IQ.Pilot Release Commit @ b6534c0

iqpilot/tools/cabana/streams/livestream.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <algorithm>
+#include <atomic>
+#include <memory>
+#include <thread>
+#include <vector>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+class LiveStream : public AbstractStream {
+  Q_OBJECT
+
+public:
+  LiveStream(QObject *parent);
+  virtual ~LiveStream();
+  void start() override;
+  void stop();
+  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; }
+  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);
+
+  std::atomic<bool> exit_ = false;
+
+private:
+  void updateThread();
+  void updateLastMessages() override;
+  void updateEvents();
+
+  std::mutex lock;
+  std::thread stream_thread, update_thread;
+  std::atomic<bool> update_pending_ = false;
+  std::atomic<int> fps_ = 10;
+  std::vector<const CanEvent *> received_events_;
+
+  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;
+  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;
+};