diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 0a55843cfd..8b5b165536 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -54,6 +54,7 @@ jobs:
cp -r ../build/docs/html/ docs/
touch docs/.nojekyll
+ echo -n docs.comma.ai > docs/CNAME
git add -f .
git commit -m "build docs"
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index eb938f1bf4..880912e271 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -41,7 +41,7 @@ repos:
args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.1.0
+ rev: v0.1.1
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
diff --git a/RELEASES.md b/RELEASES.md
index 6adc58197b..96028a9787 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,6 +2,7 @@ Version 0.9.5 (2023-XX-XX)
========================
* New driving model
* Improved navigate on openpilot performance using navigation instructions as an additional model input
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
* Hyundai Azera 2022 support thanks to sunnyhaibin!
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
diff --git a/SConstruct b/SConstruct
index 2889460cd7..9a18050122 100644
--- a/SConstruct
+++ b/SConstruct
@@ -383,7 +383,6 @@ SConscript(['rednose/SConscript'])
# Build system services
SConscript([
- 'system/clocksd/SConscript',
'system/proclogd/SConscript',
'system/ubloxd/SConscript',
'system/loggerd/SConscript',
diff --git a/common/prefix.py b/common/prefix.py
index 6b7e7e2fd7..c1744e8ff7 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -14,6 +14,7 @@ class OpenpilotPrefix:
self.clean_dirs_on_exit = clean_dirs_on_exit
def __enter__(self):
+ self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
os.environ['OPENPILOT_PREFIX'] = self.prefix
try:
os.mkdir(self.msgq_path)
@@ -28,6 +29,8 @@ class OpenpilotPrefix:
self.clean_dirs()
try:
del os.environ['OPENPILOT_PREFIX']
+ if self.original_prefix is not None:
+ os.environ['OPENPILOT_PREFIX'] = self.original_prefix
except KeyError:
pass
return False
diff --git a/conftest.py b/conftest.py
index 2cc906b919..ee46436d3c 100644
--- a/conftest.py
+++ b/conftest.py
@@ -10,8 +10,13 @@ def openpilot_function_fixture():
# setup a clean environment for each test
with OpenpilotPrefix():
+ prefix = os.environ["OPENPILOT_PREFIX"]
+
yield
+ # ensure the test doesn't change the prefix
+ assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
+
os.environ.clear()
os.environ.update(starting_env)
diff --git a/docs/CARS.md b/docs/CARS.md
index fec2f8b840..d6961f6f56 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-# 265 Supported Cars
+# 267 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Hardware Needed
|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -20,6 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Buick|LaCrosse 2017-19[4](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|Parts
- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|Parts
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
@@ -638,11 +644,10 @@ void SignalView::updateState(const QHash *msgs) {
last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
}
- QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
- int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
- int value_width = std::min(max_value_width, size.width() * 0.35);
- size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
-
+ const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
+ int value_width = std::min(max_value_width + min_max_width, value_column_width / 2);
+ QSize size(value_column_width - value_width,
+ delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
QFutureSynchronizer synchronizer;
for (int i = first_visible_row; i <= last_visible_row; ++i) {
auto item = model->getItem(model->index(i, 1));
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index bcf0019bc4..c08579bc55 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -136,6 +136,7 @@ private:
}
};
int max_value_width = 0;
+ int value_column_width = 0;
TreeView *tree;
QLabel *sparkline_label;
QSlider *sparkline_range_slider;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 6fa479815d..eb2859e5a3 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,7 +1,6 @@
#include "tools/cabana/streams/abstractstream.h"
#include
-#include
#include
@@ -139,9 +138,10 @@ void AbstractStream::updateLastMsgsTo(double sec) {
}
void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) {
- static std::unordered_map> new_events_map;
+ static MessageEventsMap msg_events;
static std::vector new_events;
- new_events_map.clear();
+
+ std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
new_events.clear();
for (auto it = first; it != last; ++it) {
@@ -156,25 +156,25 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std
e->size = dat.size();
memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
