IQ.Pilot Release Commit @ 0b96bd5
This commit is contained in:
IQ.Lvbs CI [bot]
323
iqpilot/tools/cabana/ui/dialogs/streamselector.cc
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323
iqpilot/tools/cabana/ui/dialogs/streamselector.cc
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#include "tools/cabana/ui/dialogs/streamselector.h"
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#include <algorithm>
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#include <filesystem>
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#include <fstream>
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#include "imgui.h"
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#include "imgui_internal.h"
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#include "tools/cabana/settings.h"
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#include "tools/cabana/streams/devicestream.h"
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#include "tools/cabana/streams/replaystream.h"
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#include "tools/cabana/ui/dialogs/filedialog.h"
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#include "tools/cabana/ui/dialogs/messagebox.h"
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#include "tools/cabana/ui/util.h"
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#include "tools/cabana/utils/util.h"
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void OpenReplayWidget::draw() {
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ImGui::AlignTextToFramePadding();
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ImGui::TextUnformatted("Route");
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ImGui::SameLine();
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ImGui::SetNextItemWidth(-250.0f);
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inputText("##route", &route_, "Enter route name or browse for local/remote route");
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ImGui::SameLine();
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if (ImGui::Button("Remote route...")) {
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routes_dialog_.open(utils::guarded(alive_, [this](bool accepted, const std::string &route) {
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if (accepted) route_ = route;
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}));
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}
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ImGui::SameLine();
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if (ImGui::Button("Local route...")) {
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FileDialog::getExistingDirectory("Open Local Route", settings.last_route_dir, utils::guarded(alive_, [this](const std::string &dir) {
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if (!dir.empty()) {
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route_ = dir;
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settings.last_route_dir = std::filesystem::absolute(dir).parent_path().string();
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}
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}));
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}
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checkBox("Road camera", &cameras_[0]);
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ImGui::SameLine();
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checkBox("Driver camera", &cameras_[1]);
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ImGui::SameLine();
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checkBox("Wide road camera", &cameras_[2]);
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}
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void OpenReplayWidget::drawPopups() {
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routes_dialog_.draw();
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}
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std::unique_ptr<AbstractStream> OpenReplayWidget::open() {
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std::string route = route_;
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std::string data_dir;
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if (auto idx = route.rfind('/'); idx != std::string::npos && util::file_exists(route)) {
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data_dir = route.substr(0, idx + 1);
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route = route.substr(idx + 1);
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}
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bool is_valid_format = Route::parseRoute(route).str.size() > 0;
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if (!is_valid_format) {
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MessageBox::warning("Warning", "Invalid route format: '" + route + "'");
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} else {
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auto replay_stream = std::make_unique<ReplayStream>();
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Connection err = replay_stream->error.connect([](const std::string &msg) {
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MessageBox::warning("Error", msg);
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});
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uint32_t flags = REPLAY_FLAG_NONE;
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if (cameras_[1]) flags |= REPLAY_FLAG_DCAM;
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if (cameras_[2]) flags |= REPLAY_FLAG_ECAM;
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if (flags == REPLAY_FLAG_NONE && !cameras_[0]) flags = REPLAY_FLAG_NO_VIPC;
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if (replay_stream->loadRoute(route, data_dir, flags)) {
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return replay_stream;
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}
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}
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return nullptr;
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}
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namespace {
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const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
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const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
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}
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OpenPandaWidget::OpenPandaWidget() {
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if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
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already_connected_ = true;
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return;
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}
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refreshSerials();
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buildConfigForm();
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}
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void OpenPandaWidget::refreshSerials() {
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serials_ = Panda::list();
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serial_index_ = 0;
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}
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void OpenPandaWidget::buildConfigForm() {
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std::string serial = serial_index_ < static_cast<int>(serials_.size()) ? serials_[serial_index_] : "";
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has_fd_ = false;
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has_panda_ = !serial.empty();
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if (has_panda_) {
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try {
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Panda panda(serial);
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has_fd_ = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
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} catch (const std::exception &e) {
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fprintf(stderr, "failed to open panda %s\n", serial.c_str());
