cabana: fix panda stream issues (#32537)

fix segfault

tools/cabana/streams/abstractstream.h

@@ -64,6 +64,7 @@ public:
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
+  virtual void stop() {}
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
@@ -128,11 +129,15 @@ private:
 };
 
 class AbstractOpenStreamWidget : public QWidget {
+  Q_OBJECT
 public:
   AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
   virtual bool open() = 0;
   virtual QString title() = 0;
 
+signals:
+  void enableOpenButton(bool);
+
 protected:
   AbstractStream **stream = nullptr;
 };

tools/cabana/streams/livestream.cc

@@ -42,6 +42,10 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
   QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
 }
 
+LiveStream::~LiveStream() {
+  stop();
+}
+
 void LiveStream::startUpdateTimer() {
   update_timer.stop();
   update_timer.start(1000.0 / settings.fps, this);
@@ -55,11 +59,14 @@ void LiveStream::start() {
   begin_date_time = QDateTime::currentDateTime();
 }
 
-LiveStream::~LiveStream() {
+void LiveStream::stop() {
+  if (!stream_thread) return;
+
   update_timer.stop();
   stream_thread->requestInterruption();
   stream_thread->quit();
   stream_thread->wait();
+  stream_thread = nullptr;
 }
 
 // called in streamThread

tools/cabana/streams/livestream.h

@@ -14,6 +14,7 @@ public:
   LiveStream(QObject *parent);
   virtual ~LiveStream();
   void start() override;
+  void stop() override;
   inline QDateTime beginDateTime() const { return begin_date_time; }
   inline double routeStartTime() const override { return begin_event_ts / 1e9; }
   void setSpeed(float speed) override { speed_ = speed; }

tools/cabana/streams/pandastream.cc

@@ -6,12 +6,17 @@
 #include <QMessageBox>
 #include <QPushButton>
 #include <QThread>
+#include <QTimer>
 
-PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {}
+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 {
-    qDebug() << "Connecting to panda with serial" << config.serial;
+    qDebug() << "Connecting to panda " << config.serial;
     panda.reset(new Panda(config.serial.toStdString()));
     config.bus_config.resize(3);
     qDebug() << "Connected";
@@ -80,6 +85,13 @@ AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
 
 OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
   form_layout = new QFormLayout(this);
+  if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
+    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(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());
 
@@ -116,6 +128,7 @@ void OpenPandaWidget::buildConfigForm() {
       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) {
+      qDebug() << "failed to open panda" << serial;
       has_panda = false;
     }
   }
@@ -170,13 +183,11 @@ void OpenPandaWidget::buildConfigForm() {
 }
 
 bool OpenPandaWidget::open() {
-  if (!config.serial.isEmpty()) {
-    auto panda_stream = std::make_unique<PandaStream>(qApp, config);
-    if (panda_stream->connect()) {
-      *stream = panda_stream.release();
+  try {
+    *stream = new PandaStream(qApp, config);
     return true;
-    }
-  }
-  QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda"));
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
     return false;
   }
+}

tools/cabana/streams/pandastream.h

@@ -21,13 +21,14 @@ class PandaStream : public LiveStream {
   Q_OBJECT
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
-  bool connect();
+  ~PandaStream() { stop(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
-    return QString("Live Streaming From Panda %1").arg(config.serial);
+    return QString("Panda: %1").arg(config.serial);
   }
 
 protected:
+  bool connect();
   void streamThread() override;
 
   std::unique_ptr<Panda> panda;

tools/cabana/streams/socketcanstream.h

@@ -17,6 +17,7 @@ class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
+  ~SocketCanStream() { stop(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   static bool available();
 

tools/cabana/streamselector.cc

@@ -1,6 +1,5 @@
 #include "tools/cabana/streamselector.h"
 
-#include <QDialogButtonBox>
 #include <QFileDialog>
 #include <QLabel>
 #include <QPushButton>
@@ -31,7 +30,7 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
   layout->addWidget(line);
 
-  auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
+  btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   layout->addWidget(btn_box);
 
   addStreamWidget(ReplayStream::widget(stream));
@@ -60,4 +59,6 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
 
 void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
   tab->addTab(w, w->title());
+  auto open_btn = btn_box->button(QDialogButtonBox::Open);
+  QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }

tools/cabana/streamselector.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QDialogButtonBox>
 #include <QDialog>
 #include <QLineEdit>
 #include <QTabWidget>
@@ -17,4 +18,5 @@ public:
 private:
   QLineEdit *dbc_file;
   QTabWidget *tab;
+  QDialogButtonBox *btn_box;
 };