IQ.Pilot Release Commit @ 0b96bd5
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IQ.Lvbs CI [bot]
206
iqpilot/tools/cabana/ui/main.cc
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206
iqpilot/tools/cabana/ui/main.cc
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#include <cstdio>
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#include <cstring>
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#include <filesystem>
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#include <memory>
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#include <optional>
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#include <string>
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#include "tools/cabana/streams/devicestream.h"
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#include "tools/cabana/streams/pandastream.h"
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#include "tools/cabana/streams/replaystream.h"
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#ifdef __linux__
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#include "tools/cabana/streams/socketcanstream.h"
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#endif
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#include "tools/cabana/ui/app.h"
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#include "tools/cabana/ui/dialogs/messagebox.h"
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#include "tools/cabana/utils/util.h"
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#ifdef __GLIBC__
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#include <malloc.h>
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#endif
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namespace {
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struct CabanaArgs {
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bool demo = false;
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bool auto_source = false;
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bool qcam = false;
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bool wide_road = false;
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bool cabin = false;
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bool msgq = false;
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bool panda = false;
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bool no_vipc = false;
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bool no_cache = false;
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std::string panda_serial;
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std::string socketcan;
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std::string zmq;
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std::string bridge;
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std::string data_dir;
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std::string dbc;
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std::string route;
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};
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void printUsage(const char *argv0) {
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fprintf(stderr,
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"Usage: %s [options] [route]\n"
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"\n"
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" route local path or Konn3kt route to replay\n"
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"\n"
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"Options:\n"
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" --help show this help\n"
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" --demo use a demo route instead of providing your own\n"
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" --auto Auto load the route from the best available source (no video):\n"
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" internal, openpilotci, comma_api, car_segments, testing_closet\n"
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" --qcam load qcamera\n"
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" --wide-road load wide road camera (alias: --ecam)\n"
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" --cabin load cabin camera (alias: --dcam)\n"
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" --msgq read can messages from the msgq\n"
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" --panda read can messages from panda\n"
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" --panda-serial <serial> read can messages from panda with given serial\n"
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#ifdef __linux__
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" --socketcan <device> read can messages from given SocketCAN device\n"
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#endif
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" --zmq <ip-address> read can messages from zmq at the specified ip-address\n"
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" --bridge <ip-address> bridge remote ZMQ into local msgq\n"
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" --data_dir <dir> local directory with routes\n"
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" --no-vipc do not output video\n"
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" --no-cache turn off the local route file cache\n"
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" --dbc <file> dbc file to open\n",
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argv0);
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}
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bool takeValue(int argc, char *argv[], int &i, std::string &out) {
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if (i + 1 >= argc) {
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fprintf(stderr, "error: %s requires a value\n", argv[i]);
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return false;
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}
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out = argv[++i];
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return true;
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}
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std::optional<int> parseArgs(int argc, char *argv[], CabanaArgs &args) {
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for (int i = 1; i < argc; ++i) {
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const char *a = argv[i];
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if (std::strcmp(a, "--help") == 0 || std::strcmp(a, "-h") == 0) {
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printUsage(argv[0]);
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return 0;
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} else if (std::strcmp(a, "--demo") == 0) {
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args.demo = true;
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} else if (std::strcmp(a, "--auto") == 0) {
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args.auto_source = true;
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} else if (std::strcmp(a, "--qcam") == 0) {
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args.qcam = true;
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} else if (std::strcmp(a, "--wide-road") == 0 || std::strcmp(a, "--ecam") == 0) {
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args.wide_road = true;
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} else if (std::strcmp(a, "--cabin") == 0 || std::strcmp(a, "--dcam") == 0) {
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args.cabin = true;
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} else if (std::strcmp(a, "--msgq") == 0) {
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args.msgq = true;
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} else if (std::strcmp(a, "--panda") == 0) {
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args.panda = true;
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} else if (std::strcmp(a, "--panda-serial") == 0) {
