From 131e473f37f3f2762469f98ef11d82a238e42f6a Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Fri, 28 Aug 2026 09:36:26 -0700 Subject: [PATCH] cabana: move stream open widgets into streamselector (#38715) --- .../tools/cabana/streams/abstractstream.h | 10 - .../tools/cabana/streams/devicestream.cc | 34 +-- openpilot/tools/cabana/streams/devicestream.h | 12 - openpilot/tools/cabana/streams/pandastream.cc | 116 -------- openpilot/tools/cabana/streams/pandastream.h | 22 -- .../tools/cabana/streams/replaystream.cc | 68 ----- openpilot/tools/cabana/streams/replaystream.h | 14 - .../tools/cabana/streams/socketcanstream.cc | 55 ---- .../tools/cabana/streams/socketcanstream.h | 16 -- openpilot/tools/cabana/streamselector.cc | 261 +++++++++++++++++- openpilot/tools/cabana/streamselector.h | 75 +++++ 11 files changed, 335 insertions(+), 348 deletions(-) diff --git a/openpilot/tools/cabana/streams/abstractstream.h b/openpilot/tools/cabana/streams/abstractstream.h index 17d212041..4f7c0dc3e 100644 --- a/openpilot/tools/cabana/streams/abstractstream.h +++ b/openpilot/tools/cabana/streams/abstractstream.h @@ -101,16 +101,6 @@ private: std::unordered_map> masks_; }; -class AbstractOpenStreamWidget : public QWidget { - Q_OBJECT -public: - AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {} - virtual AbstractStream *open() = 0; - -signals: - void enableOpenButton(bool); -}; - class DummyStream : public AbstractStream { public: std::string routeName() const override { return "No Stream"; } diff --git a/openpilot/tools/cabana/streams/devicestream.cc b/openpilot/tools/cabana/streams/devicestream.cc index 3b4b54707..6d580cc91 100644 --- a/openpilot/tools/cabana/streams/devicestream.cc +++ b/openpilot/tools/cabana/streams/devicestream.cc @@ -14,12 +14,8 @@ #include "openpilot/cereal/services.h" -#include -#include +#include #include -#include - -#include "tools/cabana/utils/util.h" // DeviceStream @@ -118,31 +114,3 @@ void DeviceStream::streamThread() { handleEvent(kj::ArrayPtr((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word))); } } - -// OpenDeviceWidget - -OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { - 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")); - ip_address->setValidator(new IpAddressValidator(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(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) { - ip_address->setEnabled(button == zmq && checked); - }); - zmq->setChecked(true); -} - -AbstractStream *OpenDeviceWidget::open() { - QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text(); - bool msgq = group->checkedId() == 0; - return new DeviceStream(msgq ? "" : ip); -} diff --git a/openpilot/tools/cabana/streams/devicestream.h b/openpilot/tools/cabana/streams/devicestream.h index 1aa8ce9bf..71205e5a8 100644 --- a/openpilot/tools/cabana/streams/devicestream.h +++ b/openpilot/tools/cabana/streams/devicestream.h @@ -19,15 +19,3 @@ protected: pid_t bridge_pid = -1; const QString zmq_address; }; - -class OpenDeviceWidget : public AbstractOpenStreamWidget { - Q_OBJECT - -public: - OpenDeviceWidget(QWidget *parent = nullptr); - AbstractStream *open() override; - -private: - QLineEdit *ip_address; - QButtonGroup *group; -}; diff --git a/openpilot/tools/cabana/streams/pandastream.cc b/openpilot/tools/cabana/streams/pandastream.cc index 06c8e6e19..0e72443c7 100644 --- a/openpilot/tools/cabana/streams/pandastream.cc +++ b/openpilot/tools/cabana/streams/pandastream.cc @@ -4,12 +4,6 @@ #include #include -#include -#include -#include -#include -#include - PandaStream::PandaStream(PandaStreamConfig config_) : config(config_) { if (!connect()) { throw std::runtime_error("Failed to connect to panda"); @@ -77,113 +71,3 @@ void PandaStream::streamThread() { panda->send_heartbeat(false); } } - -// OpenPandaWidget - -OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { - form_layout = new QFormLayout(this); - if (can && dynamic_cast(can) != nullptr) { - form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName())))); - form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.")); - QTimer::singleShot(0, [this]() { emit enableOpenButton(false); }); - return; - } - - QHBoxLayout *serial_layout = new QHBoxLayout(); - serial_layout->addWidget(serial_edit = new QComboBox()); - - QPushButton *refresh = new QPushButton(tr("Refresh")); - refresh->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred); - serial_layout->addWidget(refresh); - form_layout->addRow(tr("Serial"), serial_layout); - - QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials); - QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm); - - // Populate serials - refreshSerials(); - buildConfigForm(); -} - -void OpenPandaWidget::refreshSerials() { - serial_edit->clear(); - for (auto serial : Panda::list()) { - serial_edit->addItem(QString::fromStdString(serial)); - } -} - -void