IQ.Pilot Release Commit @ f2a861c

iqpilot/tools/cabana/streams/abstractstream.cc

@@ -0,0 +1,326 @@
+#include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/dbc/dbcqt.h"
+
+#include <limits>
+#include <utility>
+
+#include <QApplication>
+#include "common/timing.h"
+#include "tools/cabana/settings.h"
+
+static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
+
+AbstractStream *can = nullptr;
+
+AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
+  assert(parent != nullptr);
+  event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
+
+  QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
+  QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &AbstractStream::updateMasks);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::maskUpdated, this, &AbstractStream::updateMasks);
+}
+
+void AbstractStream::updateMasks() {
+  std::lock_guard lk(mutex_);
+  masks_.clear();
+  if (!settings.suppress_defined_signals)
+    return;
+
+  for (const auto s : sources) {
+    for (const auto &[address, m] : dbc()->getMessages(s)) {
+      masks_[{.source = (uint8_t)s, .address = address}] = m.mask;
+    }
+  }
+  // clear bit change counts
+  for (auto &[id, m] : messages_) {
+    auto &mask = masks_[id];
+    const int size = std::min(mask.size(), m.last_changes.size());
+    for (int i = 0; i < size; ++i) {
+      for (int j = 0; j < 8; ++j) {
+        if (((mask[i] >> (7 - j)) & 1) != 0) m.bit_flip_counts[i][j] = 0;
+      }
+    }
+  }
+}
+
+void AbstractStream::suppressDefinedSignals(bool suppress) {
+  settings.suppress_defined_signals = suppress;
+  updateMasks();
+}
+
+size_t AbstractStream::suppressHighlighted() {
+  std::lock_guard lk(mutex_);
+  size_t cnt = 0;
+  for (auto &[_, m] : messages_) {
+    for (auto &last_change : m.last_changes) {
+      const double dt = current_sec_ - last_change.ts;
+      if (dt < 2.0) {
+        last_change.suppressed = true;
+      }
+      cnt += last_change.suppressed;
+    }
+    for (auto &flip_counts : m.bit_flip_counts) flip_counts.fill(0);
+  }
+  return cnt;
+}
+
+void AbstractStream::clearSuppressed() {
+  std::lock_guard lk(mutex_);
+  for (auto &[_, m] : messages_) {
+    std::for_each(m.last_changes.begin(), m.last_changes.end(), [](auto &c) { c.suppressed = false; });
+  }
+}
+
+void AbstractStream::updateLastMessages() {
+  auto prev_src_size = sources.size();
+  auto prev_msg_size = last_msgs.size();
+  std::set<MessageId> msgs;
+
+  {
+    std::lock_guard lk(mutex_);
+    for (const auto &id : new_msgs_) {
+      const auto &can_data = messages_[id];
+      current_sec_ = std::max(current_sec_, can_data.ts);
+      last_msgs[id] = can_data;
+      sources.insert(id.source);
+    }
+    msgs = std::move(new_msgs_);
+  }
+
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+    return;
+  }
+
+  if (sources.size() != prev_src_size) {
+    updateMasks();
+    emit sourcesUpdated(sources);
+  }
+  emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
+}
+
+void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>> &range) {
+  time_range_ = range;
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+  }
+  emit timeRangeChanged(time_range_);
+}
+
+void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
+  std::lock_guard lk(mutex_);
+  messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
+  new_msgs_.insert(id);
+}
+
+const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
+  static std::vector<const CanEvent *> empty_events;
+  auto it = events_.find(id);
+  return it != events_.end() ? it->second : empty_events;
+}
+
+const CanData &AbstractStream::lastMessage(const MessageId &id) const {
+  static CanData empty_data = {};
+  auto it = last_msgs.find(id);
+  return it != last_msgs.end() ? it->second : empty_data;
+}
+
+bool AbstractStream::isMessageActive(const MessageId &id) const {
+  if (id.source == INVALID_SOURCE) {
+    return false;
+  }
+  // Check if the message is active based on time difference and frequency
+  const auto &m = lastMessage(id);
+  float delta = currentSec() - m.ts;
+
+  if (m.freq < std::numeric_limits<double>::epsilon()) {
+    return delta < 1.5;
+  }
+
+  return delta < (5.0 / m.freq) + (1.0 / settings.fps);
+}
+
+void AbstractStream::updateLastMsgsTo(double sec) {
+  current_sec_ = sec;
+  uint64_t last_ts = toMonoTime(sec);
+  std::unordered_map<MessageId, CanData> msgs;
+  msgs.reserve(events_.size());
+
+  for (const auto &[id, ev] : events_) {
+    auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
+    if (it != ev.begin()) {
+      auto &m = msgs[id];
+      double freq = 0;
+      // Keep suppressed bits.
+      if (auto old_m = messages_.find(id); old_m != messages_.end()) {
+        freq = old_m->second.freq;
+        m.last_changes.reserve(old_m->second.last_changes.size());
+        std::transform(old_m->second.last_changes.cbegin(), old_m->second.last_changes.cend(),
+                       std::back_inserter(m.last_changes),
+                       [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; });
+      }
+
+      auto prev = std::prev(it);
+      m.compute(id, (*prev)->dat, (*prev)->size, toSeconds((*prev)->mono_time), getSpeed(), {}, freq);
+      m.count = std::distance(ev.begin(), prev) + 1;
+    }
+  }
+
+  new_msgs_.clear();
+  messages_ = std::move(msgs);
+  bool id_changed = messages_.size() != last_msgs.size() ||
+                    std::any_of(messages_.cbegin(), messages_.cend(),
+                                [this](const auto &m) { return !last_msgs.count(m.first); });
+  last_msgs = messages_;
+  emit msgsReceived(nullptr, id_changed);
+
+  std::lock_guard lk(mutex_);
+  seek_finished_ = true;
+  seek_finished_cv_.notify_one();
+}
+
+void AbstractStream::waitForSeekFinshed() {
+  std::unique_lock lock(mutex_);
+  seek_finished_cv_.wait(lock, [this]() { return seek_finished_; });
+  seek_finished_ = false;
+}
+
+const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
+  auto dat = c.getDat();
+  CanEvent *e = (CanEvent *)event_buffer_->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
+  e->src = c.getSrc();
+  e->address = c.getAddress();
+  e->mono_time = mono_time;
+  e->size = dat.size();
+  memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
+  return e;
+}
+
+void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
+  static MessageEventsMap msg_events;
+  std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
+
+  // Group events by message ID
+  for (auto e : events) {
+    msg_events[{.source = e->src, .address = e->address}].push_back(e);
+  }
+
+  if (!events.empty()) {
+    for (const auto &[id, new_e] : msg_events) {
+      if (!new_e.empty()) {
+        auto &e = events_[id];
+        auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
+        e.insert(pos, new_e.cbegin(), new_e.cend());
+      }
+    }
+    auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), events.front()->mono_time, CompareCanEvent());
+    all_events_.insert(pos, events.cbegin(), events.cend());
+    emit eventsMerged(msg_events);
+  }
+}
+
+std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const {
+  const auto &events = can->events(id);
+  if (!time_range) return {events.begin(), events.end()};
+
+  auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent());
+  auto last = std::upper_bound(first, events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
+  return {first, last};
+}
+
+namespace {
+
+enum Color { GREYISH_BLUE, CYAN, RED};
+CabanaColor getColor(int c) {
+  constexpr int start_alpha = 128;
+  static const CabanaColor colors[] = {
+      [GREYISH_BLUE] = CabanaColor(102, 86, 169, start_alpha / 2),
+      [CYAN] = CabanaColor(0, 187, 255, start_alpha),
+      [RED] = CabanaColor(255, 0, 0, start_alpha),
+  };
+  return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
+}
+
+inline CabanaColor blend(const CabanaColor &a, const CabanaColor &b) {
+  return CabanaColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
+}
+
+// Calculate the frequency from the past one minute data
+double calc_freq(const MessageId &msg_id, double current_sec) {
+  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(current_sec - 59, current_sec));
+  int count = std::distance(first, last);
+  if (count <= 1) return 0.0;
+
+  double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
+  return duration > std::numeric_limits<double>::epsilon() ? (count - 1) / duration : 0.0;
+}
+
+}  // namespace
+
+void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const int size, double current_sec,
+                      double playback_speed, const std::vector<uint8_t> &mask, double in_freq) {
+  ts = current_sec;
+  ++count;
+
+  if (auto sec = seconds_since_boot(); (sec - last_freq_update_ts) >= 1) {
+    last_freq_update_ts = sec;
+    freq = !in_freq ? calc_freq(msg_id, ts) : in_freq;
+  }
+
+  if (dat.size() != size) {
+    dat.assign(can_data, can_data + size);
+    colors.assign(size, CabanaColor(0, 0, 0, 0));
+    last_changes.resize(size);
+    bit_flip_counts.resize(size);
+    std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
+  } else {
+    constexpr int periodic_threshold = 10;
+    constexpr float fade_time = 2.0;
+    const float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
+
+    for (int i = 0; i < size; ++i) {
+      auto &last_change = last_changes[i];
+
+      uint8_t mask_byte = last_change.suppressed ? 0x00 : 0xFF;
+      if (i < mask.size()) mask_byte &= ~(mask[i]);
+
+      const uint8_t last = dat[i] & mask_byte;
+      const uint8_t cur = can_data[i] & mask_byte;
+      if (last != cur) {
+        const int delta = cur - last;
+        // Keep track if signal is changing randomly, or mostly moving in the same direction
+        last_change.same_delta_counter += std::signbit(delta) == std::signbit(last_change.delta) ? 1 : -4;
+        last_change.same_delta_counter = std::clamp(last_change.same_delta_counter, 0, 16);
+
+        const double delta_t = ts - last_change.ts;
+        // Mostly moves in the same direction, color based on delta up/down
+        if (delta_t * freq > periodic_threshold || last_change.same_delta_counter > 8) {
+          // Last change was while ago, choose color based on delta up or down
+          colors[i] = getColor(cur > last ? CYAN : RED);
+        } else {
+          // Periodic changes
+          colors[i] = blend(colors[i], getColor(GREYISH_BLUE));
+        }
+
+        // Track bit level changes
+        auto &row_bit_flips = bit_flip_counts[i];
+        const uint8_t diff = (cur ^ last);
+        for (int bit = 0; bit < 8; bit++) {
+          if (diff & (1u << bit)) {
+            ++row_bit_flips[7 - bit];
+          }
+        }
+
+        last_change.ts = ts;
+        last_change.delta = delta;
+      } else {
+        // Fade out
+        colors[i].setAlphaF(std::max(0.0f, colors[i].alphaF() - alpha_delta));
+      }
+    }
+  }
+  memcpy(dat.data(), can_data, size);
+}

