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cabana: fix crash when zmq address is used (#37222)

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* Fix zmq support in cabana

* Refactor to launch bridge, remove socketadapter

* bridge_path should be camel_case
This commit is contained in:
Ahmed Harmouche
2026-02-17 18:19:41 +01:00
committed by GitHub
parent d984fb1bae
commit 037e6e749a
2 changed files with 34 additions and 2 deletions
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tools/cabana/streams/devicestream.cc
+29 -2
View File
@@ -6,7 +6,9 @@
#include "cereal/services.h"
#include <QButtonGroup>
#include <QFileInfo>
#include <QFormLayout>
#include <QMessageBox>
#include <QRadioButton>
#include <QRegularExpression>
#include <QRegularExpressionValidator>
@@ -17,12 +19,37 @@
DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
}
DeviceStream::~DeviceStream() {
if (!bridge_process)
return;
bridge_process->terminate();
if (!bridge_process->waitForFinished(3000)) {
bridge_process->kill();
bridge_process->waitForFinished();
}
}
void DeviceStream::start() {
if (!zmq_address.isEmpty()) {
bridge_process = new QProcess(this);
QString bridge_path = QCoreApplication::applicationDirPath() + "/../../cereal/messaging/bridge";
bridge_process->start(QFileInfo(bridge_path).absoluteFilePath(), QStringList { zmq_address, "/\"can/\"" });
if (!bridge_process->waitForStarted()) {
QMessageBox::warning(nullptr, tr("Error"), tr("Failed to start bridge: %1").arg(bridge_process->errorString()));
return;
}
}
LiveStream::start();
}
void DeviceStream::streamThread() {
zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
std::unique_ptr<Context> context(Context::create());
std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size));
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size));
assert(sock != NULL);
// run as fast as messages come in
while (!QThread::currentThread()->isInterruptionRequested()) {
tools/cabana/streams/devicestream.h
+5
View File
@@ -2,16 +2,21 @@
#include "tools/cabana/streams/livestream.h"
#include <QProcess>
class DeviceStream : public LiveStream {
Q_OBJECT
public:
DeviceStream(QObject *parent, QString address = {});
~DeviceStream();
inline QString routeName() const override {
return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
}
protected:
void start() override;
void streamThread() override;
QProcess *bridge_process = nullptr;
const QString zmq_address;
};