OpenPandaWidget::buildConfigForm() { - for (int i = form_layout->rowCount() - 1; i > 0; --i) { - form_layout->removeRow(i); - } - - QString serial = serial_edit->currentText(); - bool has_fd = false; - bool has_panda = !serial.isEmpty(); - if (has_panda) { - try { - Panda panda(serial.toStdString()); - has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); - } catch (const std::exception& e) { - fprintf(stderr, "failed to open panda %s\n", serial.toUtf8().constData()); - has_panda = false; - } - } - - if (has_panda) { - config.serial = serial.toStdString(); - config.bus_config.resize(3); - for (int i = 0; i < config.bus_config.size(); i++) { - QHBoxLayout *bus_layout = new QHBoxLayout; - - // CAN Speed - bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):"))); - QComboBox *can_speed = new QComboBox; - for (int j = 0; j < std::size(speeds); j++) { - can_speed->addItem(QString::number(speeds[j])); - - if (data_speeds[j] == config.bus_config[i].can_speed_kbps) { - can_speed->setCurrentIndex(j); - } - } - QObject::connect(can_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];}); - bus_layout->addWidget(can_speed); - - // CAN-FD Speed - if (has_fd) { - QCheckBox *enable_fd = new QCheckBox("CAN-FD"); - bus_layout->addWidget(enable_fd); - bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):"))); - QComboBox *data_speed = new QComboBox; - for (int j = 0; j < std::size(data_speeds); j++) { - data_speed->addItem(QString::number(data_speeds[j])); - - if (data_speeds[j] == config.bus_config[i].data_speed_kbps) { - data_speed->setCurrentIndex(j); - } - } - - data_speed->setEnabled(false); - bus_layout->addWidget(data_speed); - - QObject::connect(data_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];}); - QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled); - QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;}); - } - - form_layout->addRow(tr("Bus %1:").arg(i), bus_layout); - } - } else { - config.serial = ""; - form_layout->addWidget(new QLabel(tr("No panda found"))); - } -} - -AbstractStream *OpenPandaWidget::open() { - try { - return new PandaStream(config); - } catch (std::exception &e) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); - return nullptr; - } -} diff --git a/openpilot/tools/cabana/streams/pandastream.h b/openpilot/tools/cabana/streams/pandastream.h index d764613fe..760b5c7b1 100644 --- a/openpilot/tools/cabana/streams/pandastream.h +++ b/openpilot/tools/cabana/streams/pandastream.h @@ -3,15 +3,9 @@ #include #include -#include -#include - #include "tools/cabana/streams/livestream.h" #include "tools/cabana/panda.h" -const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; -const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; - struct BusConfig { int can_speed_kbps = 500; int data_speed_kbps = 2000; @@ -38,19 +32,3 @@ protected: std::unique_ptr panda; PandaStreamConfig config = {}; }; - -class OpenPandaWidget : public AbstractOpenStreamWidget { - Q_OBJECT - -public: - OpenPandaWidget(QWidget *parent = nullptr); - AbstractStream *open() override; - -private: - void refreshSerials(); - void buildConfigForm(); - - QComboBox *serial_edit; - QFormLayout *form_layout; - PandaStreamConfig config = {}; -}; diff --git a/openpilot/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc index 3524c9e60..e9df40059 100644 --- a/openpilot/tools/cabana/streams/replaystream.cc +++ b/openpilot/tools/cabana/streams/replaystream.cc @@ -1,16 +1,9 @@ #include "tools/cabana/streams/replaystream.h" -#include - -#include -#include -#include #include -#include #include "common/timing.h" #include "common/util.h" -#include "tools/cabana/routesdialog.h" ReplayStream::ReplayStream() { unsetenv("ZMQ"); @@ -116,64 +109,3 @@ void ReplayStream::pause(bool pause) { replay->pause(pause); pause ? paused() : resume(); } - - -// OpenReplayWidget - -OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { - QGridLayout *grid_layout = new QGridLayout(this); - grid_layout->addWidget(new QLabel(tr("Route")), 0, 0); - grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1); - route_edit->setPlaceholderText(tr("Enter route name or browse for local/remote route")); - auto browse_remote_btn = new QPushButton(tr("Remote route..."), this); - grid_layout->addWidget(browse_remote_btn, 0, 2); - auto browse_local_btn = new QPushButton(tr("Local route..."), this); - grid_layout->addWidget(browse_local_btn, 0, 3); - - QHBoxLayout *camera_layout = new QHBoxLayout(); - for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")}) - camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this))); - cameras[0]->setChecked(true); - camera_layout->addStretch(1); - grid_layout->addItem(camera_layout, 1, 1); - - setMinimumWidth(550); - QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() { - QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir)); - if (!dir.isEmpty()) { - route_edit->setText(dir); - settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string(); - } - }); - QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() { - RoutesDialog route_dlg(this); - if (route_dlg.exec()) { - route_edit->setText(QString::fromStdString(route_dlg.route())); - } - }); -} - -AbstractStream *OpenReplayWidget::open() { - QString route = route_edit->text(); - QString data_dir; - if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) { - data_dir = route.mid(0, idx + 1); - route = route.mid(idx + 1); - } - - bool is_valid_format = Route::parseRoute(route.toStdString()).str.size() > 0; - if (!is_valid_format) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); - } else { - auto replay_stream = std::make_unique(); - uint32_t flags = REPLAY_FLAG_NONE; - if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_CABIN_CAMERA; - if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_WIDE_ROAD; - if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC; - - if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) { - return replay_stream.release(); - } - } - return nullptr; -} diff --git a/openpilot/tools/cabana/streams/replaystream.h b/openpilot/tools/cabana/streams/replaystream.h index 6f49502ba..aad0ac636 100644 --- a/openpilot/tools/cabana/streams/replaystream.h +++ b/openpilot/tools/cabana/streams/replaystream.h @@ -1,10 +1,8 @@ #pragma once -#include #include #include #include -#include #include "common/prefix.h" #include "tools/cabana/streams/abstractstream.h" @@ -43,15 +41,3 @@ private: std::set processed_segments; std::unique_ptr op_prefix; }; - -class OpenReplayWidget : public AbstractOpenStreamWidget { - Q_OBJECT - -public: - OpenReplayWidget(QWidget *parent = nullptr); - AbstractStream *open() override; - -private: - QLineEdit *route_edit; - std::vector cameras; -}; diff --git a/openpilot/tools/cabana/streams/socketcanstream.cc b/openpilot/tools/cabana/streams/socketcanstream.cc index b10f2cab9..f16ed36d9 100644 --- a/openpilot/tools/cabana/streams/socketcanstream.cc +++ b/openpilot/tools/cabana/streams/socketcanstream.cc @@ -8,13 +8,6 @@ #include #include -#include -#include - -#include -#include -#include -#include SocketCanStream::SocketCanStream(SocketCanStreamConfig config_) : config(config_) { if (!available()) { @@ -98,51 +91,3 @@ void SocketCanStream::streamThread() { handleEvent(capnp::messageToFlatArray(msg)); } } - -OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->addStretch(1); - - QFormLayout *form_layout = new QFormLayout(); - - QHBoxLayout *device_layout = new QHBoxLayout(); - device_edit = new QComboBox(); - device_edit->setFixedWidth(300); - device_layout->addWidget(device_edit); - - QPushButton *refresh = new QPushButton(tr("Refresh")); - refresh->setFixedWidth(100); - device_layout->addWidget(refresh); - form_layout->addRow(tr("Device"), device_layout); - main_layout->addLayout(form_layout); - - main_layout->addStretch(1); - - QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices); - QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); }); - - // Populate devices - refreshDevices(); -} - -void OpenSocketCanWidget::refreshDevices() { - device_edit->clear(); - // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN) - std::error_code ec; - for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) { - std::ifstream type_file(entry.path() / "type"); - int type = 0; - if (type_file >> type && type == 280) { - device_edit->addItem(QString::fromStdString(entry.path().filename().string())); - } - } -} - -AbstractStream *OpenSocketCanWidget::open() { - try { - return new SocketCanStream(config); - } catch (std::exception &e) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what())); - return nullptr; - } -} diff --git a/openpilot/tools/cabana/streams/socketcanstream.h b/openpilot/tools/cabana/streams/socketcanstream.h index 78e856d50..c44a49822 100644 --- a/openpilot/tools/cabana/streams/socketcanstream.h +++ b/openpilot/tools/cabana/streams/socketcanstream.h @@ -1,7 +1,5 @@ #pragma once -#include - #include "tools/cabana/streams/livestream.h" struct SocketCanStreamConfig { @@ -25,17 +23,3 @@ protected: SocketCanStreamConfig config = {}; int sock_fd = -1; }; - -class OpenSocketCanWidget : public AbstractOpenStreamWidget { - Q_OBJECT - -public: - OpenSocketCanWidget(QWidget *parent = nullptr); - AbstractStream *open() override; - -private: - void refreshDevices(); - - QComboBox *device_edit; - SocketCanStreamConfig config = {}; -}; diff --git a/openpilot/tools/cabana/streamselector.cc b/openpilot/tools/cabana/streamselector.cc index 7e8adc568..dae022be7 100644 --- a/openpilot/tools/cabana/streamselector.cc +++ b/openpilot/tools/cabana/streamselector.cc @@ -1,18 +1,275 @@ #include "tools/cabana/streamselector.h" #include +#include #include +#include #include +#include #include +#include +#include #include "tools/cabana/streams/devicestream.h" -#include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" +#include "tools/cabana/routesdialog.h" + +// OpenReplayWidget + +OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { + QGridLayout *grid_layout = new QGridLayout(this); + grid_layout->addWidget(new QLabel(tr("Route")), 0, 0); + grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1); + route_edit->setPlaceholderText(tr("Enter route name or browse for local/remote route")); + auto browse_remote_btn = new QPushButton(tr("Remote route..."), this); + grid_layout->addWidget(browse_remote_btn, 0, 2); + auto browse_local_btn = new QPushButton(tr("Local route..."), this); + grid_layout->addWidget(browse_local_btn, 0, 3); + + QHBoxLayout *camera_layout = new QHBoxLayout(); + for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")}) + camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this))); + cameras[0]->setChecked(true); + camera_layout->addStretch(1); + grid_layout->addItem(camera_layout, 1, 1); + + setMinimumWidth(550); + QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() { + QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir)); + if (!dir.isEmpty()) { + route_edit->setText(dir); + settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string(); + } + }); + QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() { + RoutesDialog route_dlg(this); + if (route_dlg.exec()) { + route_edit->setText(QString::fromStdString(route_dlg.route())); + } + }); +} + +AbstractStream *OpenReplayWidget::open() { + QString route = route_edit->text(); + QString data_dir; + if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) { + data_dir = route.mid(0, idx + 1); + route = route.mid(idx + 1); + } + + bool is_valid_format = Route::parseRoute(route.toStdString()).str.size() > 0; + if (!is_valid_format) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); + } else { + auto replay_stream = std::make_unique(); + uint32_t flags = REPLAY_FLAG_NONE; + if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_CABIN_CAMERA; + if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_WIDE_ROAD; + if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC; + + if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) { + return replay_stream.release(); + } + } + return nullptr; +} + +// OpenPandaWidget + +static const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; +static const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; + +OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { + form_layout = new QFormLayout(this); + if (can && dynamic_cast(can) != nullptr) { + form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName())))); + form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.")); + QTimer::singleShot(0, [this]() { emit enableOpenButton(false); }); + return; + } + + QHBoxLayout *serial_layout = new QHBoxLayout(); + serial_layout->addWidget(serial_edit = new QComboBox()); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred); + serial_layout->addWidget(refresh); + form_layout->addRow(tr("Serial"), serial_layout); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials); + QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm); + + // Populate serials + refreshSerials(); + buildConfigForm(); +} + +void OpenPandaWidget::refreshSerials() { + serial_edit->clear(); + for (auto serial : Panda::list()) { + serial_edit->addItem(QString::fromStdString(serial)); + } +} + +void OpenPandaWidget::buildConfigForm() { + for (int i = form_layout->rowCount() - 1; i > 0; --i) { + form_layout->removeRow(i); + } + + QString serial = serial_edit->currentText(); + bool has_fd = false; + bool has_panda = !serial.isEmpty(); + if (has_panda) { + try { + Panda panda(serial.toStdString()); + has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); + } catch (const std::exception& e) { + fprintf(stderr, "failed to open panda %s\n", serial.toUtf8().constData()); + has_panda = false; + } + } + + if (has_panda) { + config.serial = serial.toStdString(); + config.bus_config.resize(3); + for (int i = 0; i < config.bus_config.size(); i++) { + QHBoxLayout *bus_layout = new QHBoxLayout; + + // CAN Speed + bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):"))); + QComboBox *can_speed = new QComboBox; + for (int j = 0; j < std::size(speeds); j++) { + can_speed->addItem(QString::number(speeds[j])); + + if (data_speeds[j] == config.bus_config[i].can_speed_kbps) { + can_speed->setCurrentIndex(j); + } + } + QObject::connect(can_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];}); + bus_layout->addWidget(can_speed); + + // CAN-FD Speed + if (has_fd) { + QCheckBox *enable_fd = new QCheckBox("CAN-FD"); + bus_layout->addWidget(enable_fd); + bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):"))); + QComboBox *data_speed = new QComboBox; + for (int j = 0; j < std::size(data_speeds); j++) { + data_speed->addItem(QString::number(data_speeds[j])); + + if (data_speeds[j] == config.bus_config[i].data_speed_kbps) { + data_speed->setCurrentIndex(j); + } + } + + data_speed->setEnabled(false); + bus_layout->addWidget(data_speed); + + QObject::connect(data_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];}); + QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled); + QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;}); + } + + form_layout->addRow(tr("Bus %1:").arg(i), bus_layout); + } + } else { + config.serial = ""; + form_layout->addWidget(new QLabel(tr("No panda found"))); + } +} + +AbstractStream *OpenPandaWidget::open() { + try { + return new PandaStream(config); + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); + return nullptr; + } +} + +// OpenDeviceWidget + +OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { + 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")); + ip_address->setValidator(new IpAddressValidator(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(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) { + ip_address->setEnabled(button == zmq && checked); + }); + zmq->setChecked(true); +} + +AbstractStream *OpenDeviceWidget::open() { + QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text(); + bool msgq = group->checkedId() == 0; + return new DeviceStream(msgq ? "" : ip); +} + #ifdef __linux__ -#include "tools/cabana/streams/socketcanstream.h" +// OpenSocketCanWidget + +OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(1); + + QFormLayout *form_layout = new QFormLayout(); + + QHBoxLayout *device_layout = new QHBoxLayout(); + device_edit = new QComboBox(); + device_edit->setFixedWidth(300); + device_layout->addWidget(device_edit); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setFixedWidth(100); + device_layout->addWidget(refresh); + form_layout->addRow(tr("Device"), device_layout); + main_layout->addLayout(form_layout); + + main_layout->addStretch(1); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices); + QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); }); + + // Populate devices + refreshDevices(); +} + +void OpenSocketCanWidget::refreshDevices() { + device_edit->clear(); + // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN) + std::error_code ec; + for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) { + std::ifstream type_file(entry.path() / "type"); + int type = 0; + if (type_file >> type && type == 280) { + device_edit->addItem(QString::fromStdString(entry.path().filename().string())); + } + } +} + +AbstractStream *OpenSocketCanWidget::open() { + try { + return new SocketCanStream(config); + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what())); + return nullptr; + } +} #endif +// StreamSelector + StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Open stream")); QVBoxLayout *layout = new QVBoxLayout(this); diff --git a/openpilot/tools/cabana/streamselector.h b/openpilot/tools/cabana/streamselector.h index 0919195e4..1210806a3 100644 --- a/openpilot/tools/cabana/streamselector.h +++ b/openpilot/tools/cabana/streamselector.h @@ -1,11 +1,86 @@ #pragma once +#include + +#include +#include +#include #include #include +#include #include #include #include "tools/cabana/streams/abstractstream.h" +#include "tools/cabana/streams/pandastream.h" +#ifdef __linux__ +#include "tools/cabana/streams/socketcanstream.h" +#endif + +class AbstractOpenStreamWidget : public QWidget { + Q_OBJECT +public: + AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {} + virtual AbstractStream *open() = 0; + +signals: + void enableOpenButton(bool); +}; + +class OpenReplayWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenReplayWidget(QWidget *parent = nullptr); + AbstractStream *open() override; + +private: + QLineEdit *route_edit; + std::vector cameras; +}; + +class OpenPandaWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenPandaWidget(QWidget *parent = nullptr); + AbstractStream *open() override; + +private: + void refreshSerials(); + void buildConfigForm(); + + QComboBox *serial_edit; + QFormLayout *form_layout; + PandaStreamConfig config = {}; +}; + +class OpenDeviceWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenDeviceWidget(QWidget *parent = nullptr); + AbstractStream *open() override; + +private: + QLineEdit *ip_address; + QButtonGroup *group; +}; + +#ifdef __linux__ +// no Q_OBJECT: moc does not define __linux__ and would otherwise skip this class +class OpenSocketCanWidget : public AbstractOpenStreamWidget { +public: + OpenSocketCanWidget(QWidget *parent = nullptr); + AbstractStream *open() override; + +private: + void refreshDevices(); + + QComboBox *device_edit; + SocketCanStreamConfig config = {}; +}; +#endif class StreamSelector : public QDialog { Q_OBJECT