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IQ.Pilot Release Commit @ 661a2de

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IQ.Lvbs CI [bot]
2026-08-08 14:37:51 -05:00
parent a6c27ac169
commit a1ef7d6c80
211 changed files with 7332 additions and 2756 deletions
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45
tools/cabana/streams/pandastream.cc
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@@ -1,11 +1,13 @@
#include "tools/cabana/streams/pandastream.h"
#include <QDebug>
#include <chrono>
#include <cstdio>
#include <thread>
#include <QCheckBox>
#include <QLabel>
#include <QMessageBox>
#include <QPushButton>
#include <QThread>
#include <QTimer>
PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
@@ -16,34 +18,48 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
bool PandaStream::connect() {
try {
qDebug() << "Connecting to panda " << config.serial;
panda.reset(new Panda(config.serial.toStdString(), 0, true));
fprintf(stderr, "Connecting to panda %s\n", config.serial.c_str());
panda.reset(new Panda(config.serial));
config.bus_config.resize(3);
qDebug() << "Connected";
fprintf(stderr, "Connected\n");
} catch (const std::exception& e) {
return false;
}
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
for (int bus = 0; bus < config.bus_config.size(); bus++) {
panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);
// CAN-FD
if (panda->hw_type == cereal::PandaState::PandaType::RED_PANDA || panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) {
if (config.bus_config[bus].can_fd) {
panda->set_data_speed_kbps(bus, config.bus_config[bus].data_speed_kbps);
} else {
// Hack to disable can-fd by setting data speed to a low value
panda->set_data_speed_kbps(bus, 10);
}
}
}
return true;
}
void PandaStream::streamThread() {
std::vector<can_frame> raw_can_data;
while (!QThread::currentThread()->isInterruptionRequested()) {
QThread::msleep(1);
while (!exit_) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
if (!panda->connected()) {
qDebug() << "Connection to panda lost. Attempting reconnect.";
fprintf(stderr, "Connection to panda lost. Attempting reconnect.\n");
if (!connect()){
QThread::msleep(1000);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
continue;
}
}
raw_can_data.clear();
if (!panda->can_receive(raw_can_data)) {
qDebug() << "failed to receive";
fprintf(stderr, "failed to receive\n");
continue;
}
@@ -58,6 +74,7 @@ void PandaStream::streamThread() {
handleEvent(capnp::messageToFlatArray(msg));
panda->send_heartbeat(false);
}
}
@@ -66,7 +83,7 @@ void PandaStream::streamThread() {
OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
form_layout = new QFormLayout(this);
if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName()))));
form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
return;
@@ -105,16 +122,16 @@ void OpenPandaWidget::buildConfigForm() {
bool has_panda = !serial.isEmpty();
if (has_panda) {
try {
Panda panda(serial.toStdString(), 0, true);
Panda panda(serial.toStdString());
has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
} catch (const std::exception& e) {
qDebug() << "failed to open panda" << serial;
fprintf(stderr, "failed to open panda %s\n", serial.toUtf8().constData());
has_panda = false;
}
}
if (has_panda) {
config.serial = serial;
config.serial = serial.toStdString();
config.bus_config.resize(3);
for (int i = 0; i < config.bus_config.size(); i++) {
QHBoxLayout *bus_layout = new QHBoxLayout;