mirror of https://github.com/commaai/openpilot.git
replay: replace QCommandLineParser with getopt for command-line argument parsing. (#33812)
* use getopt * fix -h * show help if no args are provided
This commit is contained in:
Dean Lee
GitHub
parent
c9f7e39d37
commit
debd71ebec
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@ -1,10 +1,123 @@
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#include <getopt.h>
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#include <QApplication>
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#include <QCommandLineParser>
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#include <iostream>
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#include <map>
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#include <string>
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#include "common/prefix.h"
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#include "tools/replay/consoleui.h"
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#include "tools/replay/replay.h"
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const std::string helpText =
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R"(Usage: replay [options]
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Options:
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-a, --allow Whitelist of services to send
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-b, --block Blacklist of services to send
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-c, --cache Cache <n> segments in memory. Default is 5
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-s, --start Start from <seconds>
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-x, --playback Playback <speed>
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--demo Use a demo route instead of providing your own
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-d, --data_dir Local directory with routes
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-p, --prefix Set OPENPILOT_PREFIX
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--dcam Load driver camera
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--ecam Load wide road camera
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--no-loop Stop at the end of the route
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--no-cache Turn off local cache
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--qcam Load qcamera
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--no-hw-decoder Disable HW video decoding
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--no-vipc Do not output video
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--all Output all messages including uiDebug, userFlag
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-h, --help Show this help message
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)";
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struct ReplayConfig {
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QString route;
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QStringList allow;
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QStringList block;
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QString data_dir;
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std::string prefix;
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uint32_t flags = REPLAY_FLAG_NONE;
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int start_seconds = 0;
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int cache_segments = -1;
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float playback_speed = -1;
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};
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bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
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const struct option cli_options[] = {
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{"allow", required_argument, nullptr, 'a'},
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{"block", required_argument, nullptr, 'b'},
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{"cache", required_argument, nullptr, 'c'},
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{"start", required_argument, nullptr, 's'},
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{"playback", required_argument, nullptr, 'x'},
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{"demo", no_argument, nullptr, 0},
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{"data_dir", required_argument, nullptr, 'd'},
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{"prefix", required_argument, nullptr, 'p'},
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{"dcam", no_argument, nullptr, 0},
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{"ecam", no_argument, nullptr, 0},
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{"no-loop", no_argument, nullptr, 0},
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{"no-cache", no_argument, nullptr, 0},
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{"qcam", no_argument, nullptr, 0},
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{"no-hw-decoder", no_argument, nullptr, 0},
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{"no-vipc", no_argument, nullptr, 0},
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{"all", no_argument, nullptr, 0},
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{"help", no_argument, nullptr, 'h'},
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{nullptr, 0, nullptr, 0}, // Terminating entry
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};
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const std::map<std::string, REPLAY_FLAGS> flag_map = {
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{"dcam", REPLAY_FLAG_DCAM},
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{"ecam", REPLAY_FLAG_ECAM},
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{"no-loop", REPLAY_FLAG_NO_LOOP},
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{"no-cache", REPLAY_FLAG_NO_FILE_CACHE},
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{"qcam", REPLAY_FLAG_QCAMERA},
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{"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER},
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{"no-vipc", REPLAY_FLAG_NO_VIPC},
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{"all", REPLAY_FLAG_ALL_SERVICES},
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};
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if (argc == 1) {
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std::cout << helpText;
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return false;
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}
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int opt, option_index = 0;
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while ((opt = getopt_long(argc, argv, "a:b:c:s:x:d:p:h", cli_options, &option_index)) != -1) {
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switch (opt) {
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case 'a': config.allow = QString(optarg).split(","); break;
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case 'b': config.block = QString(optarg).split(","); break;
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case 'c': config.cache_segments = std::atoi(optarg); break;
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case 's': config.start_seconds = std::atoi(optarg); break;
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case 'x': config.playback_speed = std::atof(optarg); break;
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case 'd': config.data_dir = optarg; break;
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case 'p': config.prefix = optarg; break;
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case 0: {
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std::string name = cli_options[option_index].name;
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if (name == "demo") {
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config.route = DEMO_ROUTE;
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} else {
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config.flags |= flag_map.at(name);
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}
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break;
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}
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case 'h': std::cout << helpText; return false;
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default: return false;
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}
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}
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// Check for a route name (first positional argument)
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if (config.route.isEmpty() && optind < argc) {
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config.route = argv[optind];
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}
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if (config.route.isEmpty()) {
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std::cerr << "No route provided. Use --help for usage information.\n";
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return false;
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}
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return true;
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}
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int main(int argc, char *argv[]) {
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#ifdef __APPLE__
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// With all sockets opened, we might hit the default limit of 256 on macOS
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@ -12,72 +125,29 @@ int main(int argc, char *argv[]) {
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#endif
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QCoreApplication app(argc, argv);
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ReplayConfig config;
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const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
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{"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
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{"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
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{"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
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{"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
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{"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
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{"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
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{"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
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{"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag"
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". this may causes issues when used along with UI"}
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};
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QCommandLineParser parser;
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parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
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parser.addHelpOption();
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parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
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parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
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parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
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parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
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parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
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parser.addOption({"x", QString("playback <speed>. between %1 - %2")
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.arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
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parser.addOption({"demo", "use a demo route instead of providing your own"});
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parser.addOption({"data_dir", "local directory with routes", "data_dir"});
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parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
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for (auto &[name, _, desc] : flags) {
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parser.addOption({name, desc});
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}
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parser.process(app);
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const QStringList args = parser.positionalArguments();
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if (args.empty() && !parser.isSet("demo")) {
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parser.showHelp();
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}
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const QString route = args.empty() ? DEMO_ROUTE : args.first();
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QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
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QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
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uint32_t replay_flags = REPLAY_FLAG_NONE;
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for (const auto &[name, flag, _] : flags) {
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if (parser.isSet(name)) {
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replay_flags |= flag;
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}
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if (!parseArgs(argc, argv, config)) {
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return 1;
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}
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std::unique_ptr<OpenpilotPrefix> op_prefix;
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auto prefix = parser.value("prefix");
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if (!prefix.isEmpty()) {
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op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
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if (!config.prefix.empty()) {
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op_prefix = std::make_unique<OpenpilotPrefix>(config.prefix);
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}
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Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
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if (!parser.value("c").isEmpty()) {
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replay->setSegmentCacheLimit(parser.value("c").toInt());
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Replay *replay = new Replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, &app);
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if (config.cache_segments > 0) {
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replay->setSegmentCacheLimit(config.cache_segments);
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}
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if (!parser.value("x").isEmpty()) {
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replay->setSpeed(std::clamp(parser.value("x").toFloat(),
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ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
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if (config.playback_speed > 0) {
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replay->setSpeed(std::clamp(config.playback_speed, ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
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}
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if (!replay->load()) {
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return 0;
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return 1;
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}
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ConsoleUI console_ui(replay);
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replay->start(parser.value("start").toInt());
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replay->start(config.start_seconds);
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return app.exec();
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}
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