cabana: supports switching streams on the fly (#28081)

* open stream

* use std::atomic::exchange

* emit streamStarted immediately

tools/cabana/cabana.cc

@@ -1,7 +1,6 @@
 #include <QApplication>
 #include <QCommandLineParser>
 
-#include "common/prefix.h"
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
 #include "tools/cabana/streamselector.h"
@@ -35,17 +34,15 @@ int main(int argc, char *argv[]) {
 
   QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
 
-  std::unique_ptr<OpenpilotPrefix> op_prefix;
+  AbstractStream *stream = nullptr;
-  std::unique_ptr<AbstractStream> stream;
-
   if (cmd_parser.isSet("stream")) {
-    stream.reset(new DeviceStream(&app, cmd_parser.value("zmq")));
+    stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
     PandaStreamConfig config = {};
     if (cmd_parser.isSet("panda-serial")) {
       config.serial = cmd_parser.value("panda-serial");
     }
-    stream.reset(new PandaStream(&app, config));
+    stream = new PandaStream(&app, config);
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) {
@@ -65,36 +62,26 @@ int main(int argc, char *argv[]) {
     }
 
     if (route.isEmpty()) {
-      AbstractStream *out_stream = nullptr;
+      StreamSelector dlg(&stream);
-      StreamSelector dlg;
-      dlg.addStreamWidget(ReplayStream::widget(&out_stream));
-      dlg.addStreamWidget(PandaStream::widget(&out_stream));
-      dlg.addStreamWidget(DeviceStream::widget(&out_stream));
       if (!dlg.exec()) {
         return 0;
       }
       dbc_file = dlg.dbcFile();
-      stream.reset(out_stream);
     } else {
-      // TODO: Remove when OpenpilotPrefix supports ZMQ
-#ifndef __APPLE__
-      op_prefix.reset(new OpenpilotPrefix());
-#endif
       auto replay_stream = new ReplayStream(&app);
-      stream.reset(replay_stream);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
       }
+      stream = replay_stream;
     }
   }
 
   MainWindow w;
-
-  // Load DBC
   if (!dbc_file.isEmpty()) {
     w.loadFile(dbc_file);
   }
-
+  assert(stream != nullptr);
+  stream->start();
   w.show();
   return app.exec();
 }

tools/cabana/chart/chartswidget.cc

@@ -398,6 +398,7 @@ void ChartsWidget::removeAll() {
     tabbar->removeTab(1);
   }
   tab_charts.clear();
+  zoomReset();
 
   if (!charts.isEmpty()) {
     for (auto c : charts) {

tools/cabana/chart/chartswidget.h

@@ -124,4 +124,3 @@ public:
   ChartsWidget *charts;
   std::pair<double, double> prev_range, range;
 };
-

tools/cabana/detailwidget.cc

@@ -5,6 +5,7 @@
 #include <QMessageBox>
 
 #include "tools/cabana/commands.h"
+#include "tools/cabana/mainwin.h"
 
 // DetailWidget
 
@@ -218,7 +219,7 @@ void EditMessageDialog::validateName(const QString &text) {
 
 // CenterWidget
 
-CenterWidget::CenterWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
+CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
   main_layout->addWidget(welcome_widget = createWelcomeWidget());
@@ -228,7 +229,7 @@ void CenterWidget::setMessage(const MessageId &msg_id) {
   if (!detail_widget) {
     delete welcome_widget;
     welcome_widget = nullptr;
-    layout()->addWidget(detail_widget = new DetailWidget(charts, this));
+    layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
   }
   detail_widget->setMessage(msg_id);
 }

tools/cabana/detailwidget.h

@@ -10,6 +10,7 @@
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signalview.h"
 
+class MainWindow;
 class EditMessageDialog : public QDialog {
 public:
   EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
@@ -54,7 +55,7 @@ private:
 class CenterWidget : public QWidget {
   Q_OBJECT
 public:
-  CenterWidget(ChartsWidget* charts, QWidget *parent);
+  CenterWidget(QWidget *parent);
   void setMessage(const MessageId &msg_id);
   void clear();
 