iqpilot/tools/cabana/streams/abstractstream.h

@@ -0,0 +1,119 @@
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <condition_variable>
+#include <chrono>
+#include <memory>
+#include <mutex>
+#include <optional>
+#include <set>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "tools/cabana/core/can_data.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/utils/util.h"
+#include "tools/replay/util.h"
+
+class AbstractStream : public QObject {
+  Q_OBJECT
+
+public:
+  AbstractStream(QObject *parent);
+  virtual ~AbstractStream() {}
+  virtual void start() = 0;
+  virtual bool liveStreaming() const { return true; }
+  virtual void seekTo(double ts) {}
+  virtual std::string routeName() const = 0;
+  virtual std::string carFingerprint() const { return ""; }
+  virtual std::chrono::system_clock::time_point beginDateTime() const { return {}; }
+  virtual uint64_t beginMonoTime() const { return 0; }
+  virtual double minSeconds() const { return 0; }
+  virtual double maxSeconds() const { return 0; }
+  virtual void setSpeed(float speed) {}
+  virtual double getSpeed() { return 1; }
+  virtual bool isPaused() const { return false; }
+  virtual void pause(bool pause) {}
+  void setTimeRange(const std::optional<std::pair<double, double>> &range);
+  const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
+
+  inline double currentSec() const { return current_sec_; }
+  inline uint64_t toMonoTime(double sec) const { return beginMonoTime() + std::max(sec, 0.0) * 1e9; }
+  inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
+
+  inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
+  bool isMessageActive(const MessageId &id) const;
+  inline const MessageEventsMap &eventsMap() const { return events_; }
+  inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+  const CanData &lastMessage(const MessageId &id) const;
+  const std::vector<const CanEvent *> &events(const MessageId &id) const;
+  std::pair<CanEventIter, CanEventIter> eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const;
+
+  size_t suppressHighlighted();
+  void clearSuppressed();
+  void suppressDefinedSignals(bool suppress);
+
+signals:
+  void paused();
+  void resume();
+  void seeking(double sec);
+  void seekedTo(double sec);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
+  void eventsMerged(const MessageEventsMap &events_map);
+  void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
+  void sourcesUpdated(const SourceSet &s);
+  void privateUpdateLastMsgsSignal();
+
+public:
+  SourceSet sources;
+
+protected:
+  void mergeEvents(const std::vector<const CanEvent *> &events);
+  const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
+  void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
+  void waitForSeekFinshed();
+  virtual void updateLastMessages();
+  std::vector<const CanEvent *> all_events_;
+  double current_sec_ = 0;
+  std::optional<std::pair<double, double>> time_range_;
+
+private:
+  void updateLastMsgsTo(double sec);
+  void updateMasks();
+
+  MessageEventsMap events_;
+  std::unordered_map<MessageId, CanData> last_msgs;
+  std::unique_ptr<MonotonicBuffer> event_buffer_;
+
+  // Members accessed in multiple threads. (mutex protected)
+  std::mutex mutex_;
+  std::condition_variable seek_finished_cv_;
+  bool seek_finished_ = false;
+  std::set<MessageId> new_msgs_;
+  std::unordered_map<MessageId, CanData> messages_;
+  std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
+};
+
+class AbstractOpenStreamWidget : public QWidget {
+  Q_OBJECT
+public:
+  AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual AbstractStream *open() = 0;
+
+signals:
+  void enableOpenButton(bool);
+};
+
+class DummyStream : public AbstractStream {
+  Q_OBJECT
+public:
+  DummyStream(QObject *parent) : AbstractStream(parent) {}
+  std::string routeName() const override { return "No Stream"; }
+  void start() override {}
+};
+
+// A global pointer referring to the unique AbstractStream object
+extern AbstractStream *can;

