cabana: startup stream chooser dialog (#27938)

* new StreamDialog

* choose dbc file

* update last_dir

* move to /streams

* cleanup

* add stretch

* catch panda exception

* cleanup

* cleanup

* small cleanup

* fix pandaStream crash caused by a failed connection

* static function to create stream widget

* cleanup
old-commit-hash: 590b1bc2062d8a7f1ec253e0d0c5ab94799524c1

tools/cabana/SConscript

@@ -32,7 +32,7 @@ cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):

tools/cabana/cabana.cc

@@ -4,7 +4,7 @@
 #include "common/prefix.h"
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
-#include "tools/cabana/route.h"
+#include "tools/cabana/streamselector.h"
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
@@ -33,6 +33,8 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
 
+  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
+
   std::unique_ptr<OpenpilotPrefix> op_prefix;
   std::unique_ptr<AbstractStream> stream;
 
@@ -45,10 +47,6 @@ int main(int argc, char *argv[]) {
     }
     stream.reset(new PandaStream(&app, config));
   } else {
-    // TODO: Remove when OpenpilotPrefix supports ZMQ
-#ifndef __APPLE__
-    op_prefix.reset(new OpenpilotPrefix());
-#endif
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) {
       replay_flags |= REPLAY_FLAG_ECAM;
@@ -66,22 +64,35 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
 
-    auto replay_stream = new ReplayStream(&app);
-    stream.reset(replay_stream);
     if (route.isEmpty()) {
-      if (OpenRouteDialog dlg(nullptr); !dlg.exec()) {
+      AbstractStream *out_stream = nullptr;
+      StreamSelector dlg;
+      dlg.addStreamWidget(ReplayStream::widget(&out_stream));
+      dlg.addStreamWidget(PandaStream::widget(&out_stream));
+      dlg.addStreamWidget(DeviceStream::widget(&out_stream));
+      if (!dlg.exec()) {
+        return 0;
+      }
+      dbc_file = dlg.dbcFile();
+      stream.reset(out_stream);
+    } else {
+      // TODO: Remove when OpenpilotPrefix supports ZMQ
+#ifndef __APPLE__
+      op_prefix.reset(new OpenpilotPrefix());
+#endif
+      auto replay_stream = new ReplayStream(&app);
+      stream.reset(replay_stream);
+      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
       }
-    } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
-      return 0;
     }
   }
 
   MainWindow w;
 
   // Load DBC
-  if (cmd_parser.isSet("dbc")) {
-    w.loadFile(cmd_parser.value("dbc"));
+  if (!dbc_file.isEmpty()) {
+    w.loadFile(dbc_file);
   }
 
   w.show();

tools/cabana/mainwin.cc

@@ -17,7 +17,8 @@
 #include <QWidgetAction>
 
 #include "tools/cabana/commands.h"
-#include "tools/cabana/route.h"
+#include "tools/cabana/streamselector.h"
+#include "tools/cabana/streams/replaystream.h"
 
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
@@ -248,12 +249,13 @@ void MainWindow::DBCFileChanged() {
 }
 
 void MainWindow::openRoute() {
-  OpenRouteDialog dlg(this);
+  StreamSelector dlg(this);
+  dlg.addStreamWidget(ReplayStream::widget(&can));
   if (dlg.exec()) {
     center_widget->clear();
     charts_widget->removeAll();
     statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
-  } else if (dlg.failedToLoad()) {
+  } else if (dlg.failed()) {
     close();
   }
 }

