carrot/tools/cabana/streams/livestream.h
FrogAi 659adb6457 openpilot v0.9.7 release
date: 2024-03-17T10:14:38
master commit: 7e9a909e0e57ecb31df4c87c5b9a06b1204fd034
2024-05-24 17:43:27 -07:00

53 lines
1.3 KiB
C++

#pragma once
#include <memory>
#include <vector>
#include <QBasicTimer>
#include "tools/cabana/streams/abstractstream.h"
class LiveStream : public AbstractStream {
Q_OBJECT
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; }
void setSpeed(float speed) override { speed_ = speed; }
double getSpeed() override { return speed_; }
bool isPaused() const override { return paused_; }
void pause(bool pause) override;
void seekTo(double sec) override;
protected:
virtual void streamThread() = 0;
void handleEvent(kj::ArrayPtr<capnp::word> event);
private:
void startUpdateTimer();
void timerEvent(QTimerEvent *event) override;
void updateEvents();
std::mutex lock;
QThread *stream_thread;
std::vector<const CanEvent *> received_events_;
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;
uint64_t first_update_ts = 0;
bool post_last_event = true;
double speed_ = 1;
bool paused_ = false;
struct Logger;
std::unique_ptr<Logger> logger;
};