iqpilot/tools/cabana/streams/devicestream.cc

@@ -0,0 +1,158 @@
+#include "tools/cabana/streams/devicestream.h"
+
+#include <cerrno>
+#include <chrono>
+#include <csignal>
+#include <cstring>
+#include <fcntl.h>
+#include <filesystem>
+#include <memory>
+#include <string>
+#include <thread>
+#include <unistd.h>
+#include <sys/wait.h>
+
+#include "cereal/services.h"
+
+#include <QButtonGroup>
+#include <QFormLayout>
+#include <QMessageBox>
+#include <QRadioButton>
+
+#include "tools/cabana/utils/util.h"
+
+// DeviceStream
+
+DeviceStream::DeviceStream(QObject *parent, Mode mode, QString address)
+    : mode_(mode), address_(address.isEmpty() ? "127.0.0.1" : address), LiveStream(parent) {
+}
+
+DeviceStream::~DeviceStream() {
+  stop();
+  stopBridge();
+}
+
+void DeviceStream::stopBridge() {
+  if (bridge_pid <= 0) return;
+
+  ::kill(bridge_pid, SIGTERM);
+  for (int i = 0; i < 30; ++i) {
+    int status = 0;
+    pid_t r = ::waitpid(bridge_pid, &status, WNOHANG);
+    if (r == bridge_pid || (r < 0 && errno == ECHILD)) {
+      bridge_pid = -1;
+      return;
+    }
+    usleep(100000);  // 100ms, up to ~3s
+  }
+  ::kill(bridge_pid, SIGKILL);
+  ::waitpid(bridge_pid, nullptr, 0);
+  bridge_pid = -1;
+}
+
+void DeviceStream::start() {
+  if (mode_ == Mode::Bridge) {
+    stopBridge();
+    const std::string path = (std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) /
+                              "../../cereal/messaging/bridge").lexically_normal().string();
+    const std::string addr = address_.toStdString();
+    const char *can_filter = "/\"can/\"";
+
+    // Self-pipe: write end is CLOEXEC so it closes on successful exec. If exec
+    // fails, the child writes errno and the parent aborts stream start.
+    int err_pipe[2] = {-1, -1};
+    if (::pipe(err_pipe) != 0) {
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
+      return;
+    }
+
+    pid_t pid = ::fork();
+    if (pid == 0) {
+      ::close(err_pipe[0]);
+      ::fcntl(err_pipe[1], F_SETFD, FD_CLOEXEC);
+      execl(path.c_str(), path.c_str(), addr.c_str(), can_filter, static_cast<char *>(nullptr));
+      const int err = errno;
+      (void)!::write(err_pipe[1], &err, sizeof(err));
+      _exit(127);
+    }
+
+    ::close(err_pipe[1]);
+    if (pid < 0) {
+      ::close(err_pipe[0]);
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
+      return;
+    }
+
+    int exec_errno = 0;
+    const ssize_t n = ::read(err_pipe[0], &exec_errno, sizeof(exec_errno));
+    ::close(err_pipe[0]);
+    if (n == static_cast<ssize_t>(sizeof(exec_errno))) {
+      // Child failed to exec; reap and surface the error.
+      int status = 0;
+      ::waitpid(pid, &status, 0);
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(exec_errno))));
+      return;
+    }
+
+    bridge_pid = pid;
+  }
+
+  LiveStream::start();
+}
+
+void DeviceStream::streamThread() {
+  // Bridge mode republishes into local msgq, so only the direct Zmq mode talks ZMQ.
+  // (Upstream sets ZMQ=1 for its bridge path too, which reads nothing — the bridge
+  // publishes to msgq.)
+  mode_ == Mode::Zmq ? setenv("ZMQ", "1", 1) : unsetenv("ZMQ");
+  const std::string address = mode_ == Mode::Zmq ? address_.toStdString() : "127.0.0.1";
+
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size));
+  assert(sock != NULL);
+  // run as fast as messages come in
+  while (!exit_) {
+    std::unique_ptr<Message> msg(sock->receive(true));
+    if (!msg) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(50));
+      continue;
+    }
+    handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+  }
+}
+
+// OpenDeviceWidget
+
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
+  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
+  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
+  QRadioButton *bridge = new QRadioButton(tr("Bridge"));
+  zmq->setToolTip(tr("Subscribe directly to a ZMQ 'can' publisher: a device running "
+                     "cereal/messaging/bridge, or konn3kt_canproxy.py on 127.0.0.1."));
+  bridge->setToolTip(tr("Run cereal/messaging/bridge locally against the device and read msgq."));
+  ip_address = new QLineEdit(this);
+  ip_address->setPlaceholderText(tr("Enter device Ip Address"));
+  ip_address->setValidator(new IpAddressValidator(this));
+
+  group = new QButtonGroup(this);
+  group->addButton(msgq, static_cast<int>(DeviceStream::Mode::Msgq));
+  group->addButton(zmq, static_cast<int>(DeviceStream::Mode::Zmq));
+  group->addButton(bridge, static_cast<int>(DeviceStream::Mode::Bridge));
+
+  QFormLayout *form_layout = new QFormLayout(this);
+  form_layout->addRow(msgq);
+  form_layout->addRow(zmq, ip_address);
+  form_layout->addRow(bridge);
+  QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
+    if (checked) ip_address->setEnabled(button != msgq);
+  });
+  zmq->setChecked(true);
+}
+
+AbstractStream *OpenDeviceWidget::open() {
+  auto mode = static_cast<DeviceStream::Mode>(group->checkedId());
+  return new DeviceStream(qApp, mode, mode == DeviceStream::Mode::Msgq ? "" : ip_address->text());
+}

