mirror of https://github.com/commaai/openpilot.git
84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
#include <QApplication>
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#include <QCommandLineParser>
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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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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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util::set_file_descriptor_limit(1024);
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#endif
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QCoreApplication app(argc, argv);
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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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}
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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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}
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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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}
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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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}
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if (!replay->load()) {
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return 0;
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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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return app.exec();
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}
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