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IQ.Pilot Release Commit @ e46d557

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IQ.Lvbs CI [bot]
2026-08-07 00:13:39 -05:00
parent 03c3158b81
commit 824bb9ddfd
216 changed files with 7457 additions and 3151 deletions
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77
tools/cabana/videowidget.cc
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@@ -1,6 +1,7 @@
#include "tools/cabana/videowidget.h"
#include <algorithm>
#include <thread>
#include <QAction>
#include <QActionGroup>
@@ -9,20 +10,20 @@
#include <QPainter>
#include <QStyleOptionSlider>
#include <QVBoxLayout>
#include <QtConcurrent>
#include "tools/cabana/tools/routeinfo.h"
const int MIN_VIDEO_HEIGHT = 100;
const int THUMBNAIL_MARGIN = 3;
// Indexed by TimelineType: None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark
static const QColor timeline_colors[] = {
[(int)TimelineType::None] = QColor(111, 143, 175),
[(int)TimelineType::Engaged] = QColor(0, 163, 108),
[(int)TimelineType::UserBookmark] = Qt::magenta,
[(int)TimelineType::AlertInfo] = Qt::green,
[(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
[(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
QColor(111, 143, 175),
QColor(0, 163, 108),
Qt::green,
QColor(255, 195, 0),
QColor(199, 0, 57),
Qt::magenta,
};
static Replay *getReplay() {
@@ -50,7 +51,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
updatePlayBtnState();
setWhatsThis(tr(R"(
<b>Video</b><br />
<!-- TODO: add descprition here -->
<!-- TODO: add description here -->
<span style="color:gray">Timeline color</span>
<table>
<tr><td><span style="color:%1;">■ </span>Disengaged </td>
@@ -156,7 +157,7 @@ QWidget *VideoWidget::createCameraWidget() {
slider->setTimeRange(can->minSeconds(), can->maxSeconds());
QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
QObject::connect(can, &AbstractStream::paused, cam_widget, qOverload<>(&StreamCameraView::update));
QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -202,7 +203,7 @@ void VideoWidget::timeRangeChanged() {
QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
if (settings.absolute_time)
sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0;
sec += std::chrono::duration<double>(can->beginDateTime().time_since_epoch()).count();
return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time);
}
@@ -323,34 +324,40 @@ void Slider::mousePressEvent(QMouseEvent *e) {
// StreamCameraView
StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
: CameraWidget(stream_name, stream_type, parent) {
fade_animation = new QPropertyAnimation(this, "overlayOpacity");
fade_animation->setDuration(500);
fade_animation->setStartValue(0.2f);
fade_animation->setEndValue(0.7f);
fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
}
void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
std::mutex mutex;
QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
if (e.which == cereal::Event::Which::THUMBNAIL) {
capnp::FlatArrayMessageReader reader(e.data);
auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
auto image_data = thumb_data.getThumbnail();
if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
std::lock_guard lock(mutex);
thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
big_thumbnails[thumb_data.getTimestampEof()] = thumb;
const auto &events = qlog->events;
unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
size_t chunk = (events.size() + num_threads - 1) / num_threads;
std::vector<std::thread> threads;
for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) {
size_t start = t * chunk;
size_t end = std::min(start + chunk, events.size());
threads.emplace_back([this, &mutex, &events, start, end]() {
for (size_t i = start; i < end; ++i) {
const Event &e = events[i];
if (e.which == cereal::Event::Which::THUMBNAIL) {
capnp::FlatArrayMessageReader reader(e.data);
auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
auto image_data = thumb_data.getThumbnail();
if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
std::lock_guard lock(mutex);
thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
big_thumbnails[thumb_data.getTimestampEof()] = thumb;
}
}
}
}
});
});
}
for (auto &th : threads) th.join();
update();
}
void StreamCameraView::paintGL() {
CameraWidget::paintGL();
void StreamCameraView::paintEvent(QPaintEvent *event) {
CameraWidget::paintEvent(event);
QPainter p(this);
bool scrubbing = false;
@@ -363,7 +370,7 @@ void StreamCameraView::paintGL() {
}
if (can->isPaused()) {
p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
p.setPen(QColor(200, 200, 200, static_cast<int>(255 * 0.7f)));
p.setFont(QFont(font().family(), 16, QFont::Bold));
p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
}
@@ -383,9 +390,9 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
void StreamCameraView::drawScrubThumbnail(QPainter &p) {
p.fillRect(rect(), Qt::black);
auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
auto it = big_thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
if (it != big_thumbnails.end()) {
QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
QPixmap scaled_thumb = it->second.scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
drawTime(p, thumb_rect, thumbnail_dispaly_time);
@@ -393,9 +400,9 @@ void StreamCameraView::drawScrubThumbnail(QPainter &p) {
}
void StreamCameraView::drawThumbnail(QPainter &p) {
auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
auto it = thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
if (it != thumbnails.end()) {
const QPixmap &thumb = it.value();
const QPixmap &thumb = it->second;
auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);