cabana: simplify stream management and remove problematic autosave feature (#32945)

simplify code and remove problematic code
old-commit-hash: c17c34187b

tools/cabana/cabana.cc

@@ -38,26 +38,19 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
 
-  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
-
   AbstractStream *stream = nullptr;
+
   if (cmd_parser.isSet("stream")) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
-    PandaStreamConfig config = {};
-    if (cmd_parser.isSet("panda-serial")) {
-      config.serial = cmd_parser.value("panda-serial");
-    }
     try {
-      stream = new PandaStream(&app, config);
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
   } else if (cmd_parser.isSet("socketcan")) {
-    SocketCanStreamConfig config = {};
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
-    config.device = cmd_parser.value("socketcan");
-    stream = new SocketCanStream(&app, config);
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -73,24 +66,14 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
-      auto replay_stream = new ReplayStream(&app);
+      auto replay_stream = std::make_unique<ReplayStream>(&app);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
       }
-      stream = replay_stream;
+      stream = replay_stream.release();
-    }
     }
-
-  MainWindow w;
-  if (stream) {
-    stream->start();
-    if (!dbc_file.isEmpty()) {
-      w.loadFile(dbc_file);
-    }
-  } else {
-    w.openStream();
   }
-  w.show();
 
+  MainWindow w(stream, cmd_parser.value("dbc"));
   return app.exec();
 }

tools/cabana/chart/chart.cc

@@ -155,11 +155,10 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 }
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
+  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
-    for (const auto &s : sigs) {
+  if (it != sigs.end()) {
-      if (s.sig == sig && s.series->color() != sig->color) {
+    if (it->series->color() != sig->color) {
-        setSeriesColor(s.series, sig->color);
+      setSeriesColor(it->series, sig->color);
-      }
     }
     updateTitle();
     updateSeries(sig);

tools/cabana/chart/chartswidget.h

@@ -110,7 +110,6 @@ private:
   QTimer *align_timer;
   int current_theme = 0;
   bool value_tip_visible_ = false;
-  friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;
 };

tools/cabana/chart/signalselector.cc

@@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) {
   MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
   auto selected_items = seletedItems();
   for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(),
+                                   [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; });
     if (!is_selected) {
       addItemToList(available_list, msg_id, s);
     }

tools/cabana/chart/sparkline.cc

@@ -4,8 +4,6 @@
 #include <limits>
 #include <QPainter>
 
-#include "tools/cabana/streams/abstractstream.h"
-
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
   const auto &msgs = can->events(msg_id);
 
@@ -14,11 +12,6 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
   auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
 
-  if (first == last || size.isEmpty()) {
-    pixmap = QPixmap();
-    return;
-  }
-
   points.clear();
   double value = 0;
   for (auto it = first; it != last; ++it) {
@@ -27,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
     }
   }
 
-  if (points.empty()) {
+  if (points.empty() || size.isEmpty()) {
     pixmap = QPixmap();
     return;
   }

tools/cabana/chart/sparkline.h

@@ -5,6 +5,7 @@
 #include <vector>
 
 #include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class Sparkline {
 public:

tools/cabana/dbc/dbcfile.cc

@@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
     filename = dbc_file_name;
-    // Remove auto save file extension
-    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
-      filename.chop(AUTO_SAVE_EXTENSION.length());
-    }
     parse(file.readAll());
   } else {
     throw std::runtime_error("Failed to open file.");
@@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
 }
 
 DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  // Open from clipboard
   parse(content);
 }
 
 bool DBCFile::save() {
   assert(!filename.isEmpty());
-  if (writeContents(filename)) {
+  return writeContents(filename);
-    cleanupAutoSaveFile();
-    return true;
-  }
-  return false;
 }
 
 bool DBCFile::saveAs(const QString &new_filename) {
@@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) {
   return save();
 }
 
-bool DBCFile::autoSave() {
-  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
-}
-
-void DBCFile::cleanupAutoSaveFile() {
-  if (!filename.isEmpty()) {
-    QFile::remove(filename + AUTO_SAVE_EXTENSION);
-  }
-}
-
 bool DBCFile::writeContents(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
@@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }

tools/cabana/dbc/dbcfile.h

@@ -5,8 +5,6 @@
 
 #include "tools/cabana/dbc/dbc.h"
 