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has_panda_ = false;
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}
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}
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if (has_panda_) {
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config.serial = serial;
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config.bus_config.resize(3);
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can_speed_index_.assign(3, 0);
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data_speed_index_.assign(3, 0);
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < static_cast<int>(std::size(speeds)); j++) {
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if (speeds[j] == config.bus_config[i].can_speed_kbps) can_speed_index_[i] = j;
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}
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for (int j = 0; j < static_cast<int>(std::size(data_speeds)); j++) {
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if (data_speeds[j] == config.bus_config[i].data_speed_kbps) data_speed_index_[i] = j;
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}
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}
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} else {
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config.serial = "";
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}
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}
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void OpenPandaWidget::draw() {
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if (already_connected_) {
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ImGui::Text("Already connected to %s.", can->routeName().c_str());
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ImGui::TextUnformatted("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.");
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return;
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}
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ImGui::AlignTextToFramePadding();
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ImGui::TextUnformatted("Serial");
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ImGui::SameLine();
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ImGui::SetNextItemWidth(-100.0f);
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if (comboBox("##serial", &serial_index_, serials_)) buildConfigForm();
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ImGui::SameLine();
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if (ImGui::Button("Refresh")) {
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refreshSerials();
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buildConfigForm();
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}
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if (!has_panda_) {
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ImGui::TextUnformatted("No panda found");
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return;
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}
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for (int i = 0; i < static_cast<int>(config.bus_config.size()); i++) {
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ImGui::PushID(i);
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ImGui::AlignTextToFramePadding();
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ImGui::Text("Bus %d:", i);
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ImGui::SameLine();
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ImGui::TextUnformatted("CAN Speed (kbps):");
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ImGui::SameLine();
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ImGui::SetNextItemWidth(90.0f);
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if (comboBox("##can_speed", &can_speed_index_[i], speeds, (int)std::size(speeds))) {
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config.bus_config[i].can_speed_kbps = speeds[can_speed_index_[i]];
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}
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if (has_fd_) {
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ImGui::SameLine();
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checkBox("CAN-FD", &config.bus_config[i].can_fd);
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ImGui::SameLine();
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ImGui::TextUnformatted("Data Speed (kbps):");
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ImGui::SameLine();
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ImGui::BeginDisabled(!config.bus_config[i].can_fd);
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ImGui::SetNextItemWidth(90.0f);
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if (comboBox("##data_speed", &data_speed_index_[i], data_speeds, (int)std::size(data_speeds))) {
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config.bus_config[i].data_speed_kbps = data_speeds[data_speed_index_[i]];
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}
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ImGui::EndDisabled();
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}
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ImGui::PopID();
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}
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}
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std::unique_ptr<AbstractStream> OpenPandaWidget::open() {
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try {
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return std::make_unique<PandaStream>(config);
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} catch (std::exception &e) {
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MessageBox::warning("Warning", std::string("Failed to connect to panda: '") + e.what() + "'");
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return nullptr;
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}
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}
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void OpenDeviceWidget::draw() {
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ImGui::RadioButton("MSGQ", &mode_, 0);
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ImGui::RadioButton("ZMQ", &mode_, 1);
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ImGui::RadioButton("Bridge", &mode_, 2);
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const float label_width = ImGui::GetFrameHeight() + ImGui::GetStyle().ItemInnerSpacing.x +
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std::max(ImGui::CalcTextSize("MSGQ").x, ImGui::CalcTextSize("ZMQ").x) +
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ImGui::GetStyle().ItemInnerSpacing.x;
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ImGui::SameLine(label_width);
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ImGui::BeginDisabled(mode_ == 0);
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ImGui::SetNextItemWidth(-1.0f);
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validatedText("##ip", &ip_address_, validateIpAddress, "Enter device Ip Address", ipValidator);
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ImGui::EndDisabled();
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}
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std::unique_ptr<AbstractStream> OpenDeviceWidget::open() {
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std::string ip = ip_address_.empty() ? "127.0.0.1" : ip_address_;
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const DeviceStream::Mode modes[] = {DeviceStream::Mode::Msgq, DeviceStream::Mode::Zmq, DeviceStream::Mode::Bridge};
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return std::make_unique<DeviceStream>(modes[mode_], ip);
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}
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#ifdef __linux__
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OpenSocketCanWidget::OpenSocketCanWidget() {
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refreshDevices();
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}
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void OpenSocketCanWidget::refreshDevices() {
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devices_.clear();
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std::error_code ec;
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for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) {
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std::ifstream type_file(entry.path() / "type");
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int type = 0;
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if (type_file >> type && type == 280) {
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devices_.push_back(entry.path().filename().string());
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}
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}
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device_index_ = 0;
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config.device = devices_.empty() ? "" : devices_[0];
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}
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void OpenSocketCanWidget::draw() {
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ImGui::AlignTextToFramePadding();
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ImGui::TextUnformatted("Device");
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ImGui::SameLine();
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ImGui::SetNextItemWidth(300.0f);
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if (comboBox("##device", &device_index_, devices_)) config.device = devices_[device_index_];
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ImGui::SameLine();
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if (ImGui::Button("Refresh", ImVec2(100.0f, 0.0f))) refreshDevices();
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}
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std::unique_ptr<AbstractStream> OpenSocketCanWidget::open() {
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try {
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return std::make_unique<SocketCanStream>(config);
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} catch (std::exception &e) {
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MessageBox::warning("Warning", std::string("Failed to connect to SocketCAN device: '") + e.what() + "'");
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return nullptr;
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}
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}
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#endif
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void StreamSelector::open(Callback on_done) {
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on_done_ = std::move(on_done);
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open_ = true;
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popup_.reset();
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first_frame_ = true;
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dbc_file_.clear();
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widgets_.clear();
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widgets_.push_back(std::make_unique<OpenReplayWidget>());
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widgets_.push_back(std::make_unique<OpenPandaWidget>());
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#ifdef __linux__
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if (SocketCanStream::available()) {
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widgets_.push_back(std::make_unique<OpenSocketCanWidget>());
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}
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#endif
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widgets_.push_back(std::make_unique<OpenDeviceWidget>());
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}
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void StreamSelector::draw() {
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if (!open_) return;
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if (!beginDialog("Open stream", &popup_, ImVec2(640.0f, 0.0f))) return;
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AbstractOpenStreamWidget *current = nullptr;
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if (ImGui::BeginTabBar("streams")) {
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for (auto &w : widgets_) {
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ImGuiTabItemFlags tab_flags = (first_frame_ && w == widgets_.front()) ? ImGuiTabItemFlags_SetSelected : 0;
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if (ImGui::BeginTabItem(w->title(), nullptr, tab_flags)) {
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current = w.get();
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ImGui::BeginChild("tab", ImVec2(0, 130.0f));
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w->draw();
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ImGui::EndChild();
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ImGui::EndTabItem();
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}
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}
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ImGui::EndTabBar();
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}
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first_frame_ = false;
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ImGui::AlignTextToFramePadding();
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ImGui::TextUnformatted("dbc File");
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ImGui::SameLine();
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ImGui::SetNextItemWidth(-90.0f);
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inputText("##dbc", &dbc_file_, "Choose a dbc file to open", ImGuiInputTextFlags_ReadOnly);
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ImGui::SameLine();
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if (ImGui::Button("Browse...")) {
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FileDialog::getOpenFileName("Open File", settings.last_dir, ".dbc", [this](const std::string &fn) {
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if (!fn.empty()) {
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dbc_file_ = fn;
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settings.last_dir = std::filesystem::absolute(fn).parent_path().string();
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}
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});
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}
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ImGui::Separator();
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bool accepted = false, rejected = false;
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std::unique_ptr<AbstractStream> stream;
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bool open_clicked = false;
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dialogButtons("Open", &open_clicked, &rejected, current != nullptr && current->openEnabled());
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if (open_clicked) {
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if (stream = current->open(); stream) accepted = true;
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}
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if (current) current->drawPopups();
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FileDialog::draw();
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MessageBox::draw();
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if (accepted || rejected) ImGui::CloseCurrentPopup();
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ImGui::EndPopup();
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if (accepted || rejected) {
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open_ = false;
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widgets_.clear();
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auto on_done = std::move(on_done_);
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if (on_done) on_done(std::move(stream), dbc_file_);
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}
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}
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