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IQ.Pilot Release Commit @ 27f668a

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IQ.Lvbs CI [bot]
2026-09-03 18:17:35 -05:00
parent 7745f48100
commit 1b2f28290b
69 changed files with 728 additions and 193 deletions
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4
iqpilot/tools/cabana/SConscript
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@@ -1,10 +1,6 @@
import os
import sys
venv_site_packages = os.path.join(Dir("#").abspath, ".venv", "lib", "python3.12", "site-packages")
if os.path.isdir(venv_site_packages) and venv_site_packages not in sys.path:
sys.path.insert(0, venv_site_packages)
import imgui
import iqdbc
import libusb

2
iqpilot/tools/cabana/streams/replaystream.cc
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@@ -49,7 +49,7 @@ void ReplayStream::mergeSegments() {
}
bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
replay.reset(new Replay(route, {"can", "narrowRoadEncodeIdx", "cabinEncodeIdx", "wideRoadEncodeIdx", "carParams"},
replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
{}, nullptr, replay_flags, data_dir, auto_source));
replay->setSegmentCacheLimit(settings.max_cached_minutes);
replay->installEventFilter([this](const Event *event) { return eventFilter(event); });

13
iqpilot/tools/cabana/test_cabana_konn3kt.py
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@@ -90,3 +90,16 @@ class TestFrontendRemoval:
def test_imgui_frontend_is_present(self):
assert (CABANA_DIR / "ui" / "app.cc").is_file()
assert (CABANA_DIR / "ui" / "main.cc").is_file()
def test_stream_selector_stays_in_main_window(self):
app = read("ui/app.cc")
assert "io.ConfigFlags |= ImGuiConfigFlags_ViewportsEnable" not in app
class TestReplayVideo:
def test_iqpilot_camera_index_services_are_replayed(self):
source = read("streams/replaystream.cc")
for service in ("roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx"):
assert f'"{service}"' in source
assert '"narrowRoadEncodeIdx"' not in source
assert '"cabinEncodeIdx"' not in source

2
iqpilot/tools/cabana/ui/app.cc
View File

@@ -144,8 +144,6 @@ public:
ImPlot::CreateContext();
ImGuiIO &io = ImGui::GetIO();
io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
io.ConfigFlags |= ImGuiConfigFlags_ViewportsEnable;
io.ConfigViewportsNoDecoration = false;
io.IniFilename = nullptr;
io.LogFilename = nullptr;
if (!ImGui_ImplGlfw_InitForOpenGL(window, true)) {