@@ -62,5 +63,4 @@ private:
   QWidget *createWelcomeWidget();
   DetailWidget *detail_widget = nullptr;
   QWidget *welcome_widget = nullptr;
-  ChartsWidget *charts;
 };

tools/cabana/mainwin.cc

@@ -18,7 +18,6 @@
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
-#include "tools/cabana/streams/replaystream.h"
 #include "tools/cabana/tools/findsignal.h"
 
 static MainWindow *main_win = nullptr;
@@ -29,8 +28,7 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const
 
 MainWindow::MainWindow() : QMainWindow() {
   createDockWindows();
-  center_widget = new CenterWidget(charts_widget, this);
+  setCentralWidget(center_widget = new CenterWidget(this));
-  setCentralWidget(center_widget);
   createActions();
   createStatusBar();
   createShortcuts();
@@ -68,23 +66,18 @@ MainWindow::MainWindow() : QMainWindow() {
 
   QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage);
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
-  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
-  QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::streamStarted);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
+  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
+  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
 }
 
 void MainWindow::createActions() {
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  if (!can->liveStreaming()) {
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
-    file_menu->addAction(tr("Open Route..."), this, &MainWindow::openRoute);
   file_menu->addSeparator();
-  }
 
   file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
   file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
@@ -151,14 +144,22 @@ void MainWindow::createActions() {
 }
 
 void MainWindow::createDockWindows() {
-  // left panel
+  messages_dock = new QDockWidget(tr("MESSAGES"), this);
+  messages_dock->setObjectName("MessagesPanel");
+  messages_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
+  messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
+  addDockWidget(Qt::LeftDockWidgetArea, messages_dock);
+
+  video_dock = new QDockWidget("", this);
+  video_dock->setObjectName(tr("VideoPanel"));
+  video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+  video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
+  addDockWidget(Qt::RightDockWidgetArea, video_dock);
+}
+
+void MainWindow::createDockWidgets() {
   messages_widget = new MessagesWidget(this);
-  QDockWidget *dock = new QDockWidget(tr("MESSAGES"), this);
+  messages_dock->setWidget(messages_widget);
-  dock->setObjectName("MessagesPanel");
-  dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
-  dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
-  dock->setWidget(messages_widget);
-  addDockWidget(Qt::LeftDockWidgetArea, dock);
 
   // right panel
   charts_widget = new ChartsWidget(this);
@@ -176,17 +177,8 @@ void MainWindow::createDockWindows() {
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
   video_splitter->restoreState(settings.video_splitter_state);
-  if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
-    // display video at minimum size.
-    video_splitter->setSizes({1, 1});
-  }
-
-  video_dock = new QDockWidget(can->routeName(), this);
-  video_dock->setObjectName(tr("VideoPanel"));
-  video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
-  video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
   video_dock->setWidget(video_splitter);
-  addDockWidget(Qt::RightDockWidgetArea, video_dock);
+  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
 }
 
 void MainWindow::createStatusBar() {
@@ -242,15 +234,15 @@ void MainWindow::DBCFileChanged() {
   updateLoadSaveMenus();
 }
 
-void MainWindow::openRoute() {
+void MainWindow::openStream() {
-  StreamSelector dlg(this);
+  AbstractStream *stream = nullptr;
-  dlg.addStreamWidget(ReplayStream::widget(&can));
+  StreamSelector dlg(&stream, this);
   if (dlg.exec()) {
-    center_widget->clear();
+    if (!dlg.dbcFile().isEmpty()) {
-    charts_widget->removeAll();
+      loadFile(dlg.dbcFile());
+    }
+    stream->start();
     statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
-  } else if (dlg.failed()) {
-    close();
   }
 }
 
@@ -319,24 +311,42 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   }
 }
 
+void MainWindow::changingStream() {
+  center_widget->clear();
+  delete messages_widget;
+  delete video_splitter;
+}
+
 void MainWindow::streamStarted() {
-  auto fingerprint = can->carFingerprint();
+  createDockWidgets();
-  if (can->liveStreaming()) {
+
   video_dock->setWindowTitle(can->routeName());
-  } else {
+  if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
-    video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint));
+    // display video at minimum size.
+    video_splitter->setSizes({1, 1});
   }
-
   // Don't overwrite already loaded DBC
   if (!dbc()->msgCount()) {
-    if (!fingerprint.isEmpty()) {
+    newFile();
+  }
+
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
+  QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
+  QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources);
+  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+}
+
+void MainWindow::eventsMerged() {
+  if (!can->liveStreaming()) {
+    auto fingerprint = can->carFingerprint();
+    video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint));
+    // Don't overwrite already loaded DBC
+    if (!dbc()->msgCount() && !fingerprint.isEmpty()) {
       auto dbc_name = fingerprint_to_dbc[fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
         loadDBCFromOpendbc(dbc_name.toString());
-        return;
       }
     }
-    newFile();
   }
 }
 

