You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 lines
2.6 KiB
84 lines
2.6 KiB
#pragma once
|
|
|
|
#include <atomic>
|
|
#include <deque>
|
|
#include <mutex>
|
|
|
|
#include <QColor>
|
|
#include <QHash>
|
|
#include <QList>
|
|
|
|
#include "opendbc/can/common_dbc.h"
|
|
#include "tools/cabana/settings.h"
|
|
#include "tools/replay/replay.h"
|
|
|
|
struct CanData {
|
|
double ts = 0.;
|
|
uint32_t count = 0;
|
|
uint32_t freq = 0;
|
|
QByteArray dat;
|
|
};
|
|
|
|
class CANMessages : public QObject {
|
|
Q_OBJECT
|
|
|
|
public:
|
|
enum FindFlags{ EQ, LT, GT };
|
|
CANMessages(QObject *parent);
|
|
~CANMessages();
|
|
bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
|
|
void seekTo(double ts);
|
|
QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
|
|
bool eventFilter(const Event *event);
|
|
|
|
inline QString route() const { return replay->route()->name(); }
|
|
inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
|
|
inline double totalSeconds() const { return replay->totalSeconds(); }
|
|
inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
|
|
inline double currentSec() const { return replay->currentSeconds(); }
|
|
const std::deque<CanData> messages(const QString &id);
|
|
inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; }
|
|
|
|
inline const std::vector<Event *> *events() const { return replay->events(); }
|
|
inline void setSpeed(float speed) { replay->setSpeed(speed); }
|
|
inline bool isPaused() const { return replay->isPaused(); }
|
|
inline void pause(bool pause) { replay->pause(pause); }
|
|
inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return replay->getTimeline(); }
|
|
|
|
signals:
|
|
void streamStarted();
|
|
void eventsMerged();
|
|
void updated();
|
|
void msgsReceived(const QHash<QString, CanData> *);
|
|
void received(QHash<QString, CanData> *);
|
|
|
|
public:
|
|
QMap<QString, CanData> can_msgs;
|
|
|
|
protected:
|
|
void process(QHash<QString, CanData> *);
|
|
void settingChanged();
|
|
|
|
Replay *replay = nullptr;
|
|
std::mutex lock;
|
|
std::atomic<double> counters_begin_sec = 0;
|
|
std::atomic<bool> processing = false;
|
|
QHash<QString, uint32_t> counters;
|
|
QHash<QString, std::deque<CanData>> received_msgs;
|
|
};
|
|
|
|
inline QString toHex(const QByteArray &dat) {
|
|
return dat.toHex(' ').toUpper();
|
|
}
|
|
inline char toHex(uint value) {
|
|
return "0123456789ABCDEF"[value & 0xF];
|
|
}
|
|
|
|
inline const QString &getColor(int i) {
|
|
// TODO: add more colors
|
|
static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
|
|
return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
|
|
}
|
|
|
|
// A global pointer referring to the unique CANMessages object
|
|
extern CANMessages *can;
|
|
|