IQ.Pilot Release Commit @ 661a2de

tools/cabana/streams/devicestream.h

@@ -2,17 +2,37 @@
 
 #include "tools/cabana/streams/livestream.h"
 
+#include <sys/types.h>
+
+// IQ.Pilot patch: upstream (#38484) folded the ZMQ path into "fork a local bridge and
+// read msgq". iqpilot needs the direct ZMQ attach kept as a first-class mode, because
+// tools/cabana/konn3kt_canproxy.py publishes a remote device's CAN onto a LOCAL ZMQ
+// "can" socket and Cabana attaches to it — see that script's header for the topology.
+// So the mode is explicit rather than inferred from whether an address was entered:
+//
+//   Msgq   - local msgq, no address                     (cabana running on the device)
+//   Zmq    - ZMQ subscribe straight to <address>        (konn3kt_canproxy, or `bridge` on the device)
+//   Bridge - fork cereal/messaging/bridge <address>,    (upstream's convenience path)
+//            which ZMQ-subscribes there and republishes
+//            to local msgq, then read msgq
 class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
-  DeviceStream(QObject *parent, QString address = {});
-  inline QString routeName() const override {
-    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  enum class Mode { Msgq, Zmq, Bridge };
+
+  DeviceStream(QObject *parent, Mode mode = Mode::Msgq, QString address = {});
+  ~DeviceStream();
+  inline std::string routeName() const override {
+    return "Live Streaming From " + address_.toStdString();
   }
 
 protected:
+  void start() override;
   void streamThread() override;
-  const QString zmq_address;
+  void stopBridge();
+  pid_t bridge_pid = -1;
+  const Mode mode_;
+  const QString address_;
 };
 
 class OpenDeviceWidget : public AbstractOpenStreamWidget {