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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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65
iqpilot/tools/cabana/streams/socketcanstream.cc
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@@ -8,15 +8,8 @@
#include <unistd.h>
#include <cstdio>
#include <filesystem>
#include <fstream>
#include <QFormLayout>
#include <QHBoxLayout>
#include <QMessageBox>
#include <QPushButton>
SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
SocketCanStream::SocketCanStream(SocketCanStreamConfig config_) : config(config_) {
if (!available()) {
throw std::runtime_error("SocketCAN not available");
}
@@ -49,7 +42,7 @@ bool SocketCanStream::connect() {
return false;
}
// Enable CAN-FD
int fd_enable = 1;
setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
@@ -72,8 +65,8 @@ bool SocketCanStream::connect() {
return false;
}
// Set read timeout so the thread can check for interruption
struct timeval tv = {.tv_sec = 0, .tv_usec = 100000}; // 100ms
struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};
setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
return true;
@@ -86,7 +79,7 @@ void SocketCanStream::streamThread() {
ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
if (nbytes <= 0) continue;
uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len; // works for both CAN and CAN-FD
uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;
MessageBuilder msg;
auto evt = msg.initEvent();
@@ -98,51 +91,3 @@ void SocketCanStream::streamThread() {
handleEvent(capnp::messageToFlatArray(msg));
}
}
OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->addStretch(1);
QFormLayout *form_layout = new QFormLayout();
QHBoxLayout *device_layout = new QHBoxLayout();
device_edit = new QComboBox();
device_edit->setFixedWidth(300);
device_layout->addWidget(device_edit);
QPushButton *refresh = new QPushButton(tr("Refresh"));
refresh->setFixedWidth(100);
device_layout->addWidget(refresh);
form_layout->addRow(tr("Device"), device_layout);
main_layout->addLayout(form_layout);
main_layout->addStretch(1);
QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
// Populate devices
refreshDevices();
}
void OpenSocketCanWidget::refreshDevices() {
device_edit->clear();
// Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
std::error_code ec;
for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) {
std::ifstream type_file(entry.path() / "type");
int type = 0;
if (type_file >> type && type == 280) {
device_edit->addItem(QString::fromStdString(entry.path().filename().string()));
}
}
}
AbstractStream *OpenSocketCanWidget::open() {
try {
return new SocketCanStream(qApp, config);
} catch (std::exception &e) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
return nullptr;
}
}