cabana: added a new series type to chart: step line (#27422)

* add step line series

* create buttons in createToolButtons

* add inline function clearTrackPoints

* do not show tooltip if series is invisible

* use QActionGroup

tools/cabana/chartswidget.cc

@@ -1,5 +1,6 @@
 #include "tools/cabana/chartswidget.h"
 
+#include <QActionGroup>
 #include <QApplication>
 #include <QCompleter>
 #include <QDialogButtonBox>
@@ -183,7 +184,7 @@ void ChartsWidget::settingChanged() {
   range_slider->setRange(1, settings.max_cached_minutes * 60);
   for (auto c : charts) {
     c->setFixedHeight(settings.chart_height);
-    c->setSeriesType(settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter);
+    c->setSeriesType((SeriesType)settings.chart_series_type);
   }
 }
 
@@ -309,7 +310,7 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 // ChartView
 
 ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
-  series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter;
+  series_type = (SeriesType)settings.chart_series_type;
   QChart *chart = new QChart();
   chart->setBackgroundVisible(false);
   axis_x = new QValueAxis(this);
@@ -325,40 +326,54 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   background->setPen(Qt::NoPen);
   background->setZValue(chart->zValue() - 1);
 
-  move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart);
+  setChart(chart);
+
+  createToolButtons();
+  setRenderHint(QPainter::Antialiasing);
+  // TODO: enable zoomIn/seekTo in live streaming mode.
+  setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
+
+  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
+  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
+  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
+}
+
+void ChartView::createToolButtons() {
+  move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
   move_icon->setToolTip(tr("Drag and drop to combine charts"));
 
   QToolButton *remove_btn = toolButton("x", tr("Remove Chart"));
-  close_btn_proxy = new QGraphicsProxyWidget(chart);
+  close_btn_proxy = new QGraphicsProxyWidget(chart());
   close_btn_proxy->setWidget(remove_btn);
-  close_btn_proxy->setZValue(chart->zValue() + 11);
+  close_btn_proxy->setZValue(chart()->zValue() + 11);
 
-  QToolButton *manage_btn = toolButton("list", "");
+  // series types
   QMenu *menu = new QMenu(this);
-  line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); });
+  auto change_series_group = new QActionGroup(menu);
-  line_series_action->setCheckable(true);
+  change_series_group->setExclusive(true);
-  line_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeLine);
+  QStringList types{tr("line"), tr("Step Line"), tr("Scatter")};
-  scatter_series_action = menu->addAction(tr("Scatter"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeScatter); });
+  for (int i = 0; i < types.size(); ++i) {
-  scatter_series_action->setCheckable(true);
+    QAction *act = new QAction(types[i], change_series_group);
-  scatter_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeScatter);
+    act->setData(i);
+    act->setCheckable(true);
+    act->setChecked(i == (int)series_type);
+    menu->addAction(act);
+  }
   menu->addSeparator();
   menu->addAction(tr("Manage series"), this, &ChartView::manageSeries);
+
+  QToolButton *manage_btn = toolButton("list", "");
   manage_btn->setMenu(menu);
   manage_btn->setPopupMode(QToolButton::InstantPopup);
-  manage_btn_proxy = new QGraphicsProxyWidget(chart);
+  manage_btn_proxy = new QGraphicsProxyWidget(chart());
   manage_btn_proxy->setWidget(manage_btn);
-  manage_btn_proxy->setZValue(chart->zValue() + 11);
+  manage_btn_proxy->setZValue(chart()->zValue() + 11);
-
-  setChart(chart);
-  setRenderHint(QPainter::Antialiasing);
-  // TODO: enable zoomIn/seekTo in live streaming mode.
-  setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
 
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
   QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
+  QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
+    setSeriesType((SeriesType)action->data().toInt());
+  });
 }
 
 void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) {
@@ -476,7 +491,7 @@ void ChartView::updateSeriesPoints() {
     int num_points = std::max<int>(end - begin, 1);
     int pixels_per_point = width() / num_points;
 
-    if (series_type == QAbstractSeries::SeriesTypeScatter) {
+    if (series_type == SeriesType::Scatter) {
       ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8));
     } else {
       s.series->setPointsVisible(pixels_per_point > 20);
@@ -490,7 +505,9 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
     if (!sig || s.sig == sig) {
       if (clear) {
         s.vals.clear();
+        s.step_vals.clear();
         s.vals.reserve(settings.max_cached_minutes * 60 * 100);  // [n]seconds * 100hz
+        s.step_vals.reserve(settings.max_cached_minutes * 60 * 100 * 2);
         s.last_value_mono_time = 0;
       }
       s.series->setColor(getColor(s.sig));
@@ -498,6 +515,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
       struct Chunk {
         std::vector<Event *>::const_iterator first, second;
         QVector<QPointF> vals;
+        QVector<QPointF> step_vals;
       };
       // split into one minitue chunks
       QVector<Chunk> chunks;
@@ -510,6 +528,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
 
