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