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99 lines
2.9 KiB
99 lines
2.9 KiB
3 years ago
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#include "tools/cabana/parser.h"
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#include <QDebug>
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#include "cereal/messaging/messaging.h"
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Parser::Parser(QObject *parent) : QObject(parent) {
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qRegisterMetaType<std::vector<CanData>>();
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QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection);
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thread = new QThread();
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connect(thread, &QThread::started, [=]() { recvThread(); });
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QObject::connect(thread, &QThread::finished, thread, &QThread::deleteLater);
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thread->start();
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}
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Parser::~Parser() {
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replay->stop();
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exit = true;
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thread->quit();
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thread->wait();
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}
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bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
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replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
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if (!replay->load()) {
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return false;
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}
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replay->start();
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return true;
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}
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void Parser::openDBC(const QString &name) {
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dbc_name = name;
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dbc = const_cast<DBC *>(dbc_lookup(name.toStdString()));
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msg_map.clear();
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for (auto &msg : dbc->msgs) {
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msg_map[msg.address] = &msg;
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}
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}
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void Parser::process(std::vector<CanData> can) {
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for (auto &data : can) {
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++counters[data.id];
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auto &list = can_msgs[data.id];
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while (list.size() > DATA_LIST_SIZE) {
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list.pop_front();
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}
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list.push_back(data);
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}
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emit updated();
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}
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void Parser::recvThread() {
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AlignedBuffer aligned_buf;
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std::unique_ptr<Context> context(Context::create());
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std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "can"));
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subscriber->setTimeout(100);
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while (!exit) {
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std::unique_ptr<Message> msg(subscriber->receive());
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if (!msg) continue;
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capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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std::vector<CanData> can;
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can.reserve(event.getCan().size());
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for (const auto &c : event.getCan()) {
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CanData &data = can.emplace_back();
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data.address = c.getAddress();
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data.bus_time = c.getBusTime();
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data.source = c.getSrc();
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data.dat.append((char *)c.getDat().begin(), c.getDat().size());
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data.hex_dat = data.dat.toHex(' ').toUpper();
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data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16);
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data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e6;
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}
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emit received(can);
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}
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}
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void Parser::addNewMsg(const Msg &msg) {
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dbc->msgs.push_back(msg);
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msg_map[dbc->msgs.back().address] = &dbc->msgs.back();
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}
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void Parser::removeSignal(const QString &id, const QString &sig_name) {
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Msg *msg = const_cast<Msg *>(getMsg(id));
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if (!msg) return;
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auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
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if (it != msg->sigs.end()) {
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msg->sigs.erase(it);
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}
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}
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uint32_t Parser::addressFromId(const QString &id) {
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return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16);
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}
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