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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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122
iqpilot/tools/cabana/streams/pandastream.cc
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@@ -4,13 +4,7 @@
#include <cstdio>
#include <thread>
#include <QCheckBox>
#include <QLabel>
#include <QMessageBox>
#include <QPushButton>
#include <QTimer>
PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
PandaStream::PandaStream(PandaStreamConfig config_) : config(config_) {
if (!connect()) {
throw std::runtime_error("Failed to connect to panda");
}
@@ -30,12 +24,12 @@ bool PandaStream::connect() {
for (int bus = 0; bus < config.bus_config.size(); bus++) {
panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);
// CAN-FD
if (panda->hw_type == cereal::PandaState::PandaType::RED_PANDA || panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) {
if (config.bus_config[bus].can_fd) {
panda->set_data_speed_kbps(bus, config.bus_config[bus].data_speed_kbps);
} else {
// Hack to disable can-fd by setting data speed to a low value
panda->set_data_speed_kbps(bus, 10);
}
}
@@ -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<PandaStream *>(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<int>(&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<int>(&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(qApp, config);
} catch (std::exception &e) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
return nullptr;
}
}