       QtConcurrent::blockingMap(chunks, [&](Chunk &chunk) {
         chunk.vals.reserve(60 * 100);  // 100 hz
+        chunk.step_vals.reserve(60 * 100 * 2);  // 100 hz
         double route_start_time = can->routeStartTime();
         for (auto it = chunk.first; it != chunk.second; ++it) {
           if ((*it)->which == cereal::Event::Which::CAN) {
@@ -519,6 +538,10 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
                 double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig);
                 double ts = ((*it)->mono_time / (double)1e9) - route_start_time;  // seconds
                 chunk.vals.push_back({ts, value});
+                if (!chunk.step_vals.empty()) {
+                  chunk.step_vals.push_back({ts, chunk.step_vals.back().y()});
+                }
+                chunk.step_vals.push_back({ts,value});
               }
             }
           }
@@ -526,11 +549,12 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
       });
       for (auto &c : chunks) {
         s.vals.append(c.vals);
+        s.step_vals.append(c.step_vals);
       }
       if (events->size()) {
         s.last_value_mono_time = events->back()->mono_time;
       }
-      s.series->replace(s.vals);
+      s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
     }
   }
   updateAxisY();
@@ -607,7 +631,7 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
 }
 
 void ChartView::leaveEvent(QEvent *event) {
-  track_pts.clear();
+  clearTrackPoints();
   scene()->update();
   QChartView::leaveEvent(event);
 }
@@ -663,26 +687,31 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   auto rubber = findChild<QRubberBand *>();
   bool is_zooming = rubber && rubber->isVisible();
   const auto plot_area = chart()->plotArea();
-  track_pts.clear();
+  clearTrackPoints();
+
   if (!is_zooming && plot_area.contains(ev->pos())) {
-    track_pts.resize(sigs.size());
     QStringList text_list;
     const double sec = chart()->mapToValue(ev->pos()).x();
-    for (int i = 0; i < sigs.size(); ++i) {
+    qreal x = -1;
-      QString value = "--";
+    for (auto &s : sigs) {
+      if (!s.series->isVisible()) continue;
+
       // use reverse iterator to find last item <= sec.
-      auto it = std::lower_bound(sigs[i].vals.rbegin(), sigs[i].vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
+      auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
-      if (it != sigs[i].vals.rend() && it->x() >= axis_x->min()) {
+      if (it != s.vals.rend() && it->x() >= axis_x->min()) {
-        value = QString::number(it->y());
+        s.track_pt = chart()->mapToPosition(*it);
-        track_pts[i] = chart()->mapToPosition(*it);
+        x = std::max(x, s.track_pt.x());
-      }
+      }
-      text_list.push_back(QString("<span style=\"color:%1;\">■ </span>%2: <b>%3</b>").arg(sigs[i].series->color().name(), sigs[i].sig->name, value));
+      text_list.push_back(QString("<span style=\"color:%1;\">■ </span>%2: <b>%3</b>")
-    }
+                              .arg(s.series->color().name(), s.sig->name,
-    auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); });
+                                   s.track_pt.isNull() ? "--" : QString::number(s.track_pt.y())));
-    auto pt = (max == track_pts.end()) ? ev->pos() : *max;
+    }
-    text_list.push_front(QString::number(chart()->mapToValue(pt).x(), 'f', 3));
+    if (x < 0) {
-    QPointF tooltip_pt(pt.x() + 12, plot_area.top() - 20);
+      x = ev->pos().x();
-    QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), pt.isNull() ? "" : text_list.join("<br />"), this, plot_area.toRect());
+    }
+    text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
+    QPointF tooltip_pt(x + 12, plot_area.top() - 20);
+    QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), text_list.join("<br />"), this, plot_area.toRect());
     scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
   } else {
     QToolTip::hideText();
@@ -727,6 +756,7 @@ void ChartView::dropEvent(QDropEvent *event) {
 }
 
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
+  // draw time line
   qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x();
   x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right());
   qreal y1 = chart()->plotArea().top() - 2;
@@ -734,17 +764,19 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   painter->setPen(QPen(chart()->titleBrush().color(), 2));
   painter->drawLine(QPointF{x, y1}, QPointF{x, y2});
 
