IQ.Lvbs/IQ.Pilot
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IQ.Pilot Release Commit @ 27f668a

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This commit is contained in:
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
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@@ -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
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@@ -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_;