mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-23 18:42:06 +08:00
Ahmed Harmouche
037e6e749a
* Fix zmq support in cabana * Refactor to launch bridge, remove socketadapter * bridge_path should be camel_case
95 lines
3.0 KiB
C++
95 lines
3.0 KiB
C++
#include "tools/cabana/streams/devicestream.h"
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "cereal/services.h"
|
|
|
|
#include <QButtonGroup>
|
|
#include <QFileInfo>
|
|
#include <QFormLayout>
|
|
#include <QMessageBox>
|
|
#include <QRadioButton>
|
|
#include <QRegularExpression>
|
|
#include <QRegularExpressionValidator>
|
|
#include <QThread>
|
|
|
|
// DeviceStream
|
|
|
|
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::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()) {
|
|
std::unique_ptr<Message> msg(sock->receive(true));
|
|
if (!msg) {
|
|
QThread::msleep(50);
|
|
continue;
|
|
}
|
|
handleEvent(kj::ArrayPtr<capnp::word>((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"));
|
|
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);
|
|
}
|
|
|
|
AbstractStream *OpenDeviceWidget::open() {
|
|
QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
|
|
bool msgq = group->checkedId() == 0;
|
|
return new DeviceStream(qApp, msgq ? "" : ip);
|
|
}
|