use getopt

tools/replay/main.cc

@@ -1,83 +1,148 @@
+#include <getopt.h>
+
 #include <QApplication>
-#include <QCommandLineParser>
+#include <iostream>
+#include <map>
+#include <string>
 
 #include "common/prefix.h"
 #include "tools/replay/consoleui.h"
 #include "tools/replay/replay.h"
 
-int main(int argc, char *argv[]) {
-#ifdef __APPLE__
- // With all sockets opened, we might hit the default limit of 256 on macOS
- util::set_file_descriptor_limit(1024);
-#endif
+const std::string helpText =
+R"(Usage: replay [options]
+Options:
+ -a, --allow Whitelist of services to send
+ -b, --block Blacklist of services to send
+ -c, --cache Cache <n> segments in memory. Default is 5
+ -s, --start Start from <seconds>
+ -x, --playback Playback <speed>
+ --demo Use a demo route instead of providing your own
+ -d, --data_dir Local directory with routes
+ -p, --prefix Set OPENPILOT_PREFIX
+ --dcam Load driver camera
+ --ecam Load wide road camera
+ --no-loop Stop at the end of the route
+ --no-cache Turn off local cache
+ --qcam Load qcamera
+ --no-hw-decoder Disable HW video decoding
+ --no-vipc Do not output video
+ --all Output all messages including uiDebug, userFlag
+ -h, --help Show this help message
+)";
 
- QCoreApplication app(argc, argv);
+struct ReplayConfig {
+ QString route;
+ QStringList allow;
+ QStringList block;
+ QString data_dir;
+ std::string prefix;
+ uint32_t flags = REPLAY_FLAG_NONE;
+ int start_seconds = 0;
+ int cache_segments = -1;
+ float playback_speed = -1;
+};
+
+bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
+ const struct option cli_options[] = {
+ {"allow", required_argument, nullptr, 'a'},
+ {"block", required_argument, nullptr, 'b'},
+ {"cache", required_argument, nullptr, 'c'},
+ {"start", required_argument, nullptr, 's'},
+ {"playback", required_argument, nullptr, 'x'},
+ {"demo", no_argument, nullptr, 0},
+ {"data_dir", required_argument, nullptr, 'd'},
+ {"prefix", required_argument, nullptr, 'p'},
+ {"dcam", no_argument, nullptr, 0},
+ {"ecam", no_argument, nullptr, 0},
+ {"no-loop", no_argument, nullptr, 0},
+ {"no-cache", no_argument, nullptr, 0},
+ {"qcam", no_argument, nullptr, 0},
+ {"no-hw-decoder", no_argument, nullptr, 0},
+ {"no-vipc", no_argument, nullptr, 0},
+ {"all", no_argument, nullptr, 0},
+ {"help", no_argument, nullptr, 'h'},
+ {nullptr, 0, nullptr, 0}, // Terminating entry
+ };
 
- const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
- {"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
- {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
- {"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
- {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
- {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
- {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
- {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
- {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag"
- ". this may causes issues when used along with UI"}
+ const std::map<std::string, REPLAY_FLAGS> flag_map = {
+ {"dcam", REPLAY_FLAG_DCAM},
+ {"ecam", REPLAY_FLAG_ECAM},
+ {"no-loop", REPLAY_FLAG_NO_LOOP},
+ {"no-cache", REPLAY_FLAG_NO_FILE_CACHE},
+ {"qcam", REPLAY_FLAG_QCAMERA},
+ {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER},
+ {"no-vipc", REPLAY_FLAG_NO_VIPC},
+ {"all", REPLAY_FLAG_ALL_SERVICES},
  };
 
- QCommandLineParser parser;
- parser.setApplicationDescription("Mock openpilot components by publishing logged messages.");
- parser.addHelpOption();
- parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
- parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
- parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
- parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
- parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
- parser.addOption({"x", QString("playback <speed>. between %1 - %2")
- .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
- parser.addOption({"demo", "use a demo route instead of providing your own"});
- parser.addOption({"data_dir", "local directory with routes", "data_dir"});
- parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
- for (auto &[name, _, desc] : flags) {
- parser.addOption({name, desc});
+ int opt, option_index = 0;
+ while ((opt = getopt_long(argc, argv, "a:b:c:s:x:d:p:", cli_options, &option_index)) != -1) {
+ switch (opt) {
+ case 'a': config.allow = QString(optarg).split(","); break;
+ case 'b': config.block = QString(optarg).split(","); break;
+ case 'c': config.cache_segments = std::atoi(optarg); break;
+ case 's': config.start_seconds = std::atoi(optarg); break;
+ case 'x': config.playback_speed = std::atof(optarg); break;
+ case 'd': config.data_dir = optarg; break;
+ case 'p': config.prefix = optarg; break;
+ case 0: {
+ std::string name = cli_options[option_index].name;
+ if (name == "demo") {
+ config.route = DEMO_ROUTE;
+ } else {
+ config.flags |= flag_map.at(name);
+ }
+ break;
+ }
+ case 'h': std::cout << helpText; return false;
+ default: return false;
+ }
+ }
+
+ // Check for a route name (first positional argument)
+ if (config.route.isEmpty() && optind < argc) {
+ config.route = argv[optind];
  }
 
- parser.process(app);
- const QStringList args = parser.positionalArguments();
- if (args.empty() && !parser.isSet("demo")) {
- parser.showHelp();
+ if (config.route.isEmpty()) {
+ std::cerr << "No route provided. Use --help for usage information.\n";
+ return false;
  }
 
- const QString route = args.empty() ? DEMO_ROUTE : args.first();
- QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(",");
- QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(",");
+ return true;
+}
 
- uint32_t replay_flags = REPLAY_FLAG_NONE;
- for (const auto &[name, flag, _] : flags) {
- if (parser.isSet(name)) {
- replay_flags |= flag;
- }
+int main(int argc, char *argv[]) {
+#ifdef __APPLE__
+ // With all sockets opened, we might hit the default limit of 256 on macOS
+ util::set_file_descriptor_limit(1024);
+#endif
+
+ QCoreApplication app(argc, argv);
+ ReplayConfig config;
+
+ if (!parseArgs(argc, argv, config)) {
+ return 1;
  }
 
  std::unique_ptr<OpenpilotPrefix> op_prefix;
- auto prefix = parser.value("prefix");
- if (!prefix.isEmpty()) {
- op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
+ if (!config.prefix.empty()) {
+ op_prefix = std::make_unique<OpenpilotPrefix>(config.prefix);
  }
 
- Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
- if (!parser.value("c").isEmpty()) {
- replay->setSegmentCacheLimit(parser.value("c").toInt());
+ Replay *replay = new Replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, &app);
+ if (config.cache_segments > 0) {
+ replay->setSegmentCacheLimit(config.cache_segments);
  }
- if (!parser.value("x").isEmpty()) {
- replay->setSpeed(std::clamp(parser.value("x").toFloat(),
- ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
+ if (config.playback_speed > 0) {
+ replay->setSpeed(std::clamp(config.playback_speed, ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
  }
  if (!replay->load()) {
- return 0;
+ return 1;
  }
 
  ConsoleUI console_ui(replay);
- replay->start(parser.value("start").toInt());
+ replay->start(config.start_seconds);
  return app.exec();
 }