cabana: improve panda startup dialog (#28104)

* create combo box for serial numbers

* configure bus speeds

tools/cabana/streams/pandastream.cc

@@ -1,9 +1,12 @@
 #include "tools/cabana/streams/pandastream.h"
 
-#include <QFormLayout>
+#include <QLabel>
 #include <QMessageBox>
+#include <QPushButton>
 #include <QVBoxLayout>
 
+#include "selfdrive/ui/qt/util.h"
+
 PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
   if (config.serial.isEmpty()) {
     auto serials = Panda::list();
@@ -97,16 +100,105 @@ OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWi
   main_layout->addStretch(1);
 
   QFormLayout *form_layout = new QFormLayout();
-  form_layout->addRow(tr("Serial"), serial_edit = new QLineEdit(this));
-  serial_edit->setPlaceholderText(tr("Leave empty to use default serial"));
 
+  QHBoxLayout *serial_layout = new QHBoxLayout();
+  serial_edit = new QComboBox();
+  serial_edit->setFixedWidth(300);
+  serial_layout->addWidget(serial_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  serial_layout->addWidget(refresh);
+  form_layout->addRow(tr("Serial"), serial_layout);
   main_layout->addLayout(form_layout);
+
+  config_layout = new QFormLayout();
+  main_layout->addLayout(config_layout);
+
   main_layout->addStretch(1);
+
+  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() {
+  clearLayout(config_layout);
+  QString serial = serial_edit->currentText();
+
+  bool has_fd = false;
+  bool has_panda = !serial.isEmpty();
+
+  if (has_panda) {
+    try {
+      Panda 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) {
+      has_panda = false;
+    }
+  }
+
+  if (has_panda) {
+    config.serial = serial;
+    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;});
+      }
+
+      config_layout->addRow(tr("Bus %1:").arg(i), bus_layout);
+    }
+  } else {
+    config.serial = "";
+    config_layout->addWidget(new QLabel(tr("No panda found")));
+  }
 }
 
 bool OpenPandaWidget::open() {
   try {
-    PandaStreamConfig config = {.serial = serial_edit->text()};
     *stream = new PandaStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));

tools/cabana/streams/pandastream.h

@@ -1,8 +1,15 @@
 #pragma once
 
+#include <QComboBox>
+#include <QFormLayout>
+#include <QVBoxLayout>
+
 #include "tools/cabana/streams/livestream.h"
 #include "selfdrive/boardd/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;
@@ -40,5 +47,10 @@ public:
   QString title() override { return tr("&Panda"); }
 
 private:
-  QLineEdit *serial_edit;
+  void refreshSerials();
+  void buildConfigForm();
+
+  QComboBox *serial_edit;
+  QFormLayout *config_layout;
+  PandaStreamConfig config = {};
 };