cabana: socketcan support (#27952)

* empty socketcan class

* works on linux with vcan

* add open stream widget

* fix MacOS build

* update readme

* unused

* no socketcan on C3

* fix in cabana sconstruct

* serial -> device

tools/cabana/README.md

@@ -17,6 +17,7 @@ Options:
   --stream                       read can messages from live streaming
   --panda                        read can messages from panda
   --panda-serial <panda-serial>  read can messages from panda with given serial
+  --socketcan <socketcan>        read can messages from given SocketCAN device
   --zmq <zmq>                    the ip address on which to receive zmq
                                  messages
   --data_dir <data_dir>          local directory with routes

tools/cabana/SConscript

@@ -9,9 +9,11 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
   base_frameworks.append('QtCharts')
+  base_frameworks.append('QtSerialBus')
 else:
   base_libs.append('OpenCL')
   base_libs.append('Qt5Charts')
+  base_libs.append('Qt5SerialBus')
 
 qt_libs = ['qt_util'] + base_libs
 
@@ -27,7 +29,7 @@ assets_src = "assets/assets.qrc"
 cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                                                'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)

tools/cabana/cabana.cc

@@ -7,6 +7,7 @@
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/streams/socketcanstream.h"
 
 int main(int argc, char *argv[]) {
   QCoreApplication::setApplicationName("Cabana");
@@ -28,6 +29,9 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"stream", "read can messages from live streaming"});
   cmd_parser.addOption({"panda", "read can messages from panda"});
   cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
+  if (SocketCanStream::available()) {
+    cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
+  }
   cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   cmd_parser.addOption({"no-vipc", "do not output video"});
@@ -50,6 +54,10 @@ int main(int argc, char *argv[]) {
       qWarning() << e.what();
       return 0;
     }
+  } else if (cmd_parser.isSet("socketcan")) {
+    SocketCanStreamConfig config = {};
+    config.device = cmd_parser.value("socketcan");
+    stream = new SocketCanStream(&app, config);
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) {

tools/cabana/streams/abstractstream.h

@@ -34,6 +34,12 @@ struct CanEvent {
   uint8_t dat[];
 };
 
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
 class AbstractStream : public QObject {
   Q_OBJECT
 

tools/cabana/streams/pandastream.h

@@ -10,12 +10,6 @@
 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
 
-struct BusConfig {
-  int can_speed_kbps = 500;
-  int data_speed_kbps = 2000;
-  bool can_fd = false;
-};
-
 struct PandaStreamConfig {
   QString serial = "";
   std::vector<BusConfig> bus_config;

tools/cabana/streams/socketcanstream.cc

@@ -0,0 +1,115 @@
+#include "tools/cabana/streams/socketcanstream.h"
+#include "socketcanstream.h"
+
+#include <QLabel>
+#include <QMessageBox>
+#include <QPushButton>
+
+SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!available()) {
+    throw std::runtime_error("SocketCAN plugin not available");
+  }
+
+  qDebug() << "Connecting to SocketCAN device" << config.device;
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to SocketCAN device");
+  }
+}
+
+bool SocketCanStream::available() {
+  return QCanBus::instance()->plugins().contains("socketcan");
+}
+
+bool SocketCanStream::connect() {
+  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
+  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
+  QString errorString;
+  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
+
+  if (!device) {
+    qDebug() << "Failed to create SocketCAN device" << errorString;
+    return false;
+  }
+
+  if (!device->connectDevice()) {
+    qDebug() << "Failed to connect to device";
+    return false;
+  }
+
+  return true;
+}
+
+void SocketCanStream::streamThread() {
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    QThread::msleep(1);
+
+    auto frames = device->readAllFrames();
+    if (frames.size() == 0) continue;
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(frames.size());
+
+
+    for (uint i = 0; i < frames.size(); i++) {
+      if (!frames[i].isValid()) continue;
+
+      canData[i].setAddress(frames[i].frameId());
+      canData[i].setSrc(0);
+
+      auto payload = frames[i].payload();
+      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
+    }
+
+    auto bytes = msg.toBytes();
+    handleEvent((const char*)bytes.begin(), bytes.size());
+  }
+}
+
+AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
+  return new OpenSocketCanWidget(stream);
+}
+
+OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+
+  QHBoxLayout *device_layout = new QHBoxLayout();
+  device_edit = new QComboBox();
+  device_edit->setFixedWidth(300);
+  device_layout->addWidget(device_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  device_layout->addWidget(refresh);
+  form_layout->addRow(tr("Device"), device_layout);
+  main_layout->addLayout(form_layout);
+
+  main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+
+  // Populate devices
+  refreshDevices();
+}
+
+void OpenSocketCanWidget::refreshDevices() {
+  device_edit->clear();
+  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
+    device_edit->addItem(device.name());
+  }
+}
+
+
+bool OpenSocketCanWidget::open() {
+  try {
+    *stream = new SocketCanStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
+    return false;
+  }
+  return true;
+}

tools/cabana/streams/socketcanstream.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <QtSerialBus/QCanBus>
+#include <QtSerialBus/QCanBusDevice>
+#include <QtSerialBus/QCanBusDeviceInfo>
+
+#include <QComboBox>
+#include <QFormLayout>
+#include <QVBoxLayout>
+
+#include "tools/cabana/streams/livestream.h"
+
+struct SocketCanStreamConfig {
+  QString device = ""; // TODO: support multiple devices/buses at once
+};
+
+class SocketCanStream : public LiveStream {
+  Q_OBJECT
+public:
+  SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
+
+  static bool available();
+
+  inline QString routeName() const override {
+    return QString("Live Streaming From Socket CAN %1").arg(config.device);
+  }
+
+protected:
+  void streamThread() override;
+  bool connect();
+
+  SocketCanStreamConfig config = {};
+  std::unique_ptr<QCanBusDevice> device;
+};
+
+class OpenSocketCanWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenSocketCanWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&SocketCAN"); }
+
+private:
+  void refreshDevices();
+
+  QComboBox *device_edit;
+  SocketCanStreamConfig config = {};
+};

tools/cabana/streamselector.cc

@@ -6,9 +6,11 @@
 #include <QLabel>
 #include <QPushButton>
 
+#include "streams/socketcanstream.h"
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/streams/socketcanstream.h"
 
 StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
@@ -40,6 +42,9 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
 
   addStreamWidget(ReplayStream::widget(stream));
   addStreamWidget(PandaStream::widget(stream));
+  if (SocketCanStream::available()) {
+    addStreamWidget(SocketCanStream::widget(stream));
+  }
   addStreamWidget(DeviceStream::widget(stream));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);

tools/install_ubuntu_dependencies.sh

@@ -73,6 +73,7 @@ function install_ubuntu_common_requirements() {
     libqt5sql5-sqlite \
     libqt5svg5-dev \
     libqt5charts5-dev \
+    libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
     libreadline-dev \
     libdw1 \