replay: use an enum for flags (#22635)

* enum flags

* continue

* remove yuv flag for now

selfdrive/ui/replay/framereader.cc

@@ -159,8 +159,8 @@ bool FrameReader::decodeFrame(AVFrame *f, uint8_t *rgb, uint8_t *yuv) {
     memcpy(y + f->width * i + f->width / 2 * j + f->width / 2 * k, f->data[2] + f->linesize[2] * k, f->width / 2);
   }
 
-  uint8_t *u = yuv + f->width * f->height;
+  uint8_t *u = y + f->width * f->height;
   uint8_t *v = u + (f->width / 2) * (f->height / 2);
-  libyuv::I420ToRGB24(yuv, f->width, u, f->width / 2, v, f->width / 2, rgb, f->width * 3, f->width, f->height);
+  libyuv::I420ToRGB24(y, f->width, u, f->width / 2, v, f->width / 2, rgb, f->width * 3, f->width, f->height);
   return true;
 }

selfdrive/ui/replay/main.cc

@@ -10,7 +10,6 @@
 #include <QThread>
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
-
 struct termios oldt = {};
 
 void sigHandler(int s) {
@@ -75,6 +74,12 @@ int main(int argc, char *argv[]){
   std::signal(SIGINT, sigHandler);
   std::signal(SIGTERM, sigHandler);
 
+  const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
+      {"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
+      {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
+      {"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
+  };
+
   QCommandLineParser parser;
   parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
   parser.addHelpOption();
@@ -84,8 +89,9 @@ int main(int argc, char *argv[]){
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
   parser.addOption({"data_dir", "local directory with routes", "data_dir"});
-  parser.addOption({"dcam", "load driver camera"});
-  parser.addOption({"ecam", "load wide road camera"});
+  for (auto &[name, _, desc] : flags) {
+    parser.addOption({name, desc});
+  }
 
   parser.process(app);
   const QStringList args = parser.positionalArguments();
@@ -97,7 +103,13 @@ int main(int argc, char *argv[]){
   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, nullptr, parser.isSet("dcam"), parser.isSet("ecam"), parser.value("data_dir"), &app);
+  uint32_t replay_flags = REPLAY_FLAG_NONE;
+  for (const auto &[name, flag, _] : flags) {
+    if (parser.isSet(name)) {
+      replay_flags |= flag;
+    }
+  }
+  Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
   if (!replay->load()) {
     return 0;
   }

selfdrive/ui/replay/replay.cc

@@ -10,8 +10,8 @@
 #include "selfdrive/hardware/hw.h"
 #include "selfdrive/ui/replay/util.h"
 
-Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, bool dcam, bool ecam, QString data_dir, QObject *parent)
-    : sm(sm_), load_dcam(dcam), load_ecam(ecam), QObject(parent) {
+Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
+    : sm(sm_), flags_(flags), QObject(parent) {
   std::vector<const char *> s;
   auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
   sockets_.resize(event_struct.getUnionFields().size());
@@ -141,7 +141,7 @@ void Replay::queueSegment() {
   for (int i = 0; end != segments_.end() && i <= fwd; ++end, ++i) {
     auto &[n, seg] = *end;
     if (!seg) {
-      seg = std::make_unique<Segment>(n, route_->at(n), load_dcam, load_ecam);
+      seg = std::make_unique<Segment>(n, route_->at(n), hasFlag(REPLAY_FLAG_DCAM), hasFlag(REPLAY_FLAG_ECAM));
       QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
       qInfo() << "loading segment" << n << "...";
     }
@@ -246,7 +246,8 @@ void Replay::publishFrame(const Event *e) {
       {cereal::Event::DRIVER_ENCODE_IDX, DriverCam},
       {cereal::Event::WIDE_ROAD_ENCODE_IDX, WideRoadCam},
   };
-  if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !load_dcam) || (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !load_ecam)) {
+  if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !hasFlag(REPLAY_FLAG_DCAM)) ||
+      (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !hasFlag(REPLAY_FLAG_ECAM))) {
     return;
   }
   auto eidx = capnp::AnyStruct::Reader(e->event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
@@ -321,7 +322,7 @@ void Replay::stream() {
     // wait for frame to be sent before unlock.(frameReader may be deleted after unlock)
     camera_server_->waitFinish();
 
-    if (eit == events_->end()) {
+    if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
       int last_segment = segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         qInfo() << "reaches the end of route, restart from beginning";

selfdrive/ui/replay/replay.h

@@ -7,21 +7,29 @@
 
 constexpr int FORWARD_SEGS = 2;
 
+enum REPLAY_FLAGS {
+  REPLAY_FLAG_NONE = 0x0000,
+  REPLAY_FLAG_DCAM = 0x0002,
+  REPLAY_FLAG_ECAM = 0x0004,
+  REPLAY_FLAG_NO_LOOP = 0x0010,
+};
+
 class Replay : public QObject {
   Q_OBJECT
 
 public:
-  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, bool dcam = false, bool ecam = false,
-         QString data_dir="", QObject *parent = 0);
+  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
+          uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
   void start(int seconds = 0);
   void pause(bool pause);
   bool isPaused() const { return paused_; }
+  inline bool hasFlag(REPLAY_FLAGS flag) { return flags_ & flag; };
 
 signals:
- void segmentChanged();
- void seekTo(int seconds, bool relative);
+  void segmentChanged();
+  void seekTo(int seconds, bool relative);
 
 protected slots:
   void queueSegment();
@@ -64,6 +72,6 @@ protected:
   PubMaster *pm = nullptr;
   std::vector<const char*> sockets_;
   std::unique_ptr<Route> route_;
-  bool load_dcam = false, load_ecam = false;
   std::unique_ptr<CameraServer> camera_server_;
+  uint32_t flags_ = REPLAY_FLAG_NONE;
 };