- new_events_map[{.source = e->src, .address = e->address}].push_back(e);
+ msg_events[{.source = e->src, .address = e->address}].push_back(e);
new_events.push_back(e);
}
}
}
- for (auto &[id, new_e] : new_events_map) {
- auto &e = events_[id];
- auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
- e.insert(insert_pos, new_e.cbegin(), new_e.cend());
- }
-
if (!new_events.empty()) {
- auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
- all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
+ for (auto &[id, new_e] : msg_events) {
+ if (!new_e.empty()) {
+ auto &e = events_[id];
+ auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
+ e.insert(pos, new_e.cbegin(), new_e.cend());
+ }
+ }
+ auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
+ all_events_.insert(pos, new_events.cbegin(), new_events.cend());
+ emit eventsMerged(msg_events);
}
-
lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
- emit eventsMerged();
}
// CanData
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 3a89d4e57d..4a17affebe 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -2,13 +2,13 @@
#include
#include
-#include
#include
#include
#include
#include
#include
+#include
#include
#include "common/timing.h"
@@ -52,6 +52,8 @@ struct BusConfig {
bool can_fd = false;
};
+typedef std::unordered_map> MessageEventsMap;
+
class AbstractStream : public QObject {
Q_OBJECT
@@ -63,6 +65,7 @@ public:
virtual void seekTo(double ts) {}
virtual QString routeName() const = 0;
virtual QString carFingerprint() const { return ""; }
+ virtual QDateTime beginDateTime() const { return {}; }
virtual double routeStartTime() const { return 0; }
virtual double currentSec() const = 0;
virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
@@ -73,6 +76,7 @@ public:
virtual double getSpeed() { return 1; }
virtual bool isPaused() const { return false; }
virtual void pause(bool pause) {}
+ const MessageEventsMap &eventsMap() const { return events_; }
const std::vector &allEvents() const { return all_events_; }
const std::vector &events(const MessageId &id) const;
virtual const std::vector> getTimeline() { return {}; }
@@ -82,7 +86,7 @@ signals:
void resume();
void seekedTo(double sec);
void streamStarted();
- void eventsMerged();
+ void eventsMerged(const MessageEventsMap &events_map);
void updated();
void msgsReceived(const QHash *new_msgs, bool has_new_ids);
void sourcesUpdated(const SourceSet &s);
@@ -104,7 +108,7 @@ protected:
std::atomic processing = false;
std::unique_ptr> new_msgs;
QHash all_msgs;
- std::unordered_map> events_;
+ MessageEventsMap events_;
std::vector all_events_;
std::unique_ptr event_buffer;
std::mutex mutex;
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 17805a0b66..fd140eb8bf 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -46,6 +46,7 @@ void LiveStream::start() {
emit streamStarted();
stream_thread->start();
startUpdateTimer();
+ begin_date_time = QDateTime::currentDateTime();
}
LiveStream::~LiveStream() {
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 38ef2c67f9..d72112c604 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -15,6 +15,7 @@ public:
LiveStream(QObject *parent);
virtual ~LiveStream();
void start() override;
+ inline QDateTime beginDateTime() const { return begin_date_time; }
inline double routeStartTime() const override { return begin_event_ts / 1e9; }
inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; }
void setSpeed(float speed) override { speed_ = speed; }
@@ -49,6 +50,7 @@ private:
int timer_id;
QBasicTimer update_timer;
+ QDateTime begin_date_time;
uint64_t begin_event_ts = 0;
uint64_t current_event_ts = 0;
uint64_t first_event_ts = 0;
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 2e580c0f0d..8a6b806a8a 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -8,10 +8,13 @@
ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
unsetenv("ZMQ");
+ setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
+
// TODO: Remove when OpenpilotPrefix supports ZMQ
#ifndef __APPLE__
op_prefix = std::make_unique();
#endif
+
QObject::connect(&settings, &Settings::changed, [this]() {
if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
});
@@ -37,6 +40,7 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
replay->installEventFilter(event_filter, this);
QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
+ QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
return replay->load();
}
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index de69d9e86c..d69922a432 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -22,16 +22,21 @@ public:
inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
double totalSeconds() const override { return replay->totalSeconds(); }
inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
