
control_layout->addWidget(btn);
group->addButton(btn);
if (speed == 1.0) btn->setChecked(true);
}
frame_layout->addLayout(control_layout);
QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
updatePlayBtnState();
}
QWidget *VideoWidget::createCameraWidget() {
QWidget *w = new QWidget(this);
QVBoxLayout *l = new QVBoxLayout(w);
l->setContentsMargins(0, 0, 0, 0);
cam_widget = new CameraWidget("camerad", can->visionStreamType(), false);
frame_layout->addWidget(cam_widget);
l->addWidget(cam_widget);
// slider controls
slider_layout = new QHBoxLayout();
@@ -42,24 +75,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
end_time_label = new QLabel(this);
slider_layout->addWidget(end_time_label);
frame_layout->addLayout(slider_layout);
// btn controls
QHBoxLayout *control_layout = new QHBoxLayout();
play_btn = new QPushButton();
control_layout->addWidget(play_btn);
QButtonGroup *group = new QButtonGroup(this);
group->setExclusive(true);
for (float speed : {0.1, 0.5, 1., 2.}) {
QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
btn->setCheckable(true);
QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); });
control_layout->addWidget(btn);
group->addButton(btn);
if (speed == 1.0) btn->setChecked(true);
}
frame_layout->addLayout(control_layout);
l->addLayout(slider_layout);
cam_widget->setMinimumHeight(100);
cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
@@ -69,15 +85,12 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
QObject::connect(can, &AbstractStream::streamStarted, [this]() {
end_time_label->setText(formatTime(can->totalSeconds()));
slider->setRange(0, can->totalSeconds() * 1000);
});
updatePlayBtnState();
return w;
}
void VideoWidget::timeLabelClicked() {
@@ -101,6 +114,8 @@ void VideoWidget::timeLabelClicked() {
}
void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
if (can->liveStreaming()) return;
if (!is_zoomed) {
min = 0;
max = can->totalSeconds();
tools/cabana/videowidget.h
+1
View File
@@ -49,6 +49,7 @@ protected:
void updateState();
void updatePlayBtnState();
void timeLabelClicked();
QWidget *createCameraWidget();
CameraWidget *cam_widget;
QLabel *end_time_label;