tools/cabana/mainwin.h

@@ -22,14 +22,17 @@ public:
   void dockCharts(bool dock);
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
+  ChartsWidget *charts_widget = nullptr;
 
 public slots:
-  void openRoute();
+  void openStream();
+  void changingStream();
+  void streamStarted();
+
   void newFile(SourceSet s = SOURCE_ALL);
   void openFile(SourceSet s = SOURCE_ALL);
   void openRecentFile();
   void loadDBCFromOpendbc(const QString &name);
-  void streamStarted();
   void save();
   void saveAs();
   void saveToClipboard();
@@ -67,18 +70,20 @@ protected:
   void toggleFullScreen();
   void updateStatus();
   void updateLoadSaveMenus();
+  void createDockWidgets();
+  void eventsMerged();
 
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
-  MessagesWidget *messages_widget;
+  QDockWidget *messages_dock;
+  MessagesWidget *messages_widget = nullptr;
   CenterWidget *center_widget;
-  ChartsWidget *charts_widget;
   QWidget *floating_window = nullptr;
   QVBoxLayout *charts_layout;
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
-  QSplitter *video_splitter;;
+  QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
   QAction *recent_files_acts[MAX_RECENT_FILES] = {};
   QMenu *open_recent_menu = nullptr;

tools/cabana/messageswidget.cc

@@ -81,7 +81,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
     settings.suppress_defined_signals = (state == Qt::Checked);
   });
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
-  QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
   QObject::connect(dbc(), &DBCManager::msgUpdated, this, &MessagesWidget::dbcModified);
   QObject::connect(dbc(), &DBCManager::msgRemoved, this, &MessagesWidget::dbcModified);
@@ -146,14 +145,6 @@ void MessagesWidget::updateSuppressedButtons() {
   }
 }
 
-void MessagesWidget::reset() {
-  current_msg_id = std::nullopt;
-  view->selectionModel()->clear();
-  model->reset();
-  updateSuppressedButtons();
-}
-
-
 // MessageListModel
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
@@ -419,14 +410,6 @@ void MessageListModel::clearSuppress() {
   suppressed_bytes.clear();
 }
 
-void MessageListModel::reset() {
-  beginResetModel();
-  filter_str.clear();
-  msgs.clear();
-  clearSuppress();
-  endResetModel();
-}
-
 void MessageListModel::forceResetModel() {
   beginResetModel();
   endResetModel();

tools/cabana/messageswidget.h

@@ -38,7 +38,6 @@ public:
   void fetchData();
   void suppress();
   void clearSuppress();
-  void reset();
   void forceResetModel();
   void dbcModified();
   std::vector<MessageId> msgs;
@@ -100,7 +99,6 @@ public:
   QByteArray saveHeaderState() const { return view->header()->saveState(); }
   bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
   void updateSuppressedButtons();
-  void reset();
 
 public slots:
   void dbcModified();

tools/cabana/signalview.cc

@@ -481,10 +481,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
   QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); });
-  QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
   QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated);
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />

tools/cabana/streams/abstractstream.cc

@@ -4,10 +4,20 @@
 
 AbstractStream *can = nullptr;
 
-AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
+StreamNotifier *StreamNotifier::instance() {
-  can = this;
+  static StreamNotifier notifier;
-  new_msgs = std::make_unique<QHash<MessageId, CanData>>();
+  return &notifier;
+}
+
+AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash<MessageId, CanData>()), QObject(parent) {
+  assert(parent != nullptr);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
+    emit StreamNotifier::instance()->changingStream();
+    delete can;
+    can = this;
+    emit StreamNotifier::instance()->streamStarted();
+  });
 }
 
 void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
@@ -37,8 +47,7 @@ void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t
 
