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replay: add flag REPLAY_FLAG_FULL_SPEED to play at full speed #23324

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Merged
merged 2 commits into from
Dec 28, 2021
Merged

replay: add flag REPLAY_FLAG_FULL_SPEED to play at full speed #23324

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0ef2fae
add flag REPLAY_FLAG_FULL_SPEED
deanlee Dec 27, 2021
51bda5a
use hasFlag
deanlee Dec 27, 2021
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8 changes: 8 additions & 0 deletions selfdrive/ui/replay/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,14 @@ void keyboardThread(Replay *replay_) {
replay_->seekTo(-10, true);
} else if (c == 'G') {
replay_->seekTo(0, true);
} else if (c == 'x') {
if (replay_->hasFlag(REPLAY_FLAG_FULL_SPEED)) {
replay_->removeFlag(REPLAY_FLAG_FULL_SPEED);
qInfo() << "replay at normal speed";
} else {
replay_->addFlag(REPLAY_FLAG_FULL_SPEED);
qInfo() << "replay at full speed";
}
} else if (c == ' ') {
replay_->pause(!replay_->isPaused());
}
Expand Down
13 changes: 8 additions & 5 deletions selfdrive/ui/replay/replay.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,7 @@ void Replay::startStream(const Segment *cur_segment) {
camera_size[type] = {fr->width, fr->height};
}
}
camera_server_ = std::make_unique<CameraServer>(camera_size, flags_ & REPLAY_FLAG_SEND_YUV);
camera_server_ = std::make_unique<CameraServer>(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV));

// start stream thread
stream_thread_ = new QThread();
Expand Down Expand Up @@ -256,8 +256,8 @@ 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 && !(flags_ & REPLAY_FLAG_DCAM)) ||
(e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !(flags_ & REPLAY_FLAG_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>();
Expand Down Expand Up @@ -318,11 +318,14 @@ void Replay::stream() {
// reset start times
evt_start_ts = cur_mono_time_;
loop_start_ts = nanos_since_boot();
} else if (behind_ns > 0) {
} else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) {
precise_nano_sleep(behind_ns);
}

if (evt->frame) {
if (hasFlag(REPLAY_FLAG_FULL_SPEED)) {
camera_server_->waitFinish();
}
publishFrame(evt);
} else {
publishMessage(evt);
Expand All @@ -332,7 +335,7 @@ void Replay::stream() {
// wait for frame to be sent before unlock.(frameReader may be deleted after unlock)
camera_server_->waitFinish();

if (eit == events_->end() && !(flags_ & REPLAY_FLAG_NO_LOOP)) {
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";
Expand Down
6 changes: 5 additions & 1 deletion selfdrive/ui/replay/replay.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ enum REPLAY_FLAGS {
REPLAY_FLAG_QCAMERA = 0x0040,
REPLAY_FLAG_SEND_YUV = 0x0080,
REPLAY_FLAG_NO_CUDA = 0x0100,
REPLAY_FLAG_FULL_SPEED = 0x0200,
};

class Replay : public QObject {
Expand All @@ -31,6 +32,9 @@ class Replay : public QObject {
void stop();
void pause(bool pause);
bool isPaused() const { return paused_; }
inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }

signals:
void segmentChanged();
Expand Down Expand Up @@ -79,5 +83,5 @@ protected slots:
std::vector<const char*> sockets_;
std::unique_ptr<Route> route_;
std::unique_ptr<CameraServer> camera_server_;
uint32_t flags_ = REPLAY_FLAG_NONE;
std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;
};