35 lines
675 B
C++
35 lines
675 B
C++
#pragma once
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#include <memory>
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#include <vector>
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#include "tools/cabana/streams/livestream.h"
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#include "tools/cabana/panda.h"
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struct BusConfig {
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int can_speed_kbps = 500;
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int data_speed_kbps = 2000;
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bool can_fd = false;
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};
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struct PandaStreamConfig {
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std::string serial = "";
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std::vector<BusConfig> bus_config;
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};
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class PandaStream : public LiveStream {
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public:
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PandaStream(PandaStreamConfig config_ = {});
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~PandaStream() { stop(); }
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inline std::string routeName() const override {
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return "Panda: " + config.serial;
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}
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protected:
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bool connect();
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void streamThread() override;
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std::unique_ptr<Panda> panda;
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PandaStreamConfig config = {};
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};
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