IQ.Pilot Release Commit @ 0b96bd5

iqpilot/tools/cabana/ui/dialogs/streamselector.h

@@ -0,0 +1,106 @@
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/streams/pandastream.h"
+#ifdef __linux__
+#include "tools/cabana/streams/socketcanstream.h"
+#endif
+#include "tools/cabana/ui/dialogs/routesdialog.h"
+#include "tools/cabana/ui/util.h"
+
+class AbstractOpenStreamWidget {
+public:
+  virtual ~AbstractOpenStreamWidget() = default;
+  virtual const char *title() const = 0;
+  virtual void draw() = 0;
+
+
+  virtual void drawPopups() {}
+  virtual std::unique_ptr<AbstractStream> open() = 0;
+  virtual bool openEnabled() const { return true; }
+};
+
+class OpenReplayWidget : public AbstractOpenStreamWidget {
+public:
+  const char *title() const override { return "Replay"; }
+  void draw() override;
+  void drawPopups() override;
+  std::unique_ptr<AbstractStream> open() override;
+
+private:
+  std::string route_;
+  bool cameras_[3] = {true, false, false};
+  RoutesDialog routes_dialog_;
+
+  std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
+};
+
+class OpenPandaWidget : public AbstractOpenStreamWidget {
+public:
+  OpenPandaWidget();
+  const char *title() const override { return "Panda"; }
+  void draw() override;
+  std::unique_ptr<AbstractStream> open() override;
+  bool openEnabled() const override { return !already_connected_; }
+
+private:
+  void refreshSerials();
+  void buildConfigForm();
+
+  bool already_connected_ = false;
+  std::vector<std::string> serials_;
+  int serial_index_ = 0;
+  bool has_panda_ = false;
+  bool has_fd_ = false;
+  std::vector<int> can_speed_index_, data_speed_index_;
+  PandaStreamConfig config = {};
+};
+
+class OpenDeviceWidget : public AbstractOpenStreamWidget {
+public:
+  const char *title() const override { return "Device"; }
+  void draw() override;
+  std::unique_ptr<AbstractStream> open() override;
+
+private:
+  int mode_ = 1;
+  std::string ip_address_;
+};
+
+#ifdef __linux__
+class OpenSocketCanWidget : public AbstractOpenStreamWidget {
+public:
+  OpenSocketCanWidget();
+  const char *title() const override { return "SocketCAN"; }
+  void draw() override;
+  std::unique_ptr<AbstractStream> open() override;
+
+private:
+  void refreshDevices();
+
+  std::vector<std::string> devices_;
+  int device_index_ = 0;
+  SocketCanStreamConfig config = {};
+};
+#endif
+
+class StreamSelector {
+public:
+  using Callback = std::function<void(std::unique_ptr<AbstractStream> stream, const std::string &dbc_file)>;
+
+  void open(Callback on_done);
+  void draw();
+
+private:
+  bool open_ = false;
+  PopupOwner popup_;
+  bool first_frame_ = false;
+  std::string dbc_file_;
+  std::vector<std::unique_ptr<AbstractOpenStreamWidget>> widgets_;
+  Callback on_done_;
+};