cabana: support logging live stream (#27884)

support logging live stream

tools/cabana/cabana.cc

@@ -57,13 +57,13 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
 
-    auto replay_stream = new ReplayStream(replay_flags, &app);
+    auto replay_stream = new ReplayStream(&app);
     stream.reset(replay_stream);
     if (route.isEmpty()) {
       if (OpenRouteDialog dlg(nullptr); !dlg.exec()) {
         return 0;
       }
-    } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) {
+    } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
       return 0;
     }
   }

tools/cabana/route.cc

@@ -2,7 +2,7 @@
 
 #include <QButtonGroup>
 #include <QFileDialog>
-#include <QHBoxLayout>
+#include <QGridLayout>
 #include <QLabel>
 #include <QMessageBox>
 #include <QPushButton>
@@ -11,12 +11,13 @@
 
 OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) {
   // TODO: get route list from api.comma.ai
-  QHBoxLayout *edit_layout = new QHBoxLayout;
+  QGridLayout *edit_layout = new QGridLayout();
-  edit_layout->addWidget(new QLabel(tr("Route:")));
+  edit_layout->addWidget(new QLabel(tr("Route:"), 0, 0));
-  edit_layout->addWidget(route_edit = new QLineEdit(this));
+  edit_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
   route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
   auto file_btn = new QPushButton(tr("Browse..."), this);
-  edit_layout->addWidget(file_btn);
+  edit_layout->addWidget(file_btn, 0, 2);
+  edit_layout->addWidget(no_vipc = new QCheckBox(tr("No video")), 1, 1);
 
   btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
@@ -56,7 +57,8 @@ void OpenRouteDialog::loadRoute() {
   if (!is_valid_format) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
   } else {
-    failed_to_load = !dynamic_cast<ReplayStream *>(can)->loadRoute(route, data_dir);
+    uint32_t flags = no_vipc->isChecked() ? REPLAY_FLAG_NO_VIPC : REPLAY_FLAG_NONE;
+    failed_to_load = !dynamic_cast<ReplayStream *>(can)->loadRoute(route, data_dir, flags);
     if (failed_to_load) {
       QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
     } else {

tools/cabana/route.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QCheckBox>
 #include <QDialogButtonBox>
 #include <QLineEdit>
 #include <QDialog>
@@ -14,6 +15,7 @@ public:
 
 private:
   QLineEdit *route_edit;
+  QCheckBox *no_vipc;
   QDialogButtonBox *btn_box;
   bool failed_to_load = false;
 };

tools/cabana/settings.cc

@@ -3,8 +3,11 @@
 #include <QAbstractButton>
 #include <QDialogButtonBox>
 #include <QDir>
+#include <QFileDialog>
 #include <QFormLayout>
+#include <QPushButton>
 #include <QSettings>
+#include <QStandardPaths>
 
 #include "tools/cabana/util.h"
 
@@ -32,6 +35,8 @@ void Settings::save() {
   s.setValue("theme", theme);
   s.setValue("sparkline_range", sparkline_range);
   s.setValue("multiple_lines_bytes", multiple_lines_bytes);
+  s.setValue("log_livestream", log_livestream);
+  s.setValue("log_path", log_path);
 }
 
 void Settings::load() {
@@ -52,13 +57,20 @@ void Settings::load() {
   theme = s.value("theme", 0).toInt();
   sparkline_range = s.value("sparkline_range", 15).toInt();
   multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
+  log_livestream = s.value("log_livestream", true).toBool();
+  log_path = s.value("log_path").toString();
+  if (log_path.isEmpty()) {
+    log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
+  }
 }
 
 // SettingsDlg
 
 SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Settings"));
-  QFormLayout *form_layout = new QFormLayout(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QGroupBox *groupbox = new QGroupBox("General");
+  QFormLayout *form_layout = new QFormLayout(groupbox);
 
   theme = new QComboBox(this);
   theme->setToolTip(tr("You may need to restart cabana after changes theme"));
@@ -77,7 +89,10 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   cached_minutes->setSingleStep(1);
   cached_minutes->setValue(settings.max_cached_minutes);
   form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
+  main_layout->addWidget(groupbox);
 
