openpilot_comma/tools/cabana/streams/pandastream.cc

#include "tools/cabana/streams/pandastream.h"

#include <vector>

#include <QLabel>
#include <QMessageBox>
#include <QPushButton>
#include <QVBoxLayout>

#include "selfdrive/ui/qt/util.h"

// TODO: remove clearLayout
static void clearLayout(QLayout* layout) {
  while (layout->count() > 0) {
    QLayoutItem* item = layout->takeAt(0);
    if (QWidget* widget = item->widget()) {
      widget->deleteLater();
    }
    if (QLayout* childLayout = item->layout()) {
      clearLayout(childLayout);
    }
    delete item;
  }
}

PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
  if (config.serial.isEmpty()) {
    auto serials = Panda::list();
    if (serials.size() == 0) {
      throw std::runtime_error("No panda found");
    }
    config.serial = QString::fromStdString(serials[0]);
  }

  qDebug() << "Connecting to panda with serial" << config.serial;
  if (!connect()) {
    throw std::runtime_error("Failed to connect to panda");
  }
}

bool PandaStream::connect() {
  try {
    panda.reset(new Panda(config.serial.toStdString()));
    config.bus_config.resize(3);
    qDebug() << "Connected";
  } catch (const std::exception& e) {
    return false;
  }

  panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);

  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 (!QThread::currentThread()->isInterruptionRequested()) {
    QThread::msleep(1);

    if (!panda->connected()) {
      qDebug() << "Connection to panda lost. Attempting reconnect.";
      if (!connect()){
        QThread::msleep(1000);
        continue;
      }
    }

    raw_can_data.clear();
    if (!panda->can_receive(raw_can_data)) {
      qDebug() << "failed to receive";
      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].setBusTime(raw_can_data[i].busTime);
      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);
    }

    auto bytes = msg.toBytes();
    handleEvent((const char*)bytes.begin(), bytes.size());

    panda->send_heartbeat(false);
  }
}

AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
  return new OpenPandaWidget(stream);
}

// OpenPandaWidget

OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->addStretch(1);

  QFormLayout *form_layout = new QFormLayout();

  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 {
    *stream = new PandaStream(qApp, config);
  } catch (std::exception &e) {
    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
    return false;
  }
  return true;
}