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cabana: support direct streaming from panda over USB (#27936)

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* refactor livestream into devicestream

* add panda stream

* unused

* whitespace

* move logging to base class

* add cmdline args

* Update selfdrive/boardd/boardd.cc

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Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 2a981f5531
This commit is contained in:
Willem Melching
2023-04-18 00:37:26 +02:00
committed by GitHub
parent 5115b6dc5a
commit 484eed0acf
11 changed files with 212 additions and 58 deletions
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selfdrive/boardd/SConscript
+3 -1
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@@ -1,7 +1,9 @@
Import('env', 'envCython', 'common', 'cereal', 'messaging')
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])