tools/cabana/route.cc

@@ -1,75 +0,0 @@
-#include "tools/cabana/route.h"
-
-#include <QFileDialog>
-#include <QGridLayout>
-#include <QLabel>
-#include <QMessageBox>
-#include <QPushButton>
-
-#include "tools/cabana/streams/replaystream.h"
-
-OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) {
-  // TODO: get route list from api.comma.ai
-  QGridLayout *grid_layout = new QGridLayout();
-  grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
-  grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
-  route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
-  auto file_btn = new QPushButton(tr("Browse..."), this);
-  grid_layout->addWidget(file_btn, 0, 2);
-
-  grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
-  grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
-  QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
-  for (int i = 0; i < std::size(items); ++i) {
-    choose_video_cb->addItem(items[i]);
-  }
-  choose_video_cb->setCurrentIndex(1);  // default is road camera;
-
-  btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
-  btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
-
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->addLayout(grid_layout);
-  main_layout->addWidget(btn_box);
-  main_layout->addStretch(0);
-  setMinimumSize({550, 120});
-
-  QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute);
-  QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
-  QObject::connect(route_edit, &QLineEdit::textChanged, [this]() {
-    btn_box->button(QDialogButtonBox::Open)->setEnabled(!route_edit->text().isEmpty());
-  });
-  QObject::connect(file_btn, &QPushButton::clicked, [=]() {
-    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
-    if (!dir.isEmpty()) {
-      route_edit->setText(dir);
-      settings.last_route_dir = QFileInfo(dir).absolutePath();
-    }
-  });
-}
-
-void OpenRouteDialog::loadRoute() {
-  btn_box->setEnabled(false);
-
-  QString route = route_edit->text();
-  QString data_dir;
-  if (int idx = route.lastIndexOf('/'); idx != -1) {
-    data_dir = route.mid(0, idx + 1);
-    route = route.mid(idx + 1);
-  }
-
-  bool is_valid_format = Route::parseRoute(route).str.size() > 0;
-  if (!is_valid_format) {
-    QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
-  } else {
-    uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
-    failed_to_load = !dynamic_cast<ReplayStream *>(can)->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()]);
-    if (failed_to_load) {
-      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
-    } else {
-      accept();
-    }
-  }
-
-  btn_box->setEnabled(true);
-}

tools/cabana/route.h

@@ -1,21 +0,0 @@
-#pragma once
-
-#include <QComboBox>
-#include <QDialogButtonBox>
-#include <QLineEdit>
-#include <QDialog>
-
-class OpenRouteDialog : public QDialog {
-  Q_OBJECT
-
-public:
-  OpenRouteDialog(QWidget *parent);
-  void loadRoute();
-  inline bool failedToLoad() const { return failed_to_load; }
-
-private:
-  QLineEdit *route_edit;
-  QComboBox *choose_video_cb;
-  QDialogButtonBox *btn_box;
-  bool failed_to_load = false;
-};

tools/cabana/streams/abstractstream.h

@@ -89,5 +89,16 @@ protected:
   std::deque<std::unique_ptr<char[]>> memory_blocks;
 };
 
+class AbstractOpenStreamWidget : public QWidget {
+  Q_OBJECT
+public:
+  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
+  virtual bool open() = 0;
+  virtual QString title() = 0;
+
+protected:
+  AbstractStream **stream = nullptr;
+};
+
 // A global pointer referring to the unique AbstractStream object
 extern AbstractStream *can;

tools/cabana/streams/devicestream.cc

@@ -1,5 +1,13 @@
 #include "tools/cabana/streams/devicestream.h"
 
+#include <QButtonGroup>
+#include <QFormLayout>
+#include <QRadioButton>
+#include <QRegularExpression>
+#include <QRegularExpressionValidator>
+
+// DeviceStream
+
 DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
   startStreamThread();
 }
@@ -26,3 +34,39 @@ void DeviceStream::streamThread() {
     handleEvent(messages.emplace_back(msg).event);
   }
 }
+
+AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
+  return new OpenDeviceWidget(stream);
+}
+
+// OpenDeviceWidget
+
+OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
+  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
+  ip_address = new QLineEdit(this);
+  ip_address->setPlaceholderText(tr("Enter device Ip Address"));
+  QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])";
+  QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$");
+  QRegularExpression re(pattern);
+  ip_address->setValidator(new QRegularExpressionValidator(re, this));
+
+  group = new QButtonGroup(this);
+  group->addButton(msgq, 0);
+  group->addButton(zmq, 1);
+
+  QFormLayout *form_layout = new QFormLayout(this);
+  form_layout->addRow(msgq);
+  form_layout->addRow(zmq, ip_address);
+  QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
+    ip_address->setEnabled(button == zmq && checked);
+  });
+  zmq->setChecked(true);
+}
+
+bool OpenDeviceWidget::open() {
+  QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
+  bool msgq = group->checkedId() == 0;
+  *stream = new DeviceStream(qApp, msgq ? "" : ip);
+  return true;
+}

