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IQ.Pilot Release Commit @ 0b96bd5

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IQ.Lvbs CI [bot]
2026-09-02 16:46:45 -05:00
parent 4fb3da761f
commit 7745f48100
162 changed files with 12835 additions and 9476 deletions
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30
iqpilot/tools/cabana/streams/livestream.cc
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@@ -9,6 +9,7 @@
#include "common/timing.h"
#include "common/util.h"
#include "tools/cabana/settings.h"
struct LiveStream::Logger {
Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
@@ -21,12 +22,9 @@ struct LiveStream::Logger {
localtime_r(&start_time, &local_time);
std::ostringstream date;
date << std::put_time(&local_time, "%Y-%m-%d--%H-%M-%S");
QString dir = QString("%1/%2--%3")
.arg(QString::fromStdString(settings.log_path))
.arg(QString::fromStdString(date.str()))
.arg(n);
util::create_directories(dir.toStdString(), 0755);
fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
std::string dir = settings.log_path + "/" + date.str() + "--" + std::to_string(n);
util::create_directories(dir, 0755);
fs.reset(new std::ofstream(dir + "/rlog", std::ios::binary | std::ios::out));
}
auto bytes = data.asBytes();
@@ -38,7 +36,7 @@ struct LiveStream::Logger {
uint64_t start_ts;
};
LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
LiveStream::LiveStream() {
if (settings.log_livestream) {
logger = std::make_unique<Logger>();
}
@@ -50,7 +48,6 @@ LiveStream::~LiveStream() {
void LiveStream::start() {
begin_date_time = std::chrono::system_clock::now();
fps_ = settings.fps;
exit_ = false;
stream_thread = std::thread(&LiveStream::streamThread, this);
update_thread = std::thread(&LiveStream::updateThread, this);
@@ -64,15 +61,15 @@ void LiveStream::stop() {
void LiveStream::updateThread() {
while (!exit_) {
std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps_));
// coalesce: skip the emit if the main thread hasn't processed the previous one yet.
std::this_thread::sleep_for(std::chrono::milliseconds(1000 / STREAM_UPDATE_FPS));
if (!update_pending_.exchange(true)) {
emit privateUpdateLastMsgsSignal();
requestUpdateLastMessages();
}
}
}
// called in streamThread
void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
if (logger) {
logger->write(data);
@@ -89,12 +86,11 @@ void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
}
}
// called on the main thread by the queued privateUpdateLastMsgsSignal connection
void LiveStream::updateLastMessages() {
update_pending_ = false;
fps_ = settings.fps;
{
// merge events received from live stream thread.
std::lock_guard lk(lock);
mergeEvents(received_events_);
uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
@@ -142,10 +138,10 @@ void LiveStream::seekTo(double sec) {
first_update_ts = nanos_since_boot();
current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastest_event_ts);
post_last_event = (first_event_ts == lastest_event_ts);
emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
seekedTo((current_event_ts - begin_event_ts) / 1e9);
}
void LiveStream::pause(bool pause) {
paused_ = pause;
emit(pause ? paused() : resume());
pause ? paused() : resume();
}