 bool AbstractStream::postEvents() {
   // delay posting CAN message if UI thread is busy
-  if (!processing) {
+  if (processing.exchange(true) == false) {
-    processing = true;
     for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
       it.value() = all_msgs[it.key()];
     }

tools/cabana/streams/abstractstream.h

@@ -40,6 +40,7 @@ class AbstractStream : public QObject {
 public:
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {};
+  virtual void start() = 0;
   inline bool liveStreaming() const { return route() == nullptr; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
@@ -90,7 +91,6 @@ protected:
 };
 
 class AbstractOpenStreamWidget : public QWidget {
-  Q_OBJECT
 public:
   AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
   virtual bool open() = 0;
@@ -100,5 +100,15 @@ protected:
   AbstractStream **stream = nullptr;
 };
 
+class StreamNotifier : public QObject {
+  Q_OBJECT
+public:
+  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
+  static StreamNotifier* instance();
+signals:
+  void streamStarted();
+  void changingStream();
+};
+
 // A global pointer referring to the unique AbstractStream object
 extern AbstractStream *can;

tools/cabana/streams/devicestream.cc

@@ -9,13 +9,10 @@
 // DeviceStream
 
 DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
-  startStreamThread();
 }
 
 void DeviceStream::streamThread() {
-  if (!zmq_address.isEmpty()) {
+  zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
-    setenv("ZMQ", "1", 1);
-  }
 
   std::unique_ptr<Context> context(Context::create());
   std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();

tools/cabana/streams/livestream.cc

@@ -1,7 +1,5 @@
 #include "tools/cabana/streams/livestream.h"
 
-#include <QTimer>
-
 LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
   if (settings.log_livestream) {
     std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString();
@@ -21,11 +19,9 @@ void LiveStream::startUpdateTimer() {
   timer_id = update_timer.timerId();
 }
 
-void LiveStream::startStreamThread() {
+void LiveStream::start() {
-  // delay the start of the thread to avoid calling startStreamThread
+  emit streamStarted();
-  // in the constructor when other classes' slots have not been connected to
+  stream_thread->start();
-  // the signals of the livestream.
-  QTimer::singleShot(0, [this]() { stream_thread->start(); });
   startUpdateTimer();
 }
 
@@ -71,7 +67,6 @@ void LiveStream::updateEvents() {
   if (first_update_ts == 0) {
     first_update_ts = nanos_since_boot();
     first_event_ts = current_event_ts = all_events_.back()->mono_time;
-    emit streamStarted();
   }
 
   if (paused_ || prev_speed != speed_) {

tools/cabana/streams/livestream.h

@@ -10,6 +10,7 @@ class LiveStream : public AbstractStream {
 public:
   LiveStream(QObject *parent);
   virtual ~LiveStream();
+  void start() override;
   inline double routeStartTime() const override { return begin_event_ts / 1e9; }
   inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; }
   void setSpeed(float speed) override { speed_ = speed; }
@@ -20,7 +21,6 @@ public:
 
 protected:
   virtual void streamThread() = 0;
-  void startStreamThread();
   void handleEvent(const char *data, const size_t size);
 
 private:

tools/cabana/streams/pandastream.cc

@@ -20,7 +20,6 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
   if (!connect()) {
     throw std::runtime_error("Failed to connect to panda");
   }
-  startStreamThread();
 }
 
 bool PandaStream::connect() {

tools/cabana/streams/replaystream.cc

@@ -6,18 +6,17 @@
 #include <QMessageBox>
 #include <QPushButton>
 
-#include "common/prefix.h"
-
 ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
+  unsetenv("ZMQ");
+  // TODO: Remove when OpenpilotPrefix supports ZMQ
+#ifndef __APPLE__
+  op_prefix = std::make_unique<OpenpilotPrefix>();
+#endif
   QObject::connect(&settings, &Settings::changed, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
   });
 }
 
-ReplayStream::~ReplayStream() {
-  if (replay) replay->stop();
-}
-
 static bool event_filter(const Event *e, void *opaque) {
   return ((ReplayStream *)opaque)->eventFilter(e);
 }
@@ -37,13 +36,13 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
-  QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  if (replay->load()) {
+  return replay->load();
-    replay->start();
-    return true;
 }
-  return false;
+
+void ReplayStream::start() {
+  emit streamStarted();
+  replay->start();
 }
 
 bool ReplayStream::eventFilter(const Event *event) {
@@ -78,8 +77,6 @@ AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
 
