openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
374
tools/replay/consoleui.cc
Normal file
374
tools/replay/consoleui.cc
Normal file
@@ -0,0 +1,374 @@
|
||||
#include "tools/replay/consoleui.h"
|
||||
|
||||
#include <initializer_list>
|
||||
#include <string>
|
||||
#include <tuple>
|
||||
#include <utility>
|
||||
|
||||
#include <QApplication>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/version.h"
|
||||
|
||||
namespace {
|
||||
|
||||
const int BORDER_SIZE = 3;
|
||||
|
||||
const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortcuts[] = {
|
||||
{
|
||||
{"s", "+10s"},
|
||||
{"shift+s", "-10s"},
|
||||
{"m", "+60s"},
|
||||
{"shift+m", "-60s"},
|
||||
{"space", "Pause/Resume"},
|
||||
{"e", "Next Engagement"},
|
||||
{"d", "Next Disengagement"},
|
||||
{"t", "Next User Tag"},
|
||||
{"i", "Next Info"},
|
||||
{"w", "Next Warning"},
|
||||
{"c", "Next Critical"},
|
||||
},
|
||||
{
|
||||
{"enter", "Enter seek request"},
|
||||
{"+/-", "Playback speed"},
|
||||
{"q", "Exit"},
|
||||
},
|
||||
};
|
||||
|
||||
enum Color {
|
||||
Default,
|
||||
Debug,
|
||||
Yellow,
|
||||
Green,
|
||||
Red,
|
||||
Cyan,
|
||||
BrightWhite,
|
||||
Engaged,
|
||||
Disengaged,
|
||||
};
|
||||
|
||||
void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold = false) {
|
||||
if (color != Color::Default) wattron(w, COLOR_PAIR(color));
|
||||
if (bold) wattron(w, A_BOLD);
|
||||
waddstr(w, str);
|
||||
if (bold) wattroff(w, A_BOLD);
|
||||
if (color != Color::Default) wattroff(w, COLOR_PAIR(color));
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) {
|
||||
// Initialize curses
|
||||
initscr();
|
||||
clear();
|
||||
curs_set(false);
|
||||
cbreak(); // Line buffering disabled. pass on everything
|
||||
noecho();
|
||||
keypad(stdscr, true);
|
||||
nodelay(stdscr, true); // non-blocking getchar()
|
||||
|
||||
// Initialize all the colors. https://www.ditig.com/256-colors-cheat-sheet
|
||||
start_color();
|
||||
init_pair(Color::Debug, 246, COLOR_BLACK); // #949494
|
||||
init_pair(Color::Yellow, 184, COLOR_BLACK);
|
||||
init_pair(Color::Red, COLOR_RED, COLOR_BLACK);
|
||||
init_pair(Color::Cyan, COLOR_CYAN, COLOR_BLACK);
|
||||
init_pair(Color::BrightWhite, 15, COLOR_BLACK);
|
||||
init_pair(Color::Disengaged, COLOR_BLUE, COLOR_BLUE);
|
||||
init_pair(Color::Engaged, 28, 28);
|
||||
init_pair(Color::Green, 34, COLOR_BLACK);
|
||||
|
||||
initWindows();
|
||||
|
||||
qRegisterMetaType<uint64_t>("uint64_t");
|
||||
qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
|
||||
installMessageHandler([this](ReplyMsgType type, const std::string msg) {
|
||||
emit logMessageSignal(type, QString::fromStdString(msg));
|
||||
});
|
||||
installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
|
||||
emit updateProgressBarSignal(cur, total, success);
|
||||
});
|
||||
|
||||
QObject::connect(replay, &Replay::streamStarted, this, &ConsoleUI::updateSummary);
|
||||
QObject::connect(¬ifier, SIGNAL(activated(int)), SLOT(readyRead()));
|
||||
QObject::connect(this, &ConsoleUI::updateProgressBarSignal, this, &ConsoleUI::updateProgressBar);
|
||||
QObject::connect(this, &ConsoleUI::logMessageSignal, this, &ConsoleUI::logMessage);
|
||||
|
||||
sm_timer.callOnTimeout(this, &ConsoleUI::updateStatus);
|
||||
sm_timer.start(100);
|
||||
getch_timer.start(1000, this);
|
||||
readyRead();
