Add openpilot tools

tools/cabana/streams/livestream.h

@@ -0,0 +1,52 @@
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include <QBasicTimer>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+class LiveStream : public AbstractStream {
+  Q_OBJECT
+
+public:
+  LiveStream(QObject *parent);
+  virtual ~LiveStream();
+  void start() 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; }
+  double getSpeed() override { return speed_; }
+  bool isPaused() const override { return paused_; }
+  void pause(bool pause) override;
+  void seekTo(double sec) override;
+
+protected:
+  virtual void streamThread() = 0;
+  void handleEvent(kj::ArrayPtr<capnp::word> event);
+
+private:
+  void startUpdateTimer();
+  void timerEvent(QTimerEvent *event) override;
+  void updateEvents();
+
+  std::mutex lock;
+  QThread *stream_thread;
+  std::vector<const CanEvent *> received_events_;
+
+  int timer_id;
+  QBasicTimer update_timer;
+
+  QDateTime begin_date_time;
+  uint64_t begin_event_ts = 0;
+  uint64_t current_event_ts = 0;
+  uint64_t first_event_ts = 0;
+  uint64_t first_update_ts = 0;
+  bool post_last_event = true;
+  double speed_ = 1;
+  bool paused_ = false;
+
+  struct Logger;
+  std::unique_ptr<Logger> logger;
+};