IQ.Pilot Release Commit @ b6534c0

iqpilot/tools/cabana/streams/devicestream.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#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:
+  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;
+  void stopBridge();
+  pid_t bridge_pid = -1;
+  const Mode mode_;
+  const QString address_;
+};
+
+class OpenDeviceWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenDeviceWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
+
+private:
+  QLineEdit *ip_address;
+  QButtonGroup *group;
+};