|
||||
}
|
||||
|
||||
ConsoleUI::~ConsoleUI() {
|
||||
endwin();
|
||||
}
|
||||
|
||||
void ConsoleUI::initWindows() {
|
||||
getmaxyx(stdscr, max_height, max_width);
|
||||
w.fill(nullptr);
|
||||
w[Win::Title] = newwin(1, max_width, 0, 0);
|
||||
w[Win::Stats] = newwin(2, max_width - 2 * BORDER_SIZE, 2, BORDER_SIZE);
|
||||
w[Win::Timeline] = newwin(4, max_width - 2 * BORDER_SIZE, 5, BORDER_SIZE);
|
||||
w[Win::TimelineDesc] = newwin(1, 100, 10, BORDER_SIZE);
|
||||
w[Win::CarState] = newwin(3, 100, 12, BORDER_SIZE);
|
||||
w[Win::DownloadBar] = newwin(1, 100, 16, BORDER_SIZE);
|
||||
if (int log_height = max_height - 27; log_height > 4) {
|
||||
w[Win::LogBorder] = newwin(log_height, max_width - 2 * (BORDER_SIZE - 1), 17, BORDER_SIZE - 1);
|
||||
box(w[Win::LogBorder], 0, 0);
|
||||
w[Win::Log] = newwin(log_height - 2, max_width - 2 * BORDER_SIZE, 18, BORDER_SIZE);
|
||||
scrollok(w[Win::Log], true);
|
||||
}
|
||||
w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
|
||||
|
||||
// set the title bar
|
||||
wbkgd(w[Win::Title], A_REVERSE);
|
||||
mvwprintw(w[Win::Title], 0, 3, "openpilot replay %s", COMMA_VERSION);
|
||||
|
||||
// show windows on the real screen
|
||||
refresh();
|
||||
displayTimelineDesc();
|
||||
displayHelp();
|
||||
updateSummary();
|
||||
updateTimeline();
|
||||
for (auto win : w) {
|
||||
if (win) wrefresh(win);
|
||||
}
|
||||
}
|
||||
|
||||
void ConsoleUI::timerEvent(QTimerEvent *ev) {
|
||||
if (ev->timerId() != getch_timer.timerId()) return;
|
||||
|
||||
if (is_term_resized(max_height, max_width)) {
|
||||
for (auto win : w) {
|
||||
if (win) delwin(win);
|
||||
}
|
||||
endwin();
|
||||
clear();
|
||||
refresh();
|
||||
initWindows();
|
||||
rWarning("resize term %dx%d", max_height, max_width);
|
||||
}
|
||||
updateTimeline();
|
||||
}
|
||||
|
||||
void ConsoleUI::updateStatus() {
|
||||
auto write_item = [this](int y, int x, const char *key, const std::string &value, const std::string &unit,
|
||||
bool bold = false, Color color = Color::BrightWhite) {
|
||||
auto win = w[Win::CarState];
|
||||
wmove(win, y, x);
|
||||
add_str(win, key);
|
||||
add_str(win, value.c_str(), color, bold);
|
||||
add_str(win, unit.c_str());
|
||||
};
|
||||
static const std::pair<const char *, Color> status_text[] = {
|
||||
{"loading...", Color::Red},
|
||||
{"playing", Color::Green},
|
||||
{"paused...", Color::Yellow},
|
||||
};
|
||||
|
||||
sm.update(0);
|
||||
|
||||
if (status != Status::Paused) {
|
||||
auto events = replay->events();
|
||||
uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9;
|
||||
bool playing = !events->empty() && events->back()->mono_time > current_mono_time;
|
||||
status = playing ? Status::Playing : Status::Waiting;
|
||||
}
|
||||
auto [status_str, status_color] = status_text[status];
|
||||
write_item(0, 0, "STATUS: ", status_str, " ", false, status_color);
|
||||
std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
|
||||
write_item(0, 25, "TIME: ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true);
|
||||
|
||||
auto p = sm["liveParameters"].getLiveParameters();
|
||||
write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " ");
|
||||
write_item(1, 25, "SPEED: ", util::string_format("%.2f", sm["carState"].getCarState().getVEgo()), " m/s");
|
||||
write_item(2, 0, "STEER RATIO: ", util::string_format("%.2f", p.getSteerRatio()), "");