tools/cabana/streams/devicestream.h

@@ -6,7 +6,7 @@ class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
   }
@@ -15,3 +15,16 @@ protected:
   void streamThread() override;
   const QString zmq_address;
 };
+
+class OpenDeviceWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenDeviceWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&Device"); }
+
+private:
+  QLineEdit *ip_address;
+  QButtonGroup *group;
+};

tools/cabana/streams/pandastream.cc

@@ -1,5 +1,9 @@
 #include "tools/cabana/streams/pandastream.h"
 
+#include <QFormLayout>
+#include <QMessageBox>
+#include <QVBoxLayout>
+
 PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
   if (config.serial.isEmpty()) {
     auto serials = Panda::list();
@@ -84,3 +88,32 @@ void PandaStream::streamThread() {
     panda->send_heartbeat(false);
   }
 }
+
+AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
+  return new OpenPandaWidget(stream);
+}
+
+// OpenPandaWidget
+
+OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+  form_layout->addRow(tr("Serial"), serial_edit = new QLineEdit(this));
+  serial_edit->setPlaceholderText(tr("Leave empty to use default serial"));
+
+  main_layout->addLayout(form_layout);
+  main_layout->addStretch(1);
+}
+
+bool OpenPandaWidget::open() {
+  try {
+    PandaStreamConfig config = {.serial = serial_edit->text()};
+    *stream = new PandaStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
+    return false;
+  }
+  return true;
+}

tools/cabana/streams/pandastream.h

@@ -18,7 +18,7 @@ class PandaStream : public LiveStream {
   Q_OBJECT
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
-
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From Panda %1").arg(config.serial);
   }
@@ -31,3 +31,14 @@ protected:
   PandaStreamConfig config = {};
 };
 
+class OpenPandaWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenPandaWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&Panda"); }
+
+private:
+  QLineEdit *serial_edit;
+};

tools/cabana/streams/replaystream.cc

@@ -1,5 +1,13 @@
 #include "tools/cabana/streams/replaystream.h"
 
