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95 lines
2.5 KiB
95 lines
2.5 KiB
#pragma once
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#include <atomic>
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#include <map>
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#include <QApplication>
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#include <QHash>
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#include <QObject>
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#include "opendbc/can/common.h"
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#include "opendbc/can/common_dbc.h"
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#include "tools/replay/replay.h"
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const int FPS = 20;
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const static int LOG_SIZE = 25;
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struct CanData {
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QString id;
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double ts;
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uint32_t address;
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uint16_t bus_time;
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uint8_t source;
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QByteArray dat;
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};
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class Parser : public QObject {
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Q_OBJECT
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public:
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Parser(QObject *parent);
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~Parser();
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static uint32_t addressFromId(const QString &id);
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bool eventFilter(const Event *event);
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bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
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void openDBC(const QString &name);
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void saveDBC(const QString &name) {}
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void addNewMsg(const Msg &msg);
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void removeSignal(const QString &id, const QString &sig_name);
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void seekTo(double ts);
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const Signal *getSig(const QString &id, const QString &sig_name);
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void setRange(double min, double max);
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void resetRange();
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void setCurrentMsg(const QString &id);
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inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }
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inline double currentSec() const { return current_sec; }
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inline bool isZoomed() const { return is_zoomed; }
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inline const Msg *getMsg(const QString &id) { return getMsg(addressFromId(id)); }
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inline const Msg *getMsg(uint32_t address) {
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auto it = msg_map.find(address);
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return it != msg_map.end() ? it->second : nullptr;
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}
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signals:
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void showPlot(const QString &id, const QString &name);
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void hidePlot(const QString &id, const QString &name);
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void signalRemoved(const QString &id, const QString &sig_name);
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void eventsMerged();
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void rangeChanged(double min, double max);
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void received(std::vector<CanData> can);
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void updated();
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public:
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Replay *replay = nullptr;
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QHash<QString, uint64_t> counters;
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std::map<QString, CanData> can_msgs;
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QList<CanData> history_log;
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protected:
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void process(std::vector<CanData> can);
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void segmentsMerged();
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std::atomic<double> current_sec = 0.;
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std::atomic<bool> seeking = false;
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QString dbc_name;
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double begin_sec = 0;
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double end_sec = 0;
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double event_begin_sec = 0;
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double event_end_sec = 0;
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bool is_zoomed = false;
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DBC *dbc = nullptr;
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std::map<uint32_t, const Msg *> msg_map;
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QString current_msg_id;
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std::vector<CanData> msgs_buf;
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};
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Q_DECLARE_METATYPE(std::vector<CanData>);
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// TODO: Add helper function in dbc.h
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int bigEndianStartBitsIndex(int start_bit);
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int bigEndianBitIndex(int index);
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inline QString toHex(const QByteArray &dat) {
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return dat.toHex(' ').toUpper();
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}
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extern Parser *parser;
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