80
iqpilot/tools/cabana/ui/dialogs/streamselector.cc
View File

@@ -15,19 +15,19 @@
#include "tools/cabana/utils/util.h"
void OpenReplayWidget::draw() {
ImGui::AlignTextToFramePadding();
ImGui::TextDisabled("Replay a local or Konn3kt route with optional camera streams.");
ImGui::Spacing();
ImGui::TextUnformatted("Route");
ImGui::SameLine();
ImGui::SetNextItemWidth(-250.0f);
ImGui::SetNextItemWidth(-1.0f);
inputText("##route", &route_, "Enter route name or browse for local/remote route");
ImGui::SameLine();
if (ImGui::Button("Remote route...")) {
const float route_button_width = (ImGui::GetContentRegionAvail().x - ImGui::GetStyle().ItemSpacing.x) * 0.5f;
if (ImGui::Button("Browse Konn3kt routes", ImVec2(route_button_width, 34.0f))) {
routes_dialog_.open(utils::guarded(alive_, [this](bool accepted, const std::string &route) {
if (accepted) route_ = route;
}));
}
ImGui::SameLine();
if (ImGui::Button("Local route...")) {
if (ImGui::Button("Choose local route", ImVec2(-1.0f, 34.0f))) {
FileDialog::getExistingDirectory("Open Local Route", settings.last_route_dir, utils::guarded(alive_, [this](const std::string &dir) {
if (!dir.empty()) {
route_ = dir;
@@ -35,6 +35,8 @@ void OpenReplayWidget::draw() {
}
}));
}
ImGui::Spacing();
ImGui::SeparatorText("Camera streams");
checkBox("Road camera", &cameras_[0]);
ImGui::SameLine();
checkBox("Driver camera", &cameras_[1]);
@@ -126,6 +128,8 @@ void OpenPandaWidget::buildConfigForm() {
}
void OpenPandaWidget::draw() {
ImGui::TextDisabled("Connect directly to a Panda and configure each CAN bus.");
ImGui::Spacing();
if (already_connected_) {
ImGui::Text("Already connected to %s.", can->routeName().c_str());
ImGui::TextUnformatted("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.");
@@ -184,6 +188,8 @@ std::unique_ptr<AbstractStream> OpenPandaWidget::open() {
}
void OpenDeviceWidget::draw() {
ImGui::TextDisabled("Connect to a running IQ.Pilot instance or a local message queue.");
ImGui::Spacing();
ImGui::RadioButton("MSGQ", &mode_, 0);
ImGui::RadioButton("ZMQ", &mode_, 1);
ImGui::RadioButton("Bridge", &mode_, 2);
@@ -226,6 +232,8 @@ void OpenSocketCanWidget::refreshDevices() {
}
void OpenSocketCanWidget::draw() {
ImGui::TextDisabled("Read CAN traffic from a Linux SocketCAN interface.");
ImGui::Spacing();
ImGui::AlignTextToFramePadding();
ImGui::TextUnformatted("Device");
ImGui::SameLine();
@@ -248,7 +256,6 @@ std::unique_ptr<AbstractStream> OpenSocketCanWidget::open() {
void StreamSelector::open(Callback on_done) {
on_done_ = std::move(on_done);
open_ = true;
popup_.reset();
first_frame_ = true;
dbc_file_.clear();
widgets_.clear();
@@ -264,32 +271,65 @@ void StreamSelector::open(Callback on_done) {
void StreamSelector::draw() {
if (!open_) return;
if (!beginDialog("Open stream", &popup_, ImVec2(640.0f, 0.0f))) return;
const ImGuiViewport *viewport = ImGui::GetMainViewport();
ImGui::SetNextWindowPos(viewport->WorkPos);
ImGui::SetNextWindowSize(viewport->WorkSize);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
const ImGuiWindowFlags page_flags = ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoDocking;
if (!ImGui::Begin("##stream_selector_page", nullptr, page_flags)) {
ImGui::End();
ImGui::PopStyleVar(2);
return;
}
ImGui::PopStyleVar(2);
const ImVec2 available = ImGui::GetContentRegionAvail();
const ImVec2 card_size(std::clamp(available.x - 80.0f, 680.0f, 920.0f),
std::clamp(available.y - 80.0f, 470.0f, 570.0f));
ImGui::SetCursorPos(ImVec2(std::max(24.0f, (available.x - card_size.x) * 0.5f),
std::max(24.0f, (available.y - card_size.y) * 0.5f)));
ImGui::PushStyleVar(ImGuiStyleVar_ChildRounding, 12.0f);
ImGui::PushStyleVar(ImGuiStyleVar_ChildBorderSize, 1.0f);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(28.0f, 24.0f));
ImGui::BeginChild("##stream_selector_card", card_size, ImGuiChildFlags_Borders, ImGuiWindowFlags_NoScrollbar);
ImGui::PopStyleVar(3);
ImGui::PushFont(boldFont(), 26.0f);
ImGui::TextUnformatted("Open Cabana");
ImGui::PopFont();
ImGui::TextDisabled("Choose a data source to inspect CAN traffic, signals, and video.");
ImGui::Spacing();
ImGui::Spacing();
AbstractOpenStreamWidget *current = nullptr;
ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(16.0f, 7.0f));
if (ImGui::BeginTabBar("streams")) {
for (auto &w : widgets_) {
ImGuiTabItemFlags tab_flags = (first_frame_ && w == widgets_.front()) ? ImGuiTabItemFlags_SetSelected : 0;
if (ImGui::BeginTabItem(w->title(), nullptr, tab_flags)) {
current = w.get();
ImGui::BeginChild("tab", ImVec2(0, 130.0f));
const float content_height = std::max(170.0f, card_size.y - 300.0f);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(18.0f, 16.0f));
ImGui::BeginChild("tab", ImVec2(0, content_height), ImGuiChildFlags_Borders);
w->draw();
ImGui::EndChild();
ImGui::PopStyleVar();
ImGui::EndTabItem();
}
}
ImGui::EndTabBar();
}
ImGui::PopStyleVar();
first_frame_ = false;
ImGui::AlignTextToFramePadding();
ImGui::TextUnformatted("dbc File");
ImGui::SameLine();
ImGui::SetNextItemWidth(-90.0f);
ImGui::SeparatorText("DBC file");
ImGui::SetNextItemWidth(-120.0f);
inputText("##dbc", &dbc_file_, "Choose a dbc file to open", ImGuiInputTextFlags_ReadOnly);
ImGui::SameLine();
if (ImGui::Button("Browse...")) {
if (ImGui::Button("Browse...", ImVec2(-1.0f, 0.0f))) {
FileDialog::getOpenFileName("Open File", settings.last_dir, ".dbc", [this](const std::string &fn) {
if (!fn.empty()) {
dbc_file_ = fn;
@@ -302,7 +342,13 @@ void StreamSelector::draw() {
bool accepted = false, rejected = false;
std::unique_ptr<AbstractStream> stream;
bool open_clicked = false;
dialogButtons("Open", &open_clicked, &rejected, current != nullptr && current->openEnabled());
const float open_width = 180.0f;
if (ImGui::Button("Cancel", ImVec2(100.0f, 38.0f))) rejected = true;
ImGui::SameLine();
ImGui::SetCursorPosX(ImGui::GetContentRegionMax().x - open_width);
ImGui::BeginDisabled(current == nullptr || !current->openEnabled());
if (ImGui::Button("Open source", ImVec2(open_width, 38.0f))) open_clicked = true;
ImGui::EndDisabled();
if (open_clicked) {
if (stream = current->open(); stream) accepted = true;
}
@@ -312,8 +358,8 @@ void StreamSelector::draw() {
FileDialog::draw();
MessageBox::draw();
if (accepted || rejected) ImGui::CloseCurrentPopup();
ImGui::EndPopup();
ImGui::EndChild();
ImGui::End();
if (accepted || rejected) {
open_ = false;
widgets_.clear();