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;
+};

iqpilot/tools/cabana/streams/livestream.cc

@@ -0,0 +1,151 @@
+#include "tools/cabana/streams/livestream.h"
+
+#include <algorithm>
+#include <chrono>
+#include <fstream>
+#include <iomanip>
+#include <memory>
+#include <sstream>
+
+#include "common/timing.h"
+#include "common/util.h"
+
+struct LiveStream::Logger {
+  Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
+
+  void write(kj::ArrayPtr<capnp::word> data) {
+    int n = (seconds_since_epoch() - start_ts) / 60.0;
+    if (std::exchange(segment_num, n) != segment_num) {
+      const time_t start_time = start_ts;
+      std::tm local_time = {};
+      localtime_r(&start_time, &local_time);
+      std::ostringstream date;
+      date << std::put_time(&local_time, "%Y-%m-%d--%H-%M-%S");
+      QString dir = QString("%1/%2--%3")
+                        .arg(QString::fromStdString(settings.log_path))
+                        .arg(QString::fromStdString(date.str()))
+                        .arg(n);
+      util::create_directories(dir.toStdString(), 0755);
+      fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
+    }
+
+    auto bytes = data.asBytes();
+    fs->write((const char*)bytes.begin(), bytes.size());
+  }
+
+  std::unique_ptr<std::ofstream> fs;
+  int segment_num;
+  uint64_t start_ts;
+};
+
+LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
+  if (settings.log_livestream) {
+    logger = std::make_unique<Logger>();
+  }
+}
+
+LiveStream::~LiveStream() {
+  stop();
+}
+
+void LiveStream::start() {
+  begin_date_time = std::chrono::system_clock::now();
+  fps_ = settings.fps;
+  exit_ = false;
+  stream_thread = std::thread(&LiveStream::streamThread, this);
+  update_thread = std::thread(&LiveStream::updateThread, this);
+}
+
+void LiveStream::stop() {
+  exit_ = true;
+  if (stream_thread.joinable()) stream_thread.join();
+  if (update_thread.joinable()) update_thread.join();
+}
+
+void LiveStream::updateThread() {
+  while (!exit_) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps_));
+    // coalesce: skip the emit if the main thread hasn't processed the previous one yet.
+    if (!update_pending_.exchange(true)) {
+      emit privateUpdateLastMsgsSignal();
+    }
+  }
+}
+
+// called in streamThread
+void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
+  if (logger) {
+    logger->write(data);
+  }
+
+  capnp::FlatArrayMessageReader reader(data);
+  auto event = reader.getRoot<cereal::Event>();
+  if (event.which() == cereal::Event::Which::CAN) {
+    const uint64_t mono_time = event.getLogMonoTime();
+    std::lock_guard lk(lock);
+    for (const auto &c : event.getCan()) {
+      received_events_.push_back(newEvent(mono_time, c));
+    }
+  }
+}
+
+// called on the main thread by the queued privateUpdateLastMsgsSignal connection
+void LiveStream::updateLastMessages() {
+  update_pending_ = false;
+  fps_ = settings.fps;
+  {
+    // merge events received from live stream thread.
+    std::lock_guard lk(lock);
+    mergeEvents(received_events_);
+    uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
+    lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
+    received_events_.clear();
+  }
+  if (!all_events_.empty()) {
+    begin_event_ts = all_events_.front()->mono_time;
+    updateEvents();
+  }
+}
+
+void LiveStream::updateEvents() {
+  static double prev_speed = 1.0;
+
+  if (first_update_ts == 0) {
+    first_update_ts = nanos_since_boot();
+    first_event_ts = current_event_ts = all_events_.back()->mono_time;
+  }
+
+  if (paused_ || prev_speed != speed_) {
+    prev_speed = speed_;
+    first_update_ts = nanos_since_boot();
+    first_event_ts = current_event_ts;
+    return;
+  }
+
+  uint64_t last_ts = post_last_event && speed_ == 1.0
+                       ? all_events_.back()->mono_time
+                       : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
+  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, CompareCanEvent());
+
+  for (auto it = first; it != last; ++it) {
+    const CanEvent *e = *it;
+    MessageId id = {.source = e->src, .address = e->address};
+    updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
+    current_event_ts = e->mono_time;
+  }
+  AbstractStream::updateLastMessages();
+}
+
+void LiveStream::seekTo(double sec) {
+  sec = std::max(0.0, sec);
+  first_update_ts = nanos_since_boot();
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastest_event_ts);
+  post_last_event = (first_event_ts == lastest_event_ts);
+  emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
+}
+
+void LiveStream::pause(bool pause) {
+  paused_ = pause;
+  emit(pause ? paused() : resume());
+}

iqpilot/tools/cabana/streams/livestream.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <algorithm>
+#include <atomic>
+#include <memory>
+#include <thread>
+#include <vector>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+class LiveStream : public AbstractStream {
+  Q_OBJECT
+
+public:
+  LiveStream(QObject *parent);
+  virtual ~LiveStream();
+  void start() override;
+  void stop();
+  inline std::chrono::system_clock::time_point beginDateTime() const override { return begin_date_time; }
+  inline uint64_t beginMonoTime() const override { return begin_event_ts; }
+  double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
+  void setSpeed(float speed) override { speed_ = speed; }
+  double getSpeed() override { return speed_; }
+  bool isPaused() const override { return paused_; }
+  void pause(bool pause) override;
+  void seekTo(double sec) override;
+
+protected:
+  virtual void streamThread() = 0;
+  void handleEvent(kj::ArrayPtr<capnp::word> event);
+
+  std::atomic<bool> exit_ = false;
+
+private:
+  void updateThread();
+  void updateLastMessages() override;
+  void updateEvents();
+
+  std::mutex lock;
+  std::thread stream_thread, update_thread;
+  std::atomic<bool> update_pending_ = false;
+  std::atomic<int> fps_ = 10;
+  std::vector<const CanEvent *> received_events_;
+
+  std::chrono::system_clock::time_point begin_date_time;
+  uint64_t begin_event_ts = 0;
+  uint64_t lastest_event_ts = 0;
+  uint64_t current_event_ts = 0;
+  uint64_t first_event_ts = 0;
+  uint64_t first_update_ts = 0;
+  bool post_last_event = true;
+  double speed_ = 1;
+  bool paused_ = false;
+
+  struct Logger;
+  std::unique_ptr<Logger> logger;
+};

