IQ.Lvbs/IQ.Pilot
8
7
Fork 2
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ 0b96bd5

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

124
iqpilot/tools/cabana/streams/replaystream.cc
View File

@@ -1,28 +1,28 @@
#include "tools/cabana/streams/replaystream.h"
#include <filesystem>
#include <QLabel>
#include <QFileDialog>
#include <QGridLayout>
#include <QMessageBox>
#include <QPushButton>
#include <string>
#include "common/timing.h"
#include "common/util.h"
#include "tools/cabana/streams/routes.h"
#include "tools/cabana/settings.h"
ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
ReplayStream::ReplayStream() {
unsetenv("ZMQ");
setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
op_prefix = std::make_unique<OpenpilotPrefix>();
QObject::connect(&settings, &Settings::changed, this, [this]() {
settings_connection_ = settings.changed.connect([this]() {
if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
});
}
ReplayStream::~ReplayStream() {
cancelWaits();
}
void ReplayStream::mergeSegments() {
auto event_data = replay->getEventData();
for (const auto &[n, seg] : event_data->segments) {
@@ -31,58 +31,59 @@ void ReplayStream::mergeSegments() {
std::vector<const CanEvent *> new_events;
new_events.reserve(seg->log->events.size());
MessageEventsMap msg_events;
for (const Event &e : seg->log->events) {
if (e.which == cereal::Event::Which::CAN) {
capnp::FlatArrayMessageReader reader(e.data);
auto event = reader.getRoot<cereal::Event>();
for (const auto &c : event.getCan()) {
new_events.push_back(newEvent(e.mono_time, c));
const CanEvent *ce = newEvent(e.mono_time, c);
new_events.push_back(ce);
msg_events[{.source = ce->src, .address = ce->address}].push_back(ce);
}
}
}
mergeEvents(new_events);
postToMainThreadAndWait([&]() { insertEvents(new_events, msg_events); });
}
}
}
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", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
replay.reset(new Replay(route, {"can", "narrowRoadEncodeIdx", "cabinEncodeIdx", "wideRoadEncodeIdx", "carParams"},
{}, nullptr, replay_flags, data_dir, auto_source));
replay->setSegmentCacheLimit(settings.max_cached_minutes);
replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
// Forward replay callbacks to corresponding Qt signals.
replay->onSeeking = [this](double sec) { emit seeking(sec); };
replay->onSeeking = [this](double sec) { postToMainThread([this, sec]() { seeking(sec); }); };
replay->onSeekedTo = [this](double sec) {
emit seekedTo(sec);
postToMainThread([this, sec]() { seekedTo(sec); });
waitForSeekFinshed();
};
replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::BlockingQueuedConnection); };
replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { postToMainThread([this, qlog]() { qLogLoaded(qlog); }); };
replay->onSegmentsMerged = [this]() { mergeSegments(); };
bool success = replay->load();
if (!success) {
std::string message;
if (replay->lastRouteError() == RouteLoadError::Unauthorized) {
auto auth_content = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
QString message;
if (auth_content.empty()) {
message = "Authentication Required. Please run the following command to authenticate:\n\n"
"python3 openpilot/tools/lib/auth.py\n\n"
"python3 iqpilot/tools/lib/auth.py\n\n"
"This will grant access to routes from your comma account.";
} else {
message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
"This is likely a private route.").arg(QString::fromStdString(route));
message = "Access Denied. You do not have permission to access route:\n\n" + route + "\n\n"
"This is likely a private route.";
}
QMessageBox::warning(nullptr, tr("Access Denied"), message);
} else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
QMessageBox::warning(nullptr, tr("Network Error"),
tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route)));
message = "Unable to load the route:\n\n " + route + ".\n\nPlease check your network connection and try again.";
} else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
QMessageBox::warning(nullptr, tr("Route Not Found"),
tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route)));
message = "The specified route could not be found:\n\n " + route + ".\n\nPlease check the route name and try again.";
} else {
QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route)));
message = "Failed to load route: '" + route + "'";
}
error(message);
}
return success;
}
@@ -101,8 +102,8 @@ bool ReplayStream::eventFilter(const Event *event) {
}
double ts = millis_since_boot();
if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
emit privateUpdateLastMsgsSignal();
if ((ts - prev_update_ts) > (1000.0 / STREAM_UPDATE_FPS)) {
requestUpdateLastMessages();
prev_update_ts = ts;
}
return true;
@@ -110,66 +111,5 @@ bool ReplayStream::eventFilter(const Event *event) {
void ReplayStream::pause(bool pause) {
replay->pause(pause);
emit(pause ? paused() : resume());
}
// OpenReplayWidget
OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
QGridLayout *grid_layout = new QGridLayout(this);
grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
route_edit->setPlaceholderText(tr("Enter route name or browse for local/remote route"));
auto browse_remote_btn = new QPushButton(tr("Remote route..."), this);
grid_layout->addWidget(browse_remote_btn, 0, 2);
auto browse_local_btn = new QPushButton(tr("Local route..."), this);
grid_layout->addWidget(browse_local_btn, 0, 3);
QHBoxLayout *camera_layout = new QHBoxLayout();
for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")})
camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this)));
cameras[0]->setChecked(true);
camera_layout->addStretch(1);
grid_layout->addItem(camera_layout, 1, 1);
setMinimumWidth(550);
QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() {
QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir));
if (!dir.isEmpty()) {
route_edit->setText(dir);
settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string();
}
});
QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() {
RoutesDialog route_dlg(this);
if (route_dlg.exec()) {
route_edit->setText(route_dlg.route());
}
});
}
AbstractStream *OpenReplayWidget::open() {
QString route = route_edit->text();
QString data_dir;
if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
data_dir = route.mid(0, idx + 1);
route = route.mid(idx + 1);
}
bool is_valid_format = Route::parseRoute(route.toStdString()).str.size() > 0;
if (!is_valid_format) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
} else {
auto replay_stream = std::make_unique<ReplayStream>(qApp);
uint32_t flags = REPLAY_FLAG_NONE;
if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
return replay_stream.release();
}
}
return nullptr;
pause ? paused() : resume();
}