|
||||
auto angle_offsets = util::string_format("%.2f|%.2f", p.getAngleOffsetAverageDeg(), p.getAngleOffsetDeg());
|
||||
write_item(2, 25, "ANGLE OFFSET(AVG|INSTANT): ", angle_offsets, " deg");
|
||||
|
||||
wrefresh(w[Win::CarState]);
|
||||
}
|
||||
|
||||
void ConsoleUI::displayHelp() {
|
||||
for (int i = 0; i < std::size(keyboard_shortcuts); ++i) {
|
||||
wmove(w[Win::Help], i * 2, 0);
|
||||
for (auto &[key, desc] : keyboard_shortcuts[i]) {
|
||||
wattron(w[Win::Help], A_REVERSE);
|
||||
waddstr(w[Win::Help], (' ' + key + ' ').c_str());
|
||||
wattroff(w[Win::Help], A_REVERSE);
|
||||
waddstr(w[Win::Help], (' ' + desc + ' ').c_str());
|
||||
}
|
||||
}
|
||||
wrefresh(w[Win::Help]);
|
||||
}
|
||||
|
||||
void ConsoleUI::displayTimelineDesc() {
|
||||
std::tuple<Color, const char *, bool> indicators[]{
|
||||
{Color::Engaged, " Engaged ", false},
|
||||
{Color::Disengaged, " Disengaged ", false},
|
||||
{Color::Green, " Info ", true},
|
||||
{Color::Yellow, " Warning ", true},
|
||||
{Color::Red, " Critical ", true},
|
||||
{Color::Cyan, " User Tag ", true},
|
||||
};
|
||||
for (auto [color, name, bold] : indicators) {
|
||||
add_str(w[Win::TimelineDesc], "__", color, bold);
|
||||
add_str(w[Win::TimelineDesc], name);
|
||||
}
|
||||
}
|
||||
|
||||
void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) {
|
||||
if (auto win = w[Win::Log]) {
|
||||
Color color = Color::Default;
|
||||
if (type == ReplyMsgType::Debug) {
|
||||
color = Color::Debug;
|
||||
} else if (type == ReplyMsgType::Warning) {
|
||||
color = Color::Yellow;
|
||||
} else if (type == ReplyMsgType::Critical) {
|
||||
color = Color::Red;
|
||||
}
|
||||
add_str(win, qPrintable(msg + "\n"), color);
|
||||
wrefresh(win);
|
||||
}
|
||||
}
|
||||
|
||||
void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) {
|
||||
werase(w[Win::DownloadBar]);
|
||||
if (success && cur < total) {
|
||||
const int width = 35;
|
||||
const float progress = cur / (double)total;
|
||||
const int pos = width * progress;
|
||||
wprintw(w[Win::DownloadBar], "Downloading [%s>%s] %d%% %s", std::string(pos, '=').c_str(),
|
||||
std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(total).c_str());
|
||||
}
|
||||
wrefresh(w[Win::DownloadBar]);
|
||||
}
|
||||
|
||||
void ConsoleUI::updateSummary() {
|
||||
const auto &route = replay->route();
|
||||
mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", qPrintable(route->name()), route->segments().size());
|
||||
mvwprintw(w[Win::Stats], 1, 0, "Car Fingerprint: %s", replay->carFingerprint().c_str());
|
||||
wrefresh(w[Win::Stats]);
|
||||
}
|
||||
|
||||
void ConsoleUI::updateTimeline() {
|
||||
auto win = w[Win::Timeline];
|
||||
int width = getmaxx(win);
|
||||
werase(win);
|
||||
|
||||
wattron(win, COLOR_PAIR(Color::Disengaged));
|
||||
mvwhline(win, 1, 0, ' ', width);
|
||||
mvwhline(win, 2, 0, ' ', width);
|
||||
wattroff(win, COLOR_PAIR(Color::Disengaged));
|
||||
|
||||
const int total_sec = replay->totalSeconds();
|
||||
for (auto [begin, end, type] : replay->getTimeline()) {
|
||||
int start_pos = (begin / total_sec) * width;
|
||||
int end_pos = (end / total_sec) * width;
|
||||
if (type == TimelineType::Engaged) {
|
||||
mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
|
||||
mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