+#include <QLabel>
+#include <QFileDialog>
+#include <QGridLayout>
+#include <QMessageBox>
+#include <QPushButton>
+
+#include "common/prefix.h"
+
 ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) {
   QObject::connect(&settings, &Settings::changed, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
@@ -50,3 +58,74 @@ void ReplayStream::pause(bool pause) {
   replay->pause(pause);
   emit(pause ? paused() : resume());
 }
+
+
+AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
+  return new OpenReplayWidget(stream);
+}
+
+// OpenReplayWidget
+
+static std::unique_ptr<OpenpilotPrefix> op_prefix;
+
+OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  // TODO: get route list from api.comma.ai
+  QGridLayout *grid_layout = new QGridLayout();
+  grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
+  grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
+  route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
+  auto file_btn = new QPushButton(tr("Browse..."), this);
+  grid_layout->addWidget(file_btn, 0, 2);
+
+  grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
+  grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
+  QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
+  for (int i = 0; i < std::size(items); ++i) {
+    choose_video_cb->addItem(items[i]);
+  }
+  choose_video_cb->setCurrentIndex(1);  // default is road camera;
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addLayout(grid_layout);
+  setMinimumWidth(550);
+
+  QObject::connect(file_btn, &QPushButton::clicked, [=]() {
+    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
+    if (!dir.isEmpty()) {
+      route_edit->setText(dir);
+      settings.last_route_dir = QFileInfo(dir).absolutePath();
+    }
+  });
+}
+
+bool OpenReplayWidget::open() {
+  QString route = route_edit->text();
+  QString data_dir;
+  if (int idx = route.lastIndexOf('/'); idx != -1) {
+    data_dir = route.mid(0, idx + 1);
+    route = route.mid(idx + 1);
+  }
+
+  bool ret = false;
+  bool is_valid_format = Route::parseRoute(route).str.size() > 0;
+  if (!is_valid_format) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
+  } else {
+    // TODO: Remove when OpenpilotPrefix supports ZMQ
+#ifndef __APPLE__
+    op_prefix.reset(new OpenpilotPrefix());
+#endif
+    uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
+    ReplayStream *replay_stream = *stream ? (ReplayStream *)*stream : new ReplayStream(qApp);
+    ret = replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()]);
+    if (!ret) {
+      if (replay_stream != *stream) {
+        delete replay_stream;
+      }
+      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
+    } else {
+      *stream = replay_stream;
+    }
+  }
+  return ret;
+}

tools/cabana/streams/replaystream.h

@@ -26,9 +26,23 @@ public:
   void pause(bool pause) override;
   const std::vector<Event*> *rawEvents() const override { return replay->events(); }
   inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() override { return replay->getTimeline(); }
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
   std::set<int> processed_segments;
 };
+
+class OpenReplayWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenReplayWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&Replay"); }
+
+private:
+  QLineEdit *route_edit;
+  QComboBox *choose_video_cb;
+};

tools/cabana/streamselector.cc

@@ -0,0 +1,52 @@
+#include "tools/cabana/streamselector.h"
+
+#include <QDialogButtonBox>
+#include <QFileDialog>
+#include <QFormLayout>
+#include <QLabel>
+#include <QPushButton>
+
+StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Open stream"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  tab = new QTabWidget(this);
+  tab->setTabBarAutoHide(true);
+  main_layout->addWidget(tab);
+
+  QHBoxLayout *dbc_layout = new QHBoxLayout();
+  dbc_file = new QLineEdit(this);
+  dbc_file->setReadOnly(true);
+  dbc_file->setPlaceholderText(tr("Choose a dbc file to open"));
+  QPushButton *file_btn = new QPushButton(tr("Browse..."));
+  dbc_layout->addWidget(new QLabel(tr("dbc File")));
+  dbc_layout->addWidget(dbc_file);
+  dbc_layout->addWidget(file_btn);
+  main_layout->addLayout(dbc_layout);
+
+  QFrame *line = new QFrame(this);
+  line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
+  main_layout->addWidget(line);
+
+  auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
+  main_layout->addWidget(btn_box);
+
+  QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
+    success = ((AbstractOpenStreamWidget *)tab->currentWidget())->open();
+    if (success) {
+      accept();
+    }
+  });
+  QObject::connect(file_btn, &QPushButton::clicked, [this]() {
+    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+    if (!fn.isEmpty()) {
+      dbc_file->setText(fn);
+      settings.last_dir = QFileInfo(fn).absolutePath();
+    }
+  });
+}
+
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
+  tab->addTab(w, w->title());
+}

tools/cabana/streamselector.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <QDialog>
+#include <QLineEdit>
+#include <QTabWidget>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+class StreamSelector : public QDialog {
+  Q_OBJECT
+
+public:
+  StreamSelector(QWidget *parent = nullptr);
+  void addStreamWidget(AbstractOpenStreamWidget *w);
+  QString dbcFile() const { return dbc_file->text(); }
+  inline bool failed() const { return !success; }
+
+private:
+  QLineEdit *dbc_file;
+  QTabWidget *tab;
+  bool success = true;
+};