-  auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); });
+  // draw track points
-  if (max != track_pts.end() && !max->isNull()) {
-    painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
-    painter->drawLine(QPointF{max->x(), y1}, QPointF{max->x(), y2});
   painter->setPen(Qt::NoPen);
-    for (int i = 0; i < track_pts.size(); ++i) {
+  qreal track_line_x = -1;
-      if (!track_pts[i].isNull() && i < sigs.size()) {
+  for (auto &s : sigs) {
-        painter->setBrush(sigs[i].series->color().darker(125));
+    if (!s.track_pt.isNull() && s.series->isVisible()) {
-        painter->drawEllipse(track_pts[i], 5.5, 5.5);
+      painter->setBrush(s.series->color().darker(125));
+      painter->drawEllipse(s.track_pt, 5.5, 5.5);
+      track_line_x = std::max(track_line_x, s.track_pt.x());
     }
   }
+  if (track_line_x > 0) {
+    painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
+    painter->drawLine(QPointF{track_line_x, y1}, QPointF{track_line_x, y2});
   }
 
   // paint points. OpenGL mode lacks certain features (such as showing points)
@@ -761,11 +793,14 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   }
 }
 
-QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor color) {
+QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
   QXYSeries *series = nullptr;
-  if (type == QAbstractSeries::SeriesTypeLine) {
+  if (type == SeriesType::Line) {
     series = new QLineSeries(this);
     chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle);
+  } else if (type == SeriesType::StepLine) {
+    series = new QLineSeries(this);
+    chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries);
   } else {
     series = new QScatterSeries(this);
     chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle);
@@ -786,9 +821,7 @@ QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor colo
   return series;
 }
 
-void ChartView::setSeriesType(QAbstractSeries::SeriesType type) {
+void ChartView::setSeriesType(SeriesType type) {
-  line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine);
-  scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter);
   if (type != series_type) {
     series_type = type;
     for (auto &s : sigs) {
@@ -797,7 +830,7 @@ void ChartView::setSeriesType(QAbstractSeries::SeriesType type) {
     }
     for (auto &s : sigs) {
       auto series = createSeries(series_type, getColor(s.sig));
-      series->replace(s.vals);
+      series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
       s.series = series;
     }
     updateSeriesPoints();

tools/cabana/chartswidget.h

@@ -20,6 +20,12 @@ using namespace QtCharts;
 
 const int CHART_MIN_WIDTH = 300;
 
+enum class SeriesType {
+  Line = 0,
+  StepLine,
+  Scatter
+};
+
 class ChartView : public QChartView {
   Q_OBJECT
 
@@ -29,7 +35,7 @@ public:
   bool hasSeries(const MessageId &msg_id, const Signal *sig) const;
   void updateSeries(const Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true);
   void updatePlot(double cur, double min, double max);
-  void setSeriesType(QAbstractSeries::SeriesType type);
+  void setSeriesType(SeriesType type);
   void updatePlotArea(int left);
 
   struct SigItem {
@@ -37,7 +43,9 @@ public:
     const Signal *sig = nullptr;
     QXYSeries *series = nullptr;
     QVector<QPointF> vals;
+    QVector<QPointF> step_vals;
     uint64_t last_value_mono_time = 0;
+    QPointF track_pt{};
   };
 
 signals:
@@ -57,6 +65,7 @@ private slots:
   void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
 
 private:
+  void createToolButtons();
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
@@ -70,15 +79,15 @@ private:
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
-  QXYSeries *createSeries(QAbstractSeries::SeriesType type, QColor color);
+  QXYSeries *createSeries(SeriesType type, QColor color);
   void updateSeriesPoints();
   void removeIf(std::function<bool(const SigItem &)> predicate);
+  inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
 
   int y_label_width = 0;
   int align_to = 0;
   QValueAxis *axis_x;
   QValueAxis *axis_y;
-  QVector<QPointF> track_pts;
   QGraphicsPixmapItem *move_icon;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
@@ -86,9 +95,7 @@ private:
   QList<SigItem> sigs;
   double cur_sec = 0;
   const QString mime_type = "application/x-cabanachartview";
-  QAbstractSeries::SeriesType series_type = QAbstractSeries::SeriesTypeLine;
+  SeriesType series_type = SeriesType::Line;
-  QAction *line_series_action;
-  QAction *scatter_series_action;
   friend class ChartsWidget;
  };
 

tools/cabana/settings.cc

@@ -65,7 +65,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
 
   chart_series_type = new QComboBox(this);
-  chart_series_type->addItems({tr("Line"), tr("Scatter")});
+  chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
   chart_series_type->setCurrentIndex(settings.chart_series_type);
   form_layout->addRow(tr("Chart Default Series Type"), chart_series_type);