-const QString AUTO_SAVE_EXTENSION = ".tmp";
-
 class DBCFile {
 public:
   DBCFile(const QString &dbc_file_name);
@@ -15,9 +13,7 @@ public:
 
   bool save();
   bool saveAs(const QString &new_filename);
-  bool autoSave();
   bool writeContents(const QString &fn);
-  void cleanupAutoSaveFile();
   QString generateDBC();
 
   void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
@@ -27,7 +23,7 @@ public:
   cabana::Msg *msg(uint32_t address);
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString name);
+  cabana::Signal *signal(uint32_t address, const QString &name);
 
   inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
   inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }

tools/cabana/mainwin.cc

@@ -12,6 +12,7 @@
 #include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
@@ -23,9 +24,8 @@
 #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() {
+MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
@@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
+
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
+  QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
+  show();
 }
 
 void MainWindow::loadFingerprints() {
@@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() {
   if (json_file.open(QIODevice::ReadOnly)) {
     fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
-  // get opendbc names
-  for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    opendbc_names << QFileInfo(fn).baseName();
-  }
 }
 
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream);
   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);
@@ -96,20 +92,15 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
+  QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus);
 
   open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
-  for (int i = 0; i < MAX_RECENT_FILES; ++i) {
+  QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu);
-    recent_files_acts[i] = new QAction(this);
-    recent_files_acts[i]->setVisible(false);
-    QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile);
-    open_recent_menu->addAction(recent_files_acts[i]);
-  }
-  updateRecentFileActions();
 
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : opendbc_names) {
+  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
@@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() {
   messages_widget = new MessagesWidget(this);
   messages_dock->setWidget(messages_widget);
   QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle);
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
 
   // right panel
   charts_widget = new ChartsWidget(this);
@@ -209,67 +201,52 @@ void MainWindow::createStatusBar() {
   progress_bar->setVisible(false);
   statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
   statusBar()->addPermanentWidget(progress_bar);
-
   statusBar()->addPermanentWidget(status_label = new QLabel(this));
   updateStatus();
 }
 
 void MainWindow::createShortcuts() {
   auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut);
-  QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); });
+  QObject::connect(shortcut, &QShortcut::activated, this, []() {
+    if (can) can->pause(!can->isPaused());
+  });
   // TODO: add more shortcuts here.
 }
 
-void MainWindow::undoStackIndexChanged(int index) {
-  int count = UndoStack::instance()->count();
-  if (count >= 0) {
-    QString command_text;
-    if (index == count) {
-      command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1);
-    } else if (index < prev_undostack_index) {
-      command_text = tr("Undo %1").arg(UndoStack::instance()->text(index));
-    } else if (index > prev_undostack_index) {
-      command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1));
-    }
-    statusBar()->showMessage(command_text, 2000);
-  }
-  prev_undostack_index = index;
-  prev_undostack_count = count;
-  autoSave();
-  updateLoadSaveMenus();
-}
-
 void MainWindow::undoStackCleanChanged(bool clean) {
-  if (clean) {
-    prev_undostack_index = 0;
-    prev_undostack_count = 0;
-  }
   setWindowModified(!clean);
 }
 
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
-  updateLoadSaveMenus();
+
+  // Update file menu
+  int cnt = dbc()->nonEmptyDBCCount();
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
+  save_dbc->setEnabled(cnt > 0);
+  save_dbc_as->setEnabled(cnt == 1);
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(cnt == 1);
+  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
+
+  QStringList title;
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+  }
+  setWindowFilePath(title.join(" | "));
 }
 
