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IQ.Pilot Release Commit @ 0b96bd5

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IQ.Lvbs CI [bot]
2026-09-02 16:46:45 -05:00
parent 4fb3da761f
commit 7745f48100
162 changed files with 12835 additions and 9476 deletions
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79
iqpilot/tools/cabana/streams/devicestream.cc
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@@ -1,5 +1,6 @@
#include "tools/cabana/streams/devicestream.h"
#include <cassert>
#include <cerrno>
#include <chrono>
#include <csignal>
@@ -9,22 +10,17 @@
#include <memory>
#include <string>
#include <thread>
#include <utility>
#include <unistd.h>
#include <sys/wait.h>
#include "cereal/services.h"
#include <QButtonGroup>
#include <QFormLayout>
#include <QMessageBox>
#include <QRadioButton>
#include "tools/cabana/utils/util.h"
// DeviceStream
DeviceStream::DeviceStream(QObject *parent, Mode mode, QString address)
: mode_(mode), address_(address.isEmpty() ? "127.0.0.1" : address), LiveStream(parent) {
DeviceStream::DeviceStream(Mode mode, std::string address)
: mode_(mode), address_(address.empty() ? "127.0.0.1" : std::move(address)) {
}
DeviceStream::~DeviceStream() {
@@ -43,7 +39,7 @@ void DeviceStream::stopBridge() {
bridge_pid = -1;
return;
}
usleep(100000); // 100ms, up to ~3s
usleep(100000);
}
::kill(bridge_pid, SIGKILL);
::waitpid(bridge_pid, nullptr, 0);
@@ -53,17 +49,14 @@ void DeviceStream::stopBridge() {
void DeviceStream::start() {
if (mode_ == Mode::Bridge) {
stopBridge();
const std::string path = (std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) /
"../../cereal/messaging/bridge").lexically_normal().string();
const std::string addr = address_.toStdString();
const std::string path = (executableDir() / "../../cereal/messaging/bridge").lexically_normal().string();
const char *can_filter = "/\"can/\"";
// Self-pipe: write end is CLOEXEC so it closes on successful exec. If exec
// fails, the child writes errno and the parent aborts stream start.
int err_pipe[2] = {-1, -1};
if (::pipe(err_pipe) != 0) {
QMessageBox::warning(nullptr, tr("Error"),
tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
error(std::string("Failed to start bridge: ") + strerror(errno));
return;
}
@@ -71,7 +64,7 @@ void DeviceStream::start() {
if (pid == 0) {
::close(err_pipe[0]);
::fcntl(err_pipe[1], F_SETFD, FD_CLOEXEC);
execl(path.c_str(), path.c_str(), addr.c_str(), can_filter, static_cast<char *>(nullptr));
execl(path.c_str(), path.c_str(), address_.c_str(), can_filter, static_cast<char *>(nullptr));
const int err = errno;
(void)!::write(err_pipe[1], &err, sizeof(err));
_exit(127);
@@ -80,8 +73,7 @@ void DeviceStream::start() {
::close(err_pipe[1]);
if (pid < 0) {
::close(err_pipe[0]);
QMessageBox::warning(nullptr, tr("Error"),
tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
error(std::string("Failed to start bridge: ") + strerror(errno));
return;
}
@@ -89,11 +81,10 @@ void DeviceStream::start() {
const ssize_t n = ::read(err_pipe[0], &exec_errno, sizeof(exec_errno));
::close(err_pipe[0]);
if (n == static_cast<ssize_t>(sizeof(exec_errno))) {
// Child failed to exec; reap and surface the error.
int status = 0;
::waitpid(pid, &status, 0);
QMessageBox::warning(nullptr, tr("Error"),
tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(exec_errno))));
error(std::string("Failed to start bridge: ") + strerror(exec_errno));
return;
}
@@ -104,16 +95,13 @@ void DeviceStream::start() {
}
void DeviceStream::streamThread() {
// Bridge mode republishes into local msgq, so only the direct Zmq mode talks ZMQ.
// (Upstream sets ZMQ=1 for its bridge path too, which reads nothing — the bridge
// publishes to msgq.)
mode_ == Mode::Zmq ? setenv("ZMQ", "1", 1) : unsetenv("ZMQ");
const std::string address = mode_ == Mode::Zmq ? address_.toStdString() : "127.0.0.1";
const std::string socket_address = mode_ == Mode::Zmq ? address_ : "127.0.0.1";
std::unique_ptr<Context> context(Context::create());
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size));
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", socket_address, false, true, services.at("can").queue_size));
assert(sock != NULL);
// run as fast as messages come in
while (!exit_) {
std::unique_ptr<Message> msg(sock->receive(true));
if (!msg) {
@@ -123,36 +111,3 @@ void DeviceStream::streamThread() {
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"));
QRadioButton *bridge = new QRadioButton(tr("Bridge"));
zmq->setToolTip(tr("Subscribe directly to a ZMQ 'can' publisher: a device running "
"cereal/messaging/bridge, or konn3kt_canproxy.py on 127.0.0.1."));
bridge->setToolTip(tr("Run cereal/messaging/bridge locally against the device and read msgq."));
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, static_cast<int>(DeviceStream::Mode::Msgq));
group->addButton(zmq, static_cast<int>(DeviceStream::Mode::Zmq));
group->addButton(bridge, static_cast<int>(DeviceStream::Mode::Bridge));
QFormLayout *form_layout = new QFormLayout(this);
form_layout->addRow(msgq);
form_layout->addRow(zmq, ip_address);
form_layout->addRow(bridge);
QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
if (checked) ip_address->setEnabled(button != msgq);
});
zmq->setChecked(true);
}
AbstractStream *OpenDeviceWidget::open() {
auto mode = static_cast<DeviceStream::Mode>(group->checkedId());
return new DeviceStream(qApp, mode, mode == DeviceStream::Mode::Msgq ? "" : ip_address->text());
}