Add openpilot tools

tools/cabana/streams/devicestream.cc

@@ -0,0 +1,70 @@
+#include "tools/cabana/streams/devicestream.h"
+
+#include <memory>
+#include <string>
+
+#include <QButtonGroup>
+#include <QFormLayout>
+#include <QRadioButton>
+#include <QRegularExpression>
+#include <QRegularExpressionValidator>
+#include <QThread>
+
+// DeviceStream
+
+DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
+}
+
+void DeviceStream::streamThread() {
+  zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
+
+  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));
+  assert(sock != NULL);
+  // run as fast as messages come in
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    std::unique_ptr<Message> msg(sock->receive(true));
+    if (!msg) {
+      QThread::msleep(50);
+      continue;
+    }
+    handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+  }
+}
+
+AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
+  return new OpenDeviceWidget(stream);
+}
+
+// OpenDeviceWidget
+
+OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
+  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
+  ip_address = new QLineEdit(this);
+  ip_address->setPlaceholderText(tr("Enter device Ip Address"));
+  QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])";
+  QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$");
+  QRegularExpression re(pattern);
+  ip_address->setValidator(new QRegularExpressionValidator(re, this));
+
+  group = new QButtonGroup(this);
+  group->addButton(msgq, 0);
+  group->addButton(zmq, 1);
+
+  QFormLayout *form_layout = new QFormLayout(this);
+  form_layout->addRow(msgq);
+  form_layout->addRow(zmq, ip_address);
+  QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
+    ip_address->setEnabled(button == zmq && checked);
+  });
+  zmq->setChecked(true);
+}
+
+bool OpenDeviceWidget::open() {
+  QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
+  bool msgq = group->checkedId() == 0;
+  *stream = new DeviceStream(qApp, msgq ? "" : ip);
+  return true;
+}