 // OpenReplayWidget
 
-static std::unique_ptr<OpenpilotPrefix> op_prefix;
-
 OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
   // TODO: get route list from api.comma.ai
   QGridLayout *grid_layout = new QGridLayout();
@@ -118,26 +115,17 @@ bool OpenReplayWidget::open() {
     route = route.mid(idx + 1);
   }
 
-  bool ret = false;
   bool is_valid_format = Route::parseRoute(route).str.size() > 0;
   if (!is_valid_format) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
   } else {
-    // TODO: Remove when OpenpilotPrefix supports ZMQ
-#ifndef __APPLE__
-    op_prefix.reset(new OpenpilotPrefix());
-#endif
     uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
-    ReplayStream *replay_stream = *stream ? (ReplayStream *)*stream : new ReplayStream(qApp);
+    auto replay_stream = std::make_unique<ReplayStream>(qApp);
-    ret = replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()]);
+    if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) {
-    if (!ret) {
+      *stream = replay_stream.release();
-      if (replay_stream != *stream) {
-        delete replay_stream;
-      }
-      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
     } else {
-      *stream = replay_stream;
+      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
     }
   }
-  return ret;
+  return *stream != nullptr;
 }

tools/cabana/streams/replaystream.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "common/prefix.h"
 #include "tools/cabana/streams/abstractstream.h"
 
 class ReplayStream : public AbstractStream {
@@ -7,7 +8,7 @@ class ReplayStream : public AbstractStream {
 
 public:
   ReplayStream(QObject *parent);
-  ~ReplayStream();
+  void start() override;
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); };
@@ -29,6 +30,7 @@ private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
   std::set<int> processed_segments;
+  std::unique_ptr<OpenpilotPrefix> op_prefix;
 };
 
 class OpenReplayWidget : public AbstractOpenStreamWidget {

tools/cabana/streamselector.cc

@@ -6,13 +6,19 @@
 #include <QLabel>
 #include <QPushButton>
 
-StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
+#include "tools/cabana/streams/devicestream.h"
+#include "tools/cabana/streams/pandastream.h"
+#include "tools/cabana/streams/replaystream.h"
+
+StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
+  QWidget *w = new QWidget(this);
+  QVBoxLayout *layout = new QVBoxLayout(w);
   tab = new QTabWidget(this);
   tab->setTabBarAutoHide(true);
-  main_layout->addWidget(tab);
+  layout->addWidget(tab);
 
   QHBoxLayout *dbc_layout = new QHBoxLayout();
   dbc_file = new QLineEdit(this);
@@ -22,20 +28,29 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   dbc_layout->addWidget(new QLabel(tr("dbc File")));
   dbc_layout->addWidget(dbc_file);
   dbc_layout->addWidget(file_btn);
-  main_layout->addLayout(dbc_layout);
+  layout->addLayout(dbc_layout);
 
   QFrame *line = new QFrame(this);
   line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
-  main_layout->addWidget(line);
+  layout->addWidget(line);
 
+  main_layout->addWidget(w);
   auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   main_layout->addWidget(btn_box);
 
+  addStreamWidget(ReplayStream::widget(stream));
+  addStreamWidget(PandaStream::widget(stream));
+  addStreamWidget(DeviceStream::widget(stream));
+
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
   QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
-    success = ((AbstractOpenStreamWidget *)tab->currentWidget())->open();
+    btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
-    if (success) {
+    w->setEnabled(false);
+    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
       accept();
+    } else {
+      btn_box->button(QDialogButtonBox::Open)->setEnabled(true);
+      w->setEnabled(true);
     }
   });
   QObject::connect(file_btn, &QPushButton::clicked, [this]() {

tools/cabana/streamselector.h

@@ -10,13 +10,11 @@ class StreamSelector : public QDialog {
   Q_OBJECT
 
 public:
-  StreamSelector(QWidget *parent = nullptr);
+  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
   void addStreamWidget(AbstractOpenStreamWidget *w);
   QString dbcFile() const { return dbc_file->text(); }
-  inline bool failed() const { return !success; }
 
 private:
   QLineEdit *dbc_file;
   QTabWidget *tab;
-  bool success = true;
 };

tools/cabana/videowidget.cc

@@ -1,10 +1,12 @@
 #include "tools/cabana/videowidget.h"
 