+ inline QDateTime beginDateTime() const { return replay->route()->datetime(); }
inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
inline double currentSec() const override { return replay->currentSeconds(); }
inline const Route *route() const override { return replay->route(); }
inline void setSpeed(float speed) override { replay->setSpeed(speed); }
inline float getSpeed() const { return replay->getSpeed(); }
+ inline Replay *getReplay() const { return replay.get(); }
inline bool isPaused() const override { return replay->isPaused(); }
void pause(bool pause) override;
inline const std::vector> getTimeline() override { return replay->getTimeline(); }
static AbstractOpenStreamWidget *widget(AbstractStream **stream);
+signals:
+ void qLogLoaded(int segnum, std::shared_ptr qlog);
+
private:
void mergeSegments();
std::unique_ptr replay = nullptr;
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 4c21530774..38190da301 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -19,7 +19,7 @@
// SegmentTree
-void SegmentTree::build(const QVector &arr) {
+void SegmentTree::build(const std::vector &arr) {
size = arr.size();
tree.resize(4 * size); // size of the tree is 4 times the size of the array
if (size > 0) {
@@ -27,7 +27,7 @@ void SegmentTree::build(const QVector &arr) {
}
}
-void SegmentTree::build_tree(const QVector &arr, int n, int left, int right) {
+void SegmentTree::build_tree(const std::vector &arr, int n, int left, int right) {
if (left == right) {
const double y = arr[left].y();
tree[n] = {y, y};
@@ -242,6 +242,13 @@ void setTheme(int theme) {
}
}
+QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
+ QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss"
+ : (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+ if (include_milliseconds) format += ".zzz";
+ return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format);
+}
+
} // namespace utils
QString toHex(uint8_t byte) {
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index 2c1bc5cf7b..da476ab31a 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -57,12 +57,12 @@ enum {
class SegmentTree {
public:
SegmentTree() = default;
- void build(const QVector &arr);
+ void build(const std::vector &arr);
inline std::pair minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); }
private:
std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const;
- void build_tree(const QVector &arr, int n, int left, int right);
+ void build_tree(const std::vector &arr, int n, int left, int right);
std::vector> tree;
int size = 0;
};
@@ -103,9 +103,7 @@ public:
namespace utils {
QPixmap icon(const QString &id);
void setTheme(int theme);
-inline QString formatSeconds(int seconds) {
- return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
-}
+QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
auto size = (r.size() - text.size()) / 2;
p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 7e051ef3b9..0a1d2855a5 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,17 +1,15 @@
#include "tools/cabana/videowidget.h"
#include
-#include
-#include
#include
-#include
-#include
+#include
+#include
+#include
#include
#include
#include
#include
-#include
#include
#include
@@ -30,50 +28,18 @@ static const QColor timeline_colors[] = {
VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
auto main_layout = new QVBoxLayout(this);
- if (!can->liveStreaming()) {
+ if (!can->liveStreaming())
main_layout->addWidget(createCameraWidget());
- }
+ main_layout->addLayout(createPlaybackController());
- // btn controls
- QButtonGroup *group = new QButtonGroup(this);
- group->setExclusive(true);
-
- QHBoxLayout *control_layout = new QHBoxLayout();
- play_btn = new QToolButton();
- play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
- control_layout->addWidget(play_btn);
- if (can->liveStreaming()) {
- control_layout->addWidget(skip_to_end_btn = new QToolButton(this));
- skip_to_end_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
- skip_to_end_btn->setIcon(utils::icon("skip-end-fill"));
- skip_to_end_btn->setToolTip(tr("Skip to the end"));
- QObject::connect(skip_to_end_btn, &QToolButton::clicked, [group]() {
- // set speed to 1.0
- group->buttons()[2]->click();
- can->pause(false);
- can->seekTo(can->totalSeconds() + 1);
- });
- }
-
- for (float speed : {0.1, 0.5, 1., 2.}) {
- QToolButton *btn = new QToolButton(this);
- btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
- btn->setText(QString("%1x").arg(speed));
- btn->setCheckable(true);
- QObject::connect(btn, &QToolButton::clicked, [speed]() { can->setSpeed(speed); });
- control_layout->addWidget(btn);
- group->addButton(btn);
- if (speed == 1.0) btn->setChecked(true);
- }
- main_layout->addLayout(control_layout);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
- QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
+ QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
- updatePlayBtnState();
+ updatePlayBtnState();
setWhatsThis(tr(R"(
Video
@@ -96,6 +62,71 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
timeline_colors[(int)TimelineType::AlertCritical].name()));
}
+QHBoxLayout *VideoWidget::createPlaybackController() {
+ QHBoxLayout *layout = new QHBoxLayout();
+ layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward")));
+ layout->addWidget(play_btn = new ToolButton("play", tr("Play")));
+ layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward")));
+
+ if (can->liveStreaming()) {
+ layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this));
+ QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() {
+ // set speed to 1.0
+ speed_btn->menu()->actions()[7]->setChecked(true);
+ can->pause(false);
+ can->seekTo(can->totalSeconds() + 1);
+ });
+ }
+
+ layout->addWidget(time_btn = new QToolButton);
+ time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+ time_btn->setAutoRaise(true);
+ layout->addStretch(0);
+
+ if (!can->liveStreaming()) {
+ layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback")));
+ QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked);
+ }
+
+ // speed selector
+ layout->addWidget(speed_btn = new QToolButton(this));
+ speed_btn->setAutoRaise(true);
+ speed_btn->setMenu(new QMenu(speed_btn));
+ speed_btn->setPopupMode(QToolButton::InstantPopup);
+ QActionGroup *speed_group = new QActionGroup(this);
+ speed_group->setExclusive(true);
+
+ int max_width = 0;
+ QFont font = speed_btn->font();
+ font.setBold(true);
+ speed_btn->setFont(font);
+ QFontMetrics fm(font);
+ for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) {
+ QString name = QString("%1x").arg(speed);
+ max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2);
+
+ QAction *act = new QAction(name, speed_group);
+ act->setCheckable(true);
+ QObject::connect(act, &QAction::toggled, [this, speed]() {
+ can->setSpeed(speed);
+ speed_btn->setText(QString("%1x ").arg(speed));
+ });
+ speed_btn->menu()->addAction(act);
+ if (speed == 1.0)act->setChecked(true);
+ }
+ speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
+
+ QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
+ QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); });
+ QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); });
+ QObject::connect(time_btn, &QToolButton::clicked, [this]() {
+ settings.absolute_time = !settings.absolute_time;
+ time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+ updateState();
+ });
+ return layout;
+}
+
QWidget *VideoWidget::createCameraWidget() {
QWidget *w = new QWidget(this);
QVBoxLayout *l = new QVBoxLayout(w);
@@ -109,29 +140,30 @@ QWidget *VideoWidget::createCameraWidget() {
stacked->addWidget(alert_label = new InfoLabel(this));
l->addLayout(stacked);
- // slider controls
- auto slider_layout = new QHBoxLayout();
- slider_layout->addWidget(time_label = new QLabel("00:00"));
-
- slider = new Slider(this);
+ l->addWidget(slider = new Slider(this));
slider->setSingleStep(0);
- slider_layout->addWidget(slider);
-
- slider_layout->addWidget(end_time_label = new QLabel(this));
- l->addLayout(slider_layout);
setMaximumTime(can->totalSeconds());
QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
- QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); });
QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
- QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
+ QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
return w;
}
+void VideoWidget::loopPlaybackClicked() {
+ auto replay = qobject_cast(can)->getReplay();
+ if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
+ replay->removeFlag(REPLAY_FLAG_NO_LOOP);
+ loop_btn->setIcon("repeat");
+ } else {
+ replay->addFlag(REPLAY_FLAG_NO_LOOP);
+ loop_btn->setIcon("repeat-1");
+ }
+}
+
void VideoWidget::setMaximumTime(double sec) {
maximum_time = sec;
- end_time_label->setText(utils::formatSeconds(sec));
slider->setTimeRange(0, sec);
}
@@ -145,19 +177,29 @@ void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
min = 0;
max = maximum_time;
}
- end_time_label->setText(utils::formatSeconds(max));
slider->setTimeRange(min, max);
}
+QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
+ if (settings.absolute_time)
+ sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0;
+ return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time);
+}
+
void VideoWidget::updateState() {
- if (!slider->isSliderDown()) {
- slider->setCurrentSecond(can->currentSec());
+ if (slider) {
+ if (!slider->isSliderDown())
+ slider->setCurrentSecond(can->currentSec());
+ alert_label->showAlert(slider->alertInfo(can->currentSec()));
+ time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