iqpilot/tools/cabana/streams/pandastream.cc

@@ -0,0 +1,189 @@
+#include "tools/cabana/streams/pandastream.h"
+
+#include <chrono>
+#include <cstdio>
+#include <thread>
+
+#include <QCheckBox>
+#include <QLabel>
+#include <QMessageBox>
+#include <QPushButton>
+#include <QTimer>
+
+PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to panda");
+  }
+}
+
+bool PandaStream::connect() {
+  try {
+    fprintf(stderr, "Connecting to panda %s\n", config.serial.c_str());
+    panda.reset(new Panda(config.serial));
+    config.bus_config.resize(3);
+    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 (!exit_) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+
+    if (!panda->connected()) {
+      fprintf(stderr, "Connection to panda lost. Attempting reconnect.\n");
+      if (!connect()){
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+        continue;
+      }
+    }
+
+    raw_can_data.clear();
+    if (!panda->can_receive(raw_can_data)) {
+      fprintf(stderr, "failed to receive\n");
+      continue;
+    }
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(raw_can_data.size());
+    for (uint i = 0; i<raw_can_data.size(); i++) {
+      canData[i].setAddress(raw_can_data[i].address);
+      canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
+      canData[i].setSrc(raw_can_data[i].src);
+    }
+
+    handleEvent(capnp::messageToFlatArray(msg));
+
+    panda->send_heartbeat(false);
+  }
+}
+
+// OpenPandaWidget
+
+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(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;
+  }
+
+  QHBoxLayout *serial_layout = new QHBoxLayout();
+  serial_layout->addWidget(serial_edit = new QComboBox());
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
+  serial_layout->addWidget(refresh);
+  form_layout->addRow(tr("Serial"), serial_layout);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials);
+  QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm);
+
+  // Populate serials
+  refreshSerials();
+  buildConfigForm();
+}
+
+void OpenPandaWidget::refreshSerials() {
+  serial_edit->clear();
+  for (auto serial : Panda::list()) {
+    serial_edit->addItem(QString::fromStdString(serial));
+  }
+}
+
+void OpenPandaWidget::buildConfigForm() {
+  for (int i = form_layout->rowCount() - 1; i > 0; --i) {
+    form_layout->removeRow(i);
+  }
+
+  QString serial = serial_edit->currentText();
+  bool has_fd = false;
+  bool has_panda = !serial.isEmpty();
+  if (has_panda) {
+    try {
+      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) {
+      fprintf(stderr, "failed to open panda %s\n", serial.toUtf8().constData());
+      has_panda = false;
+    }
+  }
+
+  if (has_panda) {
+    config.serial = serial.toStdString();
+    config.bus_config.resize(3);
+    for (int i = 0; i < config.bus_config.size(); i++) {
+      QHBoxLayout *bus_layout = new QHBoxLayout;
+
+      // CAN Speed
+      bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):")));
+      QComboBox *can_speed = new QComboBox;
+      for (int j = 0; j < std::size(speeds); j++) {
+        can_speed->addItem(QString::number(speeds[j]));
+
+        if (data_speeds[j] == config.bus_config[i].can_speed_kbps) {
+          can_speed->setCurrentIndex(j);
+        }
+      }
+      QObject::connect(can_speed, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];});
+      bus_layout->addWidget(can_speed);
+
+      // CAN-FD Speed
+      if (has_fd) {
+        QCheckBox *enable_fd = new QCheckBox("CAN-FD");
+        bus_layout->addWidget(enable_fd);
+        bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):")));
+        QComboBox *data_speed = new QComboBox;
+        for (int j = 0; j < std::size(data_speeds); j++) {
+          data_speed->addItem(QString::number(data_speeds[j]));
+
+          if (data_speeds[j] == config.bus_config[i].data_speed_kbps) {
+            data_speed->setCurrentIndex(j);
+          }
+        }
+
+        data_speed->setEnabled(false);
+        bus_layout->addWidget(data_speed);
+
+        QObject::connect(data_speed, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];});
+        QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled);
+        QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;});
+      }
+
+      form_layout->addRow(tr("Bus %1:").arg(i), bus_layout);
+    }
+  } else {
+    config.serial = "";
+    form_layout->addWidget(new QLabel(tr("No panda found")));
+  }
+}
+
+AbstractStream *OpenPandaWidget::open() {
+  try {
+    return new PandaStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
+    return nullptr;
+  }
+}

iqpilot/tools/cabana/streams/pandastream.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include <QComboBox>
+#include <QFormLayout>
+
+#include "tools/cabana/streams/livestream.h"
+#include "tools/cabana/panda.h"
+
+const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
+const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
+
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
+struct PandaStreamConfig {
+  std::string serial = "";
+  std::vector<BusConfig> bus_config;
+};
+
+class PandaStream : public LiveStream {
+  Q_OBJECT
+public:
+  PandaStream(QObject *parent, PandaStreamConfig config_ = {});
+  ~PandaStream() { stop(); }
+  inline std::string routeName() const override {
+    return "Panda: " + config.serial;
+  }
+
+protected:
+  bool connect();
+  void streamThread() override;
+
+  std::unique_ptr<Panda> panda;
+  PandaStreamConfig config = {};
+};
+
+class OpenPandaWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenPandaWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
+
+private:
+  void refreshSerials();
+  void buildConfigForm();
+
+  QComboBox *serial_edit;
+  QFormLayout *form_layout;
+  PandaStreamConfig config = {};
+};