1
iqpilot/tools/cabana/ui/dialogs/streamselector.h
View File

@@ -98,7 +98,6 @@ public:
private:
bool open_ = false;
PopupOwner popup_;
bool first_frame_ = false;
std::string dbc_file_;
std::vector<std::unique_ptr<AbstractOpenStreamWidget>> widgets_;

14
iqpilot/tools/lib/tests/test_caching.py
View File

@@ -44,6 +44,20 @@ def host():
class TestFileDownload:
def test_head_connection_released(self, monkeypatch):
class Response:
status = 200
headers = {"content-length": "4"}
released = False
def release_conn(self):
self.released = True
response = Response()
monkeypatch.setattr(URLFile, "_request", lambda self, method, url, headers=None: response)
assert URLFile("https://example.com/test").get_length_online() == 4
assert response.released
def test_pipeline_defaults(self, host):
# TODO: parameterize the defaults so we don't rely on hard-coded values in xx

11
iqpilot/tools/lib/url_file.py
View File

@@ -128,10 +128,13 @@ class URLFile:
def get_length_online(self) -> int:
response = self._request('HEAD', self._url)
if not (200 <= response.status <= 299):
return -1
length = response.headers.get('content-length', 0)
return int(length)
try:
if not (200 <= response.status <= 299):
return -1
length = response.headers.get('content-length', 0)
return int(length)
finally:
response.release_conn()
def get_length(self) -> int:
if self._length is not None:

110
iqpilot/tools/test_tools_local_route.py
View File

@@ -40,6 +40,36 @@ def write_rlog(path: Path, n_frames: int = 200):
f.write(msg.to_bytes())
def write_video_rlog(path: Path, n_frames: int):
with open(path, "wb") as f:
cp = messaging.new_message('carParams')
cp.logMonoTime = 1_000_000_000
cp.carParams.carFingerprint = "TOYOTA_RAV4_TSS2"
cp.carParams.brand = "toyota"
f.write(cp.to_bytes())
for i in range(n_frames):
timestamp = 1_000_000_000 + i * 50_000_000
msg = messaging.new_message('can', 1)
msg.logMonoTime = timestamp
msg.can[0].address = 0x1D2
msg.can[0].src = 0
msg.can[0].dat = bytes([i % 256] * 8)
f.write(msg.to_bytes())
idx = messaging.new_message('roadEncodeIdx')
idx.logMonoTime = timestamp
idx.roadEncodeIdx.frameId = i
idx.roadEncodeIdx.type = 'fullHEVC'
idx.roadEncodeIdx.encodeId = i
idx.roadEncodeIdx.segmentNum = 0
idx.roadEncodeIdx.segmentId = i
idx.roadEncodeIdx.segmentIdEncode = i
idx.roadEncodeIdx.timestampSof = timestamp
idx.roadEncodeIdx.timestampEof = timestamp + 10_000_000
f.write(idx.to_bytes())
@pytest.fixture(scope="module")
def local_route(tmp_path_factory):
data_dir = tmp_path_factory.mktemp("routes")
@@ -50,6 +80,25 @@ def local_route(tmp_path_factory):
return data_dir
@pytest.fixture(scope="module")
def local_video_route(tmp_path_factory):
data_dir = tmp_path_factory.mktemp("video_routes")
seg_dir = data_dir / f"{DONGLE_ID}|{TIMESTAMP}--0"
seg_dir.mkdir()
frame_count = 20
result = subprocess.run([
"ffmpeg", "-hide_banner", "-loglevel", "error", "-f", "lavfi",
"-i", "testsrc=size=320x180:rate=20", "-frames:v", str(frame_count),
"-pix_fmt", "yuv420p", "-c:v", "libx265", "-preset", "ultrafast",
"-x265-params", "pools=1:frame-threads=1:log-level=error", "-f", "hevc",
str(seg_dir / "fcamera.hevc"),
], capture_output=True, text=True)
if result.returncode != 0:
pytest.skip(result.stderr)
write_video_rlog(seg_dir / "rlog", frame_count)
return data_dir
def run(cmd, timeout=180):
return subprocess.run(cmd, capture_output=True, text=True, timeout=timeout, env=os.environ.copy(),
cwd=TOOLS_DIR.parent)
@@ -62,6 +111,33 @@ def cabana_command(*args):
return command
def cabana_output_until(args, expected, timeout=60):
master, slave = pty.openpty()
proc = subprocess.Popen(cabana_command(*args), stdout=slave, stderr=slave,
env=os.environ.copy(), cwd=TOOLS_DIR.parent)
os.close(slave)
output = bytearray()
deadline = time.monotonic() + timeout
try:
while time.monotonic() < deadline:
ready, _, _ = select.select([master], [], [], min(1, deadline - time.monotonic()))
if not ready:
if proc.poll() is not None:
break
continue
try:
output.extend(os.read(master, 4096))
except OSError:
break
if expected.encode() in output:
break
finally:
proc.kill()
proc.wait()
os.close(master)
return output.decode(errors="replace")
def test_jotpluggler_renders_a_local_route(local_route, tmp_path):
assert JOTPLUGGLER_BIN.exists(), "jotpluggler not built"
out = tmp_path / "plot.png"
@@ -74,38 +150,20 @@ def test_jotpluggler_renders_a_local_route(local_route, tmp_path):
def test_cabana_loads_a_local_route(local_route):
assert CABANA_BIN.exists(), "cabana not built"
master, slave = pty.openpty()
proc = subprocess.Popen(cabana_command("--data_dir", str(local_route), "--no-vipc", ROUTE),
stdout=slave, stderr=slave,
env=os.environ.copy(), cwd=TOOLS_DIR.parent)
os.close(slave)
loaded = f"loaded route {ROUTE} with 2 valid segments"
output = bytearray()
deadline = time.monotonic() + 60
try:
while time.monotonic() < deadline:
ready, _, _ = select.select([master], [], [], min(1, deadline - time.monotonic()))
if not ready:
if proc.poll() is not None:
break
continue
try:
output.extend(os.read(master, 4096))
except OSError:
break
if loaded.encode() in output:
break
finally:
proc.kill()
proc.wait()
os.close(master)
out = output.decode(errors="replace")
out = cabana_output_until(("--data_dir", str(local_route), "--no-vipc", ROUTE), loaded)
assert "failed to load route" not in out, out
assert "invalid route format" not in out, out
assert loaded in out, out
def test_cabana_replays_local_video(local_video_route):
expected = "camera[0] vipc send #1"
out = cabana_output_until(("--data_dir", str(local_video_route), ROUTE), expected)
assert "failed to get frame" not in out, out
assert expected in out, out
def test_replay_logreader_reports_load_stats(local_route):
assert shutil.which("python3") is not None
header = (TOOLS_DIR / "replay" / "logreader.h").read_text()