-void MainWindow::openStream() {
+void MainWindow::selectAndOpenStream() {
-  AbstractStream *stream = nullptr;
+  StreamSelector dlg(this);
-  StreamSelector dlg(&stream, this);
   if (dlg.exec()) {
-    if (!dlg.dbcFile().isEmpty()) {
+    openStream(dlg.stream(), dlg.dbcFile());
-      loadFile(dlg.dbcFile());
-    }
-    stream->start();
-    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
   } else if (!can) {
-    stream = new DummyStream(this);
+    openStream(new DummyStream(this));
-    stream->start();
   }
 }
 
 void MainWindow::closeStream() {
-  AbstractStream *stream = new DummyStream(this);
+  openStream(new DummyStream(this));
-  stream->start();
   if (dbc()->nonEmptyDBCCount() > 0) {
     emit dbc()->DBCFileChanged();
   }
@@ -301,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
     closeFile(s);
 
-    QString dbc_fn = fn;
-    // Prompt user to load auto saved file if it exists.
-    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
-      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
-      if (ret == QMessageBox::Yes) {
-        dbc_fn += AUTO_SAVE_EXTENSION;
-        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
-      }
-    }
-
     QString error;
-    if (dbc()->open(s, dbc_fn, &error)) {
+    if (dbc()->open(s, fn, &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -323,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   }
 }
 
-void MainWindow::openRecentFile() {
-  if (auto action = qobject_cast<QAction *>(sender())) {
-    loadFile(action->data().toString());
-  }
-}
-
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
+  loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name));
-  loadFile(opendbc_file_path);
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
@@ -349,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   }
 }
 
-void MainWindow::changingStream() {
+void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
-}
 
-void MainWindow::streamStarted() {
+  delete can;
+  can = stream;
+  can->setParent(this);  // take ownership
+  can->start();
+
+  loadFile(dbc_file);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
   export_to_csv_act->setEnabled(has_stream);
@@ -372,9 +338,20 @@ void MainWindow::streamStarted() {
     newFile();
   }
 
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+
+  if (has_stream) {
+    auto wait_dlg = new QProgressDialog(
+        can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."),
+        tr("&Abort"), 0, 100, this);
+    wait_dlg->setWindowModality(Qt::WindowModal);
+    wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height());
+    QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close);
+    QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater);
+    QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) {
+      wait_dlg->setValue((int)((cur / (double)total) * 100));
+    });
+  }
 }
 
 void MainWindow::eventsMerged() {
@@ -383,12 +360,8 @@ void MainWindow::eventsMerged() {
                                     .arg(can->routeName())
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
+    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
-      auto dbc_name = fingerprint_to_dbc[car_fingerprint];
+      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
-      if (dbc_name != QJsonValue::Undefined) {
-        // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
-      }
     }
   }
 }
@@ -409,22 +382,6 @@ void MainWindow::saveAs() {
   }
 }
 
-void MainWindow::autoSave() {
-  if (!UndoStack::instance()->isClean()) {
-    for (auto dbc_file : dbc()->allDBCFiles()) {
-      if (!dbc_file->filename.isEmpty()) {
-        dbc_file->autoSave();
-      }
-    }
-  }
-}
-
-void MainWindow::cleanupAutoSaveFile() {
-  for (auto dbc_file : dbc()->allDBCFiles()) {
-    dbc_file->cleanupAutoSaveFile();
-  }
-}
-
 void MainWindow::closeFile(SourceSet s) {
   remindSaveChanges();
   if (s == SOURCE_ALL) {
@@ -448,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
-    updateLoadSaveMenus();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
@@ -464,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
-    updateLoadSaveMenus();
   }
 }
 
@@ -483,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 }
 
 void MainWindow::updateLoadSaveMenus() {
-  int cnt = dbc()->nonEmptyDBCCount();
-  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
-  save_dbc->setEnabled(cnt > 0);
-  save_dbc_as->setEnabled(cnt == 1);
-
-  // TODO: Support clipboard for multiple files
-  copy_dbc_to_clipboard->setEnabled(cnt == 1);
-
   manage_dbcs_menu->clear();
-  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
 
   for (int source : can->sources) {
     if (source >= 64) continue; // Sent and blocked buses are handled implicitly
@@ -505,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() {
     bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
 
     // Show sub-menu for each dbc for this source.
-    QString file_name = "No DBCs loaded";
+    auto dbc_file = dbc()->findDBCFile(source);
-    if (auto dbc_file = dbc()->findDBCFile(source)) {
+    if (dbc_file) {
       bus_menu->addSeparator();
       bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
@@ -514,