iqpilot/tools/cabana/streams/replaystream.cc

@@ -0,0 +1,175 @@
+#include "tools/cabana/streams/replaystream.h"
+
+#include <filesystem>
+
+#include <QLabel>
+#include <QFileDialog>
+#include <QGridLayout>
+#include <QMessageBox>
+#include <QPushButton>
+
+#include "common/timing.h"
+#include "common/util.h"
+#include "tools/cabana/streams/routes.h"
+
+ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
+  unsetenv("ZMQ");
+  setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
+
+  op_prefix = std::make_unique<OpenpilotPrefix>();
+
+  QObject::connect(&settings, &Settings::changed, this, [this]() {
+    if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
+  });
+}
+
+void ReplayStream::mergeSegments() {
+  auto event_data = replay->getEventData();
+  for (const auto &[n, seg] : event_data->segments) {
+    if (!processed_segments.count(n)) {
+      processed_segments.insert(n);
+
+      std::vector<const CanEvent *> new_events;
+      new_events.reserve(seg->log->events.size());
+      for (const Event &e : seg->log->events) {
+        if (e.which == cereal::Event::Which::CAN) {
+          capnp::FlatArrayMessageReader reader(e.data);
+          auto event = reader.getRoot<cereal::Event>();
+          for (const auto &c : event.getCan()) {
+            new_events.push_back(newEvent(e.mono_time, c));
+          }
+        }
+      }
+      mergeEvents(new_events);
+    }
+  }
+}
+
+bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir, auto_source));
+  replay->setSegmentCacheLimit(settings.max_cached_minutes);
+  replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
+
+  // Forward replay callbacks to corresponding Qt signals.
+  replay->onSeeking = [this](double sec) { emit seeking(sec); };
+  replay->onSeekedTo = [this](double sec) {
+    emit seekedTo(sec);
+    waitForSeekFinshed();
+  };
+  replay->onQLogLoaded = [this](std::shared_ptr<LogReader> qlog) { emit qLogLoaded(qlog); };
+  replay->onSegmentsMerged = [this]() { QMetaObject::invokeMethod(this, &ReplayStream::mergeSegments, Qt::BlockingQueuedConnection); };
+
+  bool success = replay->load();
+  if (!success) {
+    if (replay->lastRouteError() == RouteLoadError::Unauthorized) {
+      auto auth_content = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+      QString message;
+      if (auth_content.empty()) {
+        message = "Authentication Required. Please run the following command to authenticate:\n\n"
+                  "python3 openpilot/tools/lib/auth.py\n\n"
+                  "This will grant access to routes from your comma account.";
+      } else {
+        message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
+                     "This is likely a private route.").arg(QString::fromStdString(route));
+      }
+      QMessageBox::warning(nullptr, tr("Access Denied"), message);
+    } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
+      QMessageBox::warning(nullptr, tr("Network Error"),
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route)));
+    } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
+      QMessageBox::warning(nullptr, tr("Route Not Found"),
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route)));
+    } else {
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route)));
+    }
+  }
+  return success;
+}
+
+bool ReplayStream::eventFilter(const Event *event) {
+  static double prev_update_ts = 0;
+  if (event->which == cereal::Event::Which::CAN) {
+    double current_sec = toSeconds(event->mono_time);
+    capnp::FlatArrayMessageReader reader(event->data);
+    auto e = reader.getRoot<cereal::Event>();
+    for (const auto &c : e.getCan()) {
+      MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
+      const auto dat = c.getDat();
+      updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size());
+    }
+  }
+
+  double ts = millis_since_boot();
+  if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
+    emit privateUpdateLastMsgsSignal();
+    prev_update_ts = ts;
+  }
+  return true;
+}
+
+void ReplayStream::pause(bool pause) {
+  replay->pause(pause);
+  emit(pause ? paused() : resume());
+}
+
+
+// OpenReplayWidget
+
+OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
+  QGridLayout *grid_layout = new QGridLayout(this);
+  grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
+  grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
+  route_edit->setPlaceholderText(tr("Enter route name or browse for local/remote route"));
+  auto browse_remote_btn = new QPushButton(tr("Remote route..."), this);
+  grid_layout->addWidget(browse_remote_btn, 0, 2);
+  auto browse_local_btn = new QPushButton(tr("Local route..."), this);
+  grid_layout->addWidget(browse_local_btn, 0, 3);
+
+  QHBoxLayout *camera_layout = new QHBoxLayout();
+  for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")})
+    camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this)));
+  cameras[0]->setChecked(true);
+  camera_layout->addStretch(1);
+  grid_layout->addItem(camera_layout, 1, 1);
+
+  setMinimumWidth(550);
+  QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() {
+    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir));
+    if (!dir.isEmpty()) {
+      route_edit->setText(dir);
+      settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string();
+    }
+  });
+  QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() {
+    RoutesDialog route_dlg(this);
+    if (route_dlg.exec()) {
+      route_edit->setText(route_dlg.route());
+    }
+  });
+}
+
+AbstractStream *OpenReplayWidget::open() {
+  QString route = route_edit->text();
+  QString data_dir;
+  if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
+    data_dir = route.mid(0, idx + 1);
+    route = route.mid(idx + 1);
+  }
+
+  bool is_valid_format = Route::parseRoute(route.toStdString()).str.size() > 0;
+  if (!is_valid_format) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
+  } else {
+    auto replay_stream = std::make_unique<ReplayStream>(qApp);
+    uint32_t flags = REPLAY_FLAG_NONE;
+    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
+    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
+    if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
+
+    if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
+      return replay_stream.release();
+    }
+  }
+  return nullptr;
+}

iqpilot/tools/cabana/streams/replaystream.h

@@ -0,0 +1,59 @@
+#pragma once
+
+#include <QCheckBox>
+#include <algorithm>
+#include <memory>
+#include <set>
+#include <vector>
+
+#include "common/prefix.h"
+#include "tools/cabana/streams/abstractstream.h"
+#include "tools/replay/replay.h"
+
+Q_DECLARE_METATYPE(std::shared_ptr<LogReader>);
+
+class ReplayStream : public AbstractStream {
+  Q_OBJECT
+
+public:
+  ReplayStream(QObject *parent);
+  void start() override { replay->start(); }
+  bool loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
+  bool eventFilter(const Event *event);
+  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
+  bool liveStreaming() const override { return false; }
+  inline std::string routeName() const override { return replay->route().name(); }
+  inline std::string carFingerprint() const override { return replay->carFingerprint(); }
+  double minSeconds() const override { return replay->minSeconds(); }
+  double maxSeconds() const { return replay->maxSeconds(); }
+  inline std::chrono::system_clock::time_point beginDateTime() const override {
+    return std::chrono::system_clock::from_time_t(replay->routeDateTime());
+  }
+  inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
+  inline void setSpeed(float speed) override { replay->setSpeed(speed); }
+  inline float getSpeed() const { return replay->getSpeed(); }
+  inline Replay *getReplay() const { return replay.get(); }
+  inline bool isPaused() const override { return replay->isPaused(); }
+  void pause(bool pause) override;
+
+signals:
+  void qLogLoaded(std::shared_ptr<LogReader> qlog);
+
+private:
+  void mergeSegments();
+  std::unique_ptr<Replay> replay = nullptr;
+  std::set<int> processed_segments;
+  std::unique_ptr<OpenpilotPrefix> op_prefix;
+};
+
+class OpenReplayWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenReplayWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
+
+private:
+  QLineEdit *route_edit;
+  std::vector<QCheckBox *> cameras;
+};