+  groupbox = new QGroupBox("Chart");
+  form_layout = new QFormLayout(groupbox);
   chart_series_type = new QComboBox(this);
   chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
   chart_series_type->setCurrentIndex(settings.chart_series_type);
@@ -88,12 +103,31 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   chart_height->setSingleStep(10);
   chart_height->setValue(settings.chart_height);
   form_layout->addRow(tr("Chart Height"), chart_height);
+  main_layout->addWidget(groupbox);
 
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
+  log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
-  form_layout->addRow(buttonBox);
+  log_livestream->setCheckable(true);
+  QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
+  path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this));
+  log_path->setReadOnly(true);
+  auto browse_btn = new QPushButton(tr("B&rowse..."));
+  path_layout->addWidget(browse_btn);
+  main_layout->addWidget(log_livestream);
 
-  setFixedWidth(360);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
-  connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
+  main_layout->addWidget(buttonBox);
+  main_layout->addStretch(1);
+
+  QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
+    QString fn = QFileDialog::getExistingDirectory(
+        this, tr("Log File Location"),
+        QStandardPaths::writableLocation(QStandardPaths::HomeLocation),
+        QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
+    if (!fn.isEmpty()) {
+      log_path->setText(fn);
+    }
+  });
+  QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
     auto role = buttonBox->buttonRole(button);
     if (role == QDialogButtonBox::AcceptRole) {
       save();
@@ -115,6 +149,8 @@ void SettingsDlg::save() {
   settings.max_cached_minutes = cached_minutes->value();
   settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
+  settings.log_livestream = log_livestream->isChecked();
+  settings.log_path = log_path->text();
   settings.save();
   emit settings.changed();
 }

tools/cabana/settings.h

@@ -1,8 +1,11 @@
 #pragma once
 
 #include <QByteArray>
+#include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
+#include <QGroupBox>
+#include <QLineEdit>
 #include <QSpinBox>
 
 #define LIGHT_THEME 1
@@ -25,6 +28,8 @@ public:
   int theme = 0;
   int sparkline_range = 15; // 15 seconds
   bool multiple_lines_bytes = true;
+  bool log_livestream = true;
+  QString log_path;
   QString last_dir;
   QString last_route_dir;
   QByteArray geometry;
@@ -48,6 +53,8 @@ public:
   QSpinBox *chart_height;
   QComboBox *chart_series_type;
   QComboBox *theme;
+  QGroupBox *log_livestream;
+  QLineEdit *log_path;
 };
 
 extern Settings settings;

tools/cabana/streams/livestream.cc

@@ -19,6 +19,13 @@ void LiveStream::streamThread() {
   if (!zmq_address.isEmpty()) {
     setenv("ZMQ", "1", 1);
   }
+
+  std::unique_ptr<std::ofstream> fs;
+  if (settings.log_livestream) {
+    std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString();
+    util::create_directories(path, 0755);
+    fs.reset(new std::ofstream(path + "/rlog" , std::ios::binary | std::ios::out));
+  }
   std::unique_ptr<Context> context(Context::create());
   std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
   std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
@@ -31,9 +38,12 @@ void LiveStream::streamThread() {
       QThread::msleep(50);
       continue;
     }
+
+    if (fs) {
+      fs->write(msg->getData(), msg->getSize());
+    }
     std::lock_guard lk(lock);
     handleEvent(messages.emplace_back(msg).event);
-    // TODO: write stream to log file to replay it with cabana --data_dir flag.
   }
 }
 

tools/cabana/streams/replaystream.cc

@@ -1,6 +1,6 @@
 #include "tools/cabana/streams/replaystream.h"
 
-ReplayStream::ReplayStream(uint32_t replay_flags, QObject *parent) : replay_flags(replay_flags), AbstractStream(parent, false) {
+ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) {
   QObject::connect(&settings, &Settings::changed, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
   });
@@ -25,7 +25,7 @@ void ReplayStream::mergeSegments() {
   }
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) {
+bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
   replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);

tools/cabana/streams/replaystream.h

@@ -7,9 +7,9 @@ class ReplayStream : public AbstractStream {
   Q_OBJECT
 
 public:
-  ReplayStream(uint32_t replay_flags, QObject *parent);
+  ReplayStream(QObject *parent);
   ~ReplayStream();
-  bool loadRoute(const QString &route, const QString &data_dir);
+  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); };
   inline QString routeName() const override { return replay->route()->name(); }
@@ -29,6 +29,5 @@ public:
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
-  uint32_t replay_flags = REPLAY_FLAG_NONE;
   std::set<int> processed_segments;
 };