 #include <QButtonGroup>
+#include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QPainter>
 #include <QStackedLayout>
 #include <QStyleOptionSlider>
+#include <QTimer>
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
@@ -20,18 +22,6 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
-bool sortTimelineBasedOnEventPriority(const std::tuple<int, int, TimelineType> &left, const std::tuple<int, int, TimelineType> &right){
-  const static std::map<TimelineType, int> timelinePriority = {
-    {  TimelineType::None, 0 },
-    {  TimelineType::Engaged, 10 },
-    {  TimelineType::AlertInfo, 20 },
-    {  TimelineType::AlertWarning, 30 },
-    {  TimelineType::AlertCritical, 40 },
-    {  TimelineType::UserFlag, 35 }
-  };
-  return timelinePriority.at(std::get<2>(left)) < timelinePriority.at(std::get<2>(right));
-}
-
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
@@ -100,7 +90,7 @@ QWidget *VideoWidget::createCameraWidget() {
   l->addLayout(stacked);
 
   // slider controls
-  slider_layout = new QHBoxLayout();
+  auto slider_layout = new QHBoxLayout();
   time_label = new QLabel("00:00");
   slider_layout->addWidget(time_label);
 
@@ -111,12 +101,13 @@ QWidget *VideoWidget::createCameraWidget() {
   end_time_label = new QLabel(this);
   slider_layout->addWidget(end_time_label);
   l->addLayout(slider_layout);
+
+  setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
   QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); });
   QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
-  QObject::connect(can, &AbstractStream::streamStarted, [this]() { setMaximumTime(can->totalSeconds()); });
   return w;
 }
 
@@ -157,14 +148,16 @@ void VideoWidget::updatePlayBtnState() {
 }
 
 // Slider
-Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
+Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
-  timer.callOnTimeout([this]() {
+  setMouseTracking(true);
+  auto timer = new QTimer(this);
+  timer->callOnTimeout([this]() {
     timeline = can->getTimeline();
-    std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority);
+    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
     update();
   });
-  setMouseTracking(true);
+  timer->start(2000);
-  QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted);
+  thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails);
 }
 
 Slider::~Slider() {
@@ -172,16 +165,6 @@ Slider::~Slider() {
   thumnail_future.waitForFinished();
 }
 
-void Slider::streamStarted() {
-  abort_load_thumbnail = true;
-  thumnail_future.waitForFinished();
-  abort_load_thumbnail = false;
-  thumbnails.clear();
-  timeline.clear();
-  timer.start(2000);
-  thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails);
-}
-
 void Slider::loadThumbnails() {
   const auto &segments = can->route()->segments();
   double max_time = 0;
@@ -318,10 +301,8 @@ void InfoLabel::showAlert(const AlertInfo &alert) {
   alert_info = alert;
   pixmap = {};
   setVisible(!alert_info.text1.isEmpty());
-  if (isVisible()) {
   update();
 }
-}
 
 void InfoLabel::paintEvent(QPaintEvent *event) {
   QPainter p(this);

tools/cabana/videowidget.h

@@ -3,12 +3,10 @@
 #include <atomic>
 #include <mutex>
 
-#include <QHBoxLayout>
 #include <QFuture>
 #include <QLabel>
 #include <QPushButton>
 #include <QSlider>
-#include <QTimer>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "tools/cabana/streams/abstractstream.h"
@@ -46,7 +44,6 @@ private:
   bool event(QEvent *event) override;
   void sliderChange(QAbstractSlider::SliderChange change) override;
   void paintEvent(QPaintEvent *ev) override;
-  void streamStarted();
   void loadThumbnails();
 
   double max_sec = 0;
@@ -58,7 +55,6 @@ private:
   std::map<uint64_t, AlertInfo> alerts;
   QFuture<void> thumnail_future;
   InfoLabel thumbnail_label;
-  QTimer timer;
   friend class VideoWidget;
 };
 
@@ -79,7 +75,6 @@ protected:
   double maximum_time = 0;
   QLabel *end_time_label;
   QLabel *time_label;
-  QHBoxLayout *slider_layout;
   QPushButton *play_btn;
   InfoLabel *alert_label;
   Slider *slider;