|
||||
} else if (type == TimelineType::UserFlag) {
|
||||
mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
|
||||
} else {
|
||||
auto color_id = Color::Green;
|
||||
if (type != TimelineType::AlertInfo) {
|
||||
color_id = type == TimelineType::AlertWarning ? Color::Yellow : Color::Red;
|
||||
}
|
||||
mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, color_id, NULL);
|
||||
}
|
||||
}
|
||||
|
||||
int cur_pos = ((double)replay->currentSeconds() / total_sec) * width;
|
||||
wattron(win, COLOR_PAIR(Color::BrightWhite));
|
||||
mvwaddch(win, 0, cur_pos, ACS_VLINE);
|
||||
mvwaddch(win, 3, cur_pos, ACS_VLINE);
|
||||
wattroff(win, COLOR_PAIR(Color::BrightWhite));
|
||||
wrefresh(win);
|
||||
}
|
||||
|
||||
void ConsoleUI::readyRead() {
|
||||
int c;
|
||||
while ((c = getch()) != ERR) {
|
||||
handleKey(c);
|
||||
}
|
||||
}
|
||||
|
||||
void ConsoleUI::pauseReplay(bool pause) {
|
||||
replay->pause(pause);
|
||||
status = pause ? Status::Paused : Status::Waiting;
|
||||
}
|
||||
|
||||
void ConsoleUI::handleKey(char c) {
|
||||
if (c == '\n') {
|
||||
// pause the replay and blocking getchar()
|
||||
pauseReplay(true);
|
||||
updateStatus();
|
||||
getch_timer.stop();
|
||||
curs_set(true);
|
||||
nodelay(stdscr, false);
|
||||
|
||||
// Wait for user input
|
||||
rWarning("Waiting for input...");
|
||||
int y = getmaxy(stdscr) - 9;
|
||||
move(y, BORDER_SIZE);
|
||||
add_str(stdscr, "Enter seek request: ", Color::BrightWhite, true);
|
||||
refresh();
|
||||
|
||||
// Seek to choice
|
||||
echo();
|
||||
int choice = 0;
|
||||
scanw((char *)"%d", &choice);
|
||||
noecho();
|
||||
pauseReplay(false);
|
||||
replay->seekTo(choice, false);
|
||||
|
||||
// Clean up and turn off the blocking mode
|
||||
move(y, 0);
|
||||
clrtoeol();
|
||||
nodelay(stdscr, true);
|
||||
curs_set(false);
|
||||
refresh();
|
||||
getch_timer.start(1000, this);
|
||||
|
||||
} else if (c == '+' || c == '=') {
|
||||
auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
|
||||
if (it != speed_array.end()) {
|
||||
rWarning("playback speed: %.1fx", *it);
|
||||
replay->setSpeed(*it);
|
||||
}
|
||||
} else if (c == '_' || c == '-') {
|
||||
auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
|
||||
if (it != speed_array.begin()) {
|
||||
auto prev = std::prev(it);
|
||||
rWarning("playback speed: %.1fx", *prev);
|
||||
replay->setSpeed(*prev);
|
||||
}
|
||||
} else if (c == 'e') {
|
||||
replay->seekToFlag(FindFlag::nextEngagement);
|
||||
} else if (c == 'd') {
|
||||
replay->seekToFlag(FindFlag::nextDisEngagement);
|
||||
} else if (c == 't') {
|
||||
replay->seekToFlag(FindFlag::nextUserFlag);
|
||||
} else if (c == 'i') {
|
||||
replay->seekToFlag(FindFlag::nextInfo);
|
||||
} else if (c == 'w') {
|
||||
replay->seekToFlag(FindFlag::nextWarning);
|
||||
} else if (c == 'c') {
|
||||
replay->seekToFlag(FindFlag::nextCritical);
|
||||
} else if (c == 'm') {
|
||||
replay->seekTo(+60, true);
|
||||
} else if (c == 'M') {
|
||||
replay->seekTo(-60, true);
|
||||
} else if (c == 's') {
|
||||
replay->seekTo(+10, true);
|
||||
} else if (c == 'S') {
|
||||
replay->seekTo(-10, true);
|
||||
} else if (c == ' ') {
|
||||
pauseReplay(!replay->isPaused());
|
||||
} else if (c == 'q' || c == 'Q') {
|
||||
replay->stop();
|
||||
qApp->exit();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user