+ formatTime(slider->maximum() / slider->factor)));
+ } else {
+ time_btn->setText(formatTime(can->currentSec(), true));
}
- alert_label->showAlert(slider->alertInfo(can->currentSec()));
}
void VideoWidget::updatePlayBtnState() {
- play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
+ play_btn->setIcon(can->isPaused() ? "play" : "pause");
play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
}
@@ -165,29 +207,9 @@ void VideoWidget::updatePlayBtnState() {
Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
setMouseTracking(true);
- auto timer = new QTimer(this);
- timer->callOnTimeout([this]() {
- timeline = can->getTimeline();
- std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
- update();
- });
- timer->start(2000);
- QObject::connect(can, &AbstractStream::eventsMerged, [this]() {
- if (!qlog_future) {
- qlog_future = std::make_unique>(QtConcurrent::run(this, &Slider::parseQLog));
- }
- });
- QObject::connect(qApp, &QApplication::aboutToQuit, [this]() {
- abort_parse_qlog = true;
- if (qlog_future && qlog_future->isRunning()) {
- qDebug() << "stopping thumbnail thread";
- qlog_future->waitForFinished();
- }
- });
}
AlertInfo Slider::alertInfo(double seconds) {
- std::lock_guard lk(thumbnail_lock);
uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
auto alert_it = alerts.lower_bound(mono_time);
bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
@@ -195,7 +217,6 @@ AlertInfo Slider::alertInfo(double seconds) {
}
QPixmap Slider::thumbnail(double seconds) {
- std::lock_guard lk(thumbnail_lock);
uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
auto it = thumbnails.lowerBound(mono_time);
return it != thumbnails.end() ? it.value() : QPixmap();
@@ -206,36 +227,32 @@ void Slider::setTimeRange(double min, double max) {
setRange(min * factor, max * factor);
}
-void Slider::parseQLog() {
- const auto &segments = can->route()->segments();
- for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) {
- LogReader log;
- std::string qlog = it->second.qlog.toStdString();
- if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
- if (it == segments.rbegin() && !log.events.empty()) {
- double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime();
- emit updateMaximumTime(max_time);
+void Slider::parseQLog(int segnum, std::shared_ptr qlog) {
+ const auto &segments = qobject_cast(can)->route()->segments();
+ if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
+ emit updateMaximumTime(qlog->events.back()->mono_time / 1e9 - can->routeStartTime());
+ }
+
+ std::mutex mutex;
+ QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event *e) {
+ if (e->which == cereal::Event::Which::THUMBNAIL) {
+ auto thumb = e->event.getThumbnail();
+ auto data = thumb.getThumbnail();
+ if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
+ QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+ std::lock_guard lk(mutex);
+ thumbnails[thumb.getTimestampEof()] = scaled;
}
- for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) {
- if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
- auto thumb = (*ev)->event.getThumbnail();
- auto data = thumb.getThumbnail();
- if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
- pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
- std::lock_guard lk(thumbnail_lock);
- thumbnails[thumb.getTimestampEof()] = pm;
- }
- } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
- auto cs = (*ev)->event.getControlsState();
- if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
- cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
- std::lock_guard lk(thumbnail_lock);
- alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
- }
- }
+ } else if (e->which == cereal::Event::Which::CONTROLS_STATE) {
+ auto cs = e->event.getControlsState();
+ if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
+ cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
+ std::lock_guard lk(mutex);
+ alerts.emplace(e->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
}
}
- }
+ });
+ update();
}
void Slider::paintEvent(QPaintEvent *ev) {
@@ -245,7 +262,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
double min = minimum() / factor;
double max = maximum() / factor;
- for (auto [begin, end, type] : timeline) {
+ for (auto [begin, end, type] : qobject_cast(can)->getTimeline()) {
if (begin > max || end < min)
continue;
r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
@@ -311,8 +328,7 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &
second = sec;
pixmap = pm;
alert_info = alert;
- resize(pm.size());
- move(pt);
+ setGeometry(QRect(pt, pm.size()));
setVisible(true);
update();
}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index aca44d0ac1..68e0461117 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,19 +1,14 @@
#pragma once
-#include
#include