iqpilot/tools/cabana/streams/routes.cc

@@ -0,0 +1,200 @@
+#include "tools/cabana/streams/routes.h"
+
+#include <chrono>
+#include <ctime>
+#include <string>
+#include <thread>
+#include <utility>
+
+#include <QApplication>
+#include <QDialogButtonBox>
+#include <QFormLayout>
+#include <QListWidget>
+#include <QMessageBox>
+#include <QPainter>
+
+#include "third_party/json11/json11.hpp"
+// IQ.Pilot patch: iqpilot's tools/replay has no py_downloader — device and route
+// listing come from the konn3kt API over libcurl. CommaApi2 returns the same JSON
+// shapes and the same {"error": ...} envelope upstream's PyDownloader produces, so
+// only the call sites change.
+#include "tools/replay/api.h"
+
+namespace {
+
+// Parse a konn3kt API JSON response into (success, error_code).
+std::pair<bool, int> checkApiResponse(const std::string &result) {
+  if (result.empty()) return {false, 500};
+  std::string err;
+  auto doc = json11::Json::parse(result, err);
+  if (!err.empty()) return {false, 500};
+  if (doc.is_object() && doc["error"].is_string()) {
+    return {false, doc["error"].string_value() == "unauthorized" ? 401 : 500};
+  }
+  return {true, 0};
+}
+
+int64_t nowUnixMs() {
+  return std::chrono::duration_cast<std::chrono::milliseconds>(
+             std::chrono::system_clock::now().time_since_epoch())
+      .count();
+}
+
+// Parse ISO-8601 (with optional fractional seconds / Z) to unix ms. Returns 0 on failure.
+int64_t parseIsoToUnixMs(const std::string &s) {
+  std::string bytes = s;
+  if (!bytes.empty() && (bytes.back() == 'Z' || bytes.back() == 'z')) bytes.pop_back();
+  int millis = 0;
+  auto dot = bytes.find('.');
+  if (dot != std::string::npos) {
+    std::string frac = bytes.substr(dot + 1);
+    bytes = bytes.substr(0, dot);
+    while (frac.size() < 3) frac.push_back('0');
+    millis = std::atoi(frac.substr(0, 3).c_str());
+  }
+  std::tm tm{};
+  const char *ret = strptime(bytes.c_str(), "%Y-%m-%dT%H:%M:%S", &tm);
+  if (!ret) ret = strptime(bytes.c_str(), "%Y-%m-%d %H:%M:%S", &tm);
+  if (!ret) return 0;
+  tm.tm_isdst = -1;
+  time_t secs = timegm(&tm);
+  if (secs == static_cast<time_t>(-1)) return 0;
+  return static_cast<int64_t>(secs) * 1000 + millis;
+}
+
+QString formatUnixMs(int64_t ms) {
+  time_t secs = static_cast<time_t>(ms / 1000);
+  std::tm tm{};
+  localtime_r(&secs, &tm);
+  char buf[64];
+  std::strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tm);
+  return QString::fromUtf8(buf);
+}
+
+}  // namespace
+
+// The RouteListWidget class extends QListWidget to display a custom message when empty
+class RouteListWidget : public QListWidget {
+public:
+  RouteListWidget(QWidget *parent = nullptr) : QListWidget(parent) {}
+  void setEmptyText(const QString &text) {
+    empty_text_ = text;
+    viewport()->update();
+  }
+  void paintEvent(QPaintEvent *event) override {
+    QListWidget::paintEvent(event);
+    if (count() == 0) {
+      QPainter painter(viewport());
+      painter.drawText(viewport()->rect(), Qt::AlignCenter, empty_text_);
+    }
+  }
+  QString empty_text_ = tr("No items");
+};
+
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Remote routes"));
+
+  QFormLayout *layout = new QFormLayout(this);
+  layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
+  layout->addRow(period_selector_ = new QComboBox(this));
+  layout->addRow(route_list_ = new RouteListWidget(this));
+  auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  layout->addRow(button_box);
+
+  device_list_->addItem(tr("Loading..."));
+  period_selector_->addItem(tr("Last week"), 7);
+  period_selector_->addItem(tr("Last 2 weeks"), 14);
+  period_selector_->addItem(tr("Last month"), 30);
+  period_selector_->addItem(tr("Last 6 months"), 180);
+  period_selector_->addItem(tr("Preserved"), -1);
+
+  connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
+  connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
+  connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
+  connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+
+  // Fetch devices
+  std::thread([this, alive = std::weak_ptr<bool>(alive_)]() {
+    std::string result = CommaApi2::getDevices();
+    QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
+      if (!alive.expired()) parseDeviceList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
+}
+
+void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) {
+  if (success) {
+    device_list_->clear();
+    std::string err;
+    auto doc = json11::Json::parse(json.toStdString(), err);
+    if (err.empty() && doc.is_array()) {
+      for (const auto &device : doc.array_items()) {
+        QString dongle_id = QString::fromStdString(device["dongle_id"].string_value());
+        device_list_->addItem(dongle_id, dongle_id);
+      }
+    }
+  } else {
+    QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with tools/lib/auth.py") : tr("Network error"));
+    reject();
+  }
+}
+
+void RoutesDialog::fetchRoutes() {
+  if (device_list_->currentIndex() == -1 || device_list_->currentData().isNull())
+    return;
+
+  route_list_->clear();
+  route_list_->setEmptyText(tr("Loading..."));
+
+  std::string did = device_list_->currentText().toStdString();
+  int period = period_selector_->currentData().toInt();
+
+  bool preserved = (period == -1);
+  int64_t start_ms = 0, end_ms = 0;
+  if (!preserved) {
+    end_ms = nowUnixMs();
+    start_ms = end_ms - static_cast<int64_t>(period) * 24LL * 60LL * 60LL * 1000LL;
+  }
+
+  int request_id = ++fetch_id_;
+  std::thread([this, alive = std::weak_ptr<bool>(alive_), did, start_ms, end_ms, preserved, request_id]() {
+    std::string result = CommaApi2::getDeviceRoutes(did, start_ms, end_ms, preserved);
+    QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
+      if (!alive.expired() && fetch_id_ == request_id) parseRouteList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
+}
+
+void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) {
+  if (success) {
+    std::string err;
+    auto doc = json11::Json::parse(json.toStdString(), err);
+    if (err.empty() && doc.is_array()) {
+      for (const auto &route : doc.array_items()) {
+        int64_t from_ms = 0, to_ms = 0;
+        if (period_selector_->currentData().toInt() == -1) {
+          from_ms = parseIsoToUnixMs(route["start_time"].string_value());
+          to_ms = parseIsoToUnixMs(route["end_time"].string_value());
+        } else {
+          from_ms = static_cast<int64_t>(route["start_time_utc_millis"].number_value());
+          to_ms = static_cast<int64_t>(route["end_time_utc_millis"].number_value());
+        }
+        const int mins = static_cast<int>((to_ms - from_ms) / 60000);
+        auto item = new QListWidgetItem(QString("%1    %2min").arg(formatUnixMs(from_ms)).arg(mins));
+        item->setData(Qt::UserRole, QString::fromStdString(route["fullname"].string_value()));
+        route_list_->addItem(item);
+      }
+    }
+    if (route_list_->count() > 0) route_list_->setCurrentRow(0);
+  } else {
+    QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
+    reject();
+  }
+  route_list_->setEmptyText(tr("No items"));
+}
+
+QString RoutesDialog::route() {
+  auto current_item = route_list_->currentItem();
+  return current_item ? current_item->data(Qt::UserRole).toString() : "";
+}