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if (!takeValue(argc, argv, i, args.panda_serial)) return 1;
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args.panda = true;
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} else if (std::strcmp(a, "--socketcan") == 0) {
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if (!takeValue(argc, argv, i, args.socketcan)) return 1;
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#ifndef __linux__
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fprintf(stderr, "error: --socketcan is only supported on Linux\n");
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return 1;
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#endif
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} else if (std::strcmp(a, "--zmq") == 0) {
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if (!takeValue(argc, argv, i, args.zmq)) return 1;
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} else if (std::strcmp(a, "--bridge") == 0) {
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if (!takeValue(argc, argv, i, args.bridge)) return 1;
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} else if (std::strcmp(a, "--data_dir") == 0) {
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if (!takeValue(argc, argv, i, args.data_dir)) return 1;
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} else if (std::strcmp(a, "--no-vipc") == 0) {
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args.no_vipc = true;
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} else if (std::strcmp(a, "--no-cache") == 0) {
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args.no_cache = true;
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} else if (std::strcmp(a, "--dbc") == 0) {
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if (!takeValue(argc, argv, i, args.dbc)) return 1;
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} else if (a[0] == '-') {
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fprintf(stderr, "error: unknown option %s\n", a);
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printUsage(argv[0]);
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return 1;
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} else if (args.route.empty()) {
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args.route = a;
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} else {
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fprintf(stderr, "error: unexpected argument %s\n", a);
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printUsage(argv[0]);
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return 1;
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}
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}
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return std::nullopt;
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}
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}
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int main(int argc, char *argv[]) {
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#ifdef __GLIBC__
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mallopt(M_ARENA_MAX, 1);
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#endif
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std::error_code ec;
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std::filesystem::current_path(executableDir(), ec);
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CabanaArgs args;
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if (auto code = parseArgs(argc, argv, args)) return *code;
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std::unique_ptr<AbstractStream> stream;
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StreamLoader stream_loader;
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if (args.msgq) {
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stream = std::make_unique<DeviceStream>();
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} else if (!args.zmq.empty()) {
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stream = std::make_unique<DeviceStream>(DeviceStream::Mode::Zmq, args.zmq);
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} else if (!args.bridge.empty()) {
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stream = std::make_unique<DeviceStream>(DeviceStream::Mode::Bridge, args.bridge);
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} else if (args.panda) {
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try {
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stream = std::make_unique<PandaStream>(PandaStreamConfig{.serial = args.panda_serial});
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} catch (std::exception &e) {
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fprintf(stderr, "%s\n", e.what());
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return 1;
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}
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#ifdef __linux__
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} else if (!args.socketcan.empty()) {
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if (!SocketCanStream::available()) {
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fprintf(stderr, "error: SocketCAN is not available on this system\n");
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return 1;
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}
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stream = std::make_unique<SocketCanStream>(SocketCanStreamConfig{.device = args.socketcan});
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#endif
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} else {
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uint32_t replay_flags = REPLAY_FLAG_NONE;
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if (args.wide_road) replay_flags |= REPLAY_FLAG_ECAM;
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if (args.qcam) replay_flags |= REPLAY_FLAG_QCAMERA;
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if (args.cabin) replay_flags |= REPLAY_FLAG_DCAM;
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if (args.no_vipc) replay_flags |= REPLAY_FLAG_NO_VIPC;
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if (args.no_cache) replay_flags |= REPLAY_FLAG_NO_FILE_CACHE;
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std::string route;
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if (!args.route.empty()) {
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route = args.route;
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} else if (args.demo) {
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route = DEMO_ROUTE;
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}
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if (!route.empty()) {
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stream_loader = [route, data_dir = args.data_dir, replay_flags, auto_source = args.auto_source]() -> std::unique_ptr<AbstractStream> {
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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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fprintf(stderr, "%s\n", msg.c_str());
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utils::runOnMainThread([msg]() { MessageBox::warning("Error", msg); });
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});
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if (!replay_stream->loadRoute(route, data_dir, replay_flags, auto_source)) {
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return nullptr;
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}
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return replay_stream;
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};
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}
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}
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return run(std::move(stream), std::move(stream_loader), args.dbc);
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}
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