cabana: add csv export (#30800)

export csv

tools/cabana/SConscript

@@ -27,8 +27,9 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
 
 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',
+                                               'utils/export.cc', 'utils/util.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)
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):

tools/cabana/dbc/dbc.cc

@@ -2,7 +2,7 @@
 
 #include <algorithm>
 
-#include "tools/cabana/util.h"
+#include "tools/cabana/utils/util.h"
 
 uint qHash(const MessageId &item) {
   return qHash(item.source) ^ qHash(item.address);

tools/cabana/historylog.cc

@@ -2,11 +2,12 @@
 
 #include <functional>
 
+#include <QFileDialog>
 #include <QPainter>
-#include <QPushButton>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
+#include "tools/cabana/utils/export.h"
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const bool show_signals = display_signals_mode && sigs.size() > 0;
@@ -220,6 +221,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   h->addWidget(filters_widget);
   h->addStretch(0);
   h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight);
+  ToolButton *export_btn = new ToolButton("filetype-csv", tr("Export to CSV file..."));
+  h->addWidget(export_btn, 0, Qt::AlignRight);
 
   display_type_cb->addItems({"Signal", "Hex"});
   display_type_cb->setToolTip(tr("Display signal value or raw hex value"));
@@ -252,6 +255,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter()));
   QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter()));
   QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter);
+  QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV);
   QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &LogsWidget::refresh);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &LogsWidget::refresh);
@@ -304,3 +308,13 @@ void LogsWidget::showEvent(QShowEvent *event) {
     model->refresh();
   }
 }
+
+void LogsWidget::exportToCSV() {
+  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id));
+  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)),
+                                            dir, tr("csv (*.csv)"));
+  if (!fn.isEmpty()) {
+    const bool export_signals = model->display_signals_mode && model->sigs.size() > 0;
+    export_signals ? utils::exportSignalsToCSV(fn, model->msg_id) : utils::exportToCSV(fn, model->msg_id);
+  }
+}

tools/cabana/historylog.h

@@ -11,7 +11,7 @@
 
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-#include "tools/cabana/util.h"
+#include "tools/cabana/utils/util.h"
 
 class HeaderView : public QHeaderView {
 public:
@@ -80,6 +80,7 @@ public:
 
 private slots:
   void setFilter();
+  void exportToCSV();
 
 private:
   void refresh();

tools/cabana/mainwin.cc

@@ -22,6 +22,7 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
+#include "tools/cabana/utils/export.h"
 #include "tools/replay/replay.h"
 
 MainWindow::MainWindow() : QMainWindow() {
@@ -86,7 +87,9 @@ void MainWindow::createActions() {
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
   file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
   close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
+  export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV);
   close_stream_act->setEnabled(false);
+  export_to_csv_act->setEnabled(false);
   file_menu->addSeparator();
 
   file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New);
@@ -270,6 +273,14 @@ void MainWindow::closeStream() {
   statusBar()->showMessage(tr("stream closed"));
 }
 
+void MainWindow::exportToCSV() {
+  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName());
+  QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)"));
+  if (!fn.isEmpty()) {
+    utils::exportToCSV(fn);
+  }
+}
+
 void MainWindow::newFile(SourceSet s) {
   closeFile(s);
   dbc()->open(s, "", "");
@@ -344,6 +355,7 @@ void MainWindow::changingStream() {
 void MainWindow::streamStarted() {
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
+  export_to_csv_act->setEnabled(has_stream);
   tools_menu->setEnabled(has_stream);
   createDockWidgets();
 

tools/cabana/mainwin.h

@@ -29,6 +29,7 @@ public:
 public slots:
   void openStream();
   void closeStream();
+  void exportToCSV();
   void changingStream();
   void streamStarted();
 
@@ -94,6 +95,7 @@ protected:
   QMenu *manage_dbcs_menu = nullptr;
   QMenu *tools_menu = nullptr;
   QAction *close_stream_act = nullptr;
+  QAction *export_to_csv_act = nullptr;
   QAction *save_dbc = nullptr;
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;

tools/cabana/settings.cc

@@ -10,7 +10,7 @@
 #include <QStandardPaths>
 #include <type_traits>
 
-#include "tools/cabana/util.h"
+#include "tools/cabana/utils/util.h"
 
 Settings settings;
 

tools/cabana/streams/abstractstream.h

@@ -12,7 +12,7 @@
 
 #include "cereal/messaging/messaging.h"
 #include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/util.h"
+#include "tools/cabana/utils/util.h"
 
 struct CanData {
   void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,

tools/cabana/utils/export.cc

@@ -0,0 +1,47 @@
+#include "tools/cabana/utils/export.h"
+
+#include <QFile>
+#include <QTextStream>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+namespace utils {
+
+void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
+  QFile file(file_name);
+  if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
+    const uint64_t start_time = can->routeStartTime();
+    QTextStream stream(&file);
+    stream << "time,addr,bus,data\n";
+    for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
+      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+             << "0x" << QString::number(e->address, 16) << "," << e->src << ","
+             << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
+    }
+  }
+}
+
+void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
+  QFile file(file_name);
+  if (auto msg = dbc()->msg(msg_id); msg && msg->sigs.size() && file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
+    QTextStream stream(&file);
+    stream << "time,addr,bus";
+    for (auto s : msg->sigs)
+      stream << "," << s->name;
+    stream << "\n";
+
+    const uint64_t start_time = can->routeStartTime();
+    for (auto e : can->events(msg_id)) {
+      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+             << "0x" << QString::number(e->address, 16) << "," << e->src;
+      for (auto s : msg->sigs) {
+        double value = 0;
+        s->getValue(e->dat, e->size, &value);
+        stream << "," << QString::number(value, 'f', s->precision);
+      }
+      stream << "\n";
+    }
+  }
+}
+
+}  // namespace utils

tools/cabana/utils/export.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include <optional>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+namespace utils {
+void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id = std::nullopt);
+void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id);
+}  // namespace utils

tools/cabana/utils/util.cc

@@ -1,4 +1,4 @@
-#include "tools/cabana/util.h"
+#include "tools/cabana/utils/util.h"
 
 #include <algorithm>
 #include <csignal>

tools/cabana/videowidget.h

@@ -10,7 +10,7 @@
 #include <QTabBar>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
-#include "tools/cabana/util.h"
+#include "tools/cabana/utils/util.h"
 #include "tools/replay/logreader.h"
 
 struct AlertInfo {