IQ.Pilot Release Commit @ 661a2de

tools/cabana/streams/livestream.h

@@ -1,11 +1,11 @@
 #pragma once
 
 #include <algorithm>
+#include <atomic>
 #include <memory>
+#include <thread>
 #include <vector>
 
-#include <QBasicTimer>
-
 #include "tools/cabana/streams/abstractstream.h"
 
 class LiveStream : public AbstractStream {
@@ -16,7 +16,7 @@ public:
   virtual ~LiveStream();
   void start() override;
   void stop();
-  inline QDateTime beginDateTime() const { return begin_date_time; }
+  inline std::chrono::system_clock::time_point beginDateTime() const override { return begin_date_time; }
   inline uint64_t beginMonoTime() const override { return begin_event_ts; }
   double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
   void setSpeed(float speed) override { speed_ = speed; }
@@ -29,19 +29,20 @@ protected:
   virtual void streamThread() = 0;
   void handleEvent(kj::ArrayPtr<capnp::word> event);
 
+  std::atomic<bool> exit_ = false;
+
 private:
-  void startUpdateTimer();
-  void timerEvent(QTimerEvent *event) override;
+  void updateThread();
+  void updateLastMessages() override;
   void updateEvents();
 
   std::mutex lock;
-  QThread *stream_thread;
+  std::thread stream_thread, update_thread;
+  std::atomic<bool> update_pending_ = false;
+  std::atomic<int> fps_ = 10;
   std::vector<const CanEvent *> received_events_;
 
-  int timer_id;
-  QBasicTimer update_timer;
-
-  QDateTime begin_date_time;
+  std::chrono::system_clock::time_point begin_date_time;
   uint64_t begin_event_ts = 0;
   uint64_t lastest_event_ts = 0;
   uint64_t current_event_ts = 0;