iqpilot/tools/cabana/streams/routes.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <atomic>
+#include <memory>
+
+#include <QComboBox>
+#include <QDialog>
+
+class RouteListWidget;
+
+class RoutesDialog : public QDialog {
+  Q_OBJECT
+public:
+  RoutesDialog(QWidget *parent);
+  QString route();
+
+protected:
+  void parseDeviceList(const QString &json, bool success, int error_code);
+  void parseRouteList(const QString &json, bool success, int error_code);
+  void fetchRoutes();
+
+  QComboBox *device_list_;
+  QComboBox *period_selector_;
+  RouteListWidget *route_list_;
+  std::atomic<int> fetch_id_{0};
+  // expires on destruction; guards main-thread callbacks from detached worker threads
+  std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
+};

iqpilot/tools/cabana/streams/socketcanstream.cc

@@ -0,0 +1,148 @@
+#include "tools/cabana/streams/socketcanstream.h"
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cstdio>
+#include <filesystem>
+#include <fstream>
+
+#include <QFormLayout>
+#include <QHBoxLayout>
+#include <QMessageBox>
+#include <QPushButton>
+
+SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!available()) {
+    throw std::runtime_error("SocketCAN not available");
+  }
+
+  fprintf(stderr, "Connecting to SocketCAN device %s\n", config.device.c_str());
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to SocketCAN device");
+  }
+}
+
+SocketCanStream::~SocketCanStream() {
+  stop();
+  if (sock_fd >= 0) {
+    ::close(sock_fd);
+    sock_fd = -1;
+  }
+}
+
+bool SocketCanStream::available() {
+  int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (fd < 0) return false;
+  ::close(fd);
+  return true;
+}
+
+bool SocketCanStream::connect() {
+  sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (sock_fd < 0) {
+    fprintf(stderr, "Failed to create CAN socket\n");
+    return false;
+  }
+
+  // Enable CAN-FD
+  int fd_enable = 1;
+  setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
+
+  struct ifreq ifr = {};
+  strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
+    fprintf(stderr, "Failed to get interface index for %s\n", config.device.c_str());
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  struct sockaddr_can addr = {};
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    fprintf(stderr, "Failed to bind CAN socket\n");
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  // Set read timeout so the thread can check for interruption
+  struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};  // 100ms
+  setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+  return true;
+}
+
+void SocketCanStream::streamThread() {
+  struct canfd_frame frame;
+
+  while (!exit_) {
+    ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
+    if (nbytes <= 0) continue;
+
+    uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;  // works for both CAN and CAN-FD
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(1);
+    canData[0].setAddress(frame.can_id & CAN_EFF_MASK);
+    canData[0].setSrc(0);
+    canData[0].setDat(kj::arrayPtr(frame.data, len));
+
+    handleEvent(capnp::messageToFlatArray(msg));
+  }
+}
+
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+
+  QHBoxLayout *device_layout = new QHBoxLayout();
+  device_edit = new QComboBox();
+  device_edit->setFixedWidth(300);
+  device_layout->addWidget(device_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  device_layout->addWidget(refresh);
+  form_layout->addRow(tr("Device"), device_layout);
+  main_layout->addLayout(form_layout);
+
+  main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
+
+  // Populate devices
+  refreshDevices();
+}
+
+void OpenSocketCanWidget::refreshDevices() {
+  device_edit->clear();
+  // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
+  std::error_code ec;
+  for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) {
+    std::ifstream type_file(entry.path() / "type");
+    int type = 0;
+    if (type_file >> type && type == 280) {
+      device_edit->addItem(QString::fromStdString(entry.path().filename().string()));
+    }
+  }
+}
+
+AbstractStream *OpenSocketCanWidget::open() {
+  try {
+    return new SocketCanStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
+    return nullptr;
+  }
+}

iqpilot/tools/cabana/streams/socketcanstream.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <QComboBox>
+
+#include "tools/cabana/streams/livestream.h"
+
+struct SocketCanStreamConfig {
+  std::string device = ""; // TODO: support multiple devices/buses at once
+};
+
+class SocketCanStream : public LiveStream {
+  Q_OBJECT
+public:
+  SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
+  ~SocketCanStream();
+  static bool available();
+
+  inline std::string routeName() const override {
+    return "Live Streaming From Socket CAN " + config.device;
+  }
+
+protected:
+  void streamThread() override;
+  bool connect();
+
+  SocketCanStreamConfig config = {};
+  int sock_fd = -1;
+};
+
+class OpenSocketCanWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenSocketCanWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
+
+private:
+  void refreshDevices();
+
+  QComboBox *device_edit;
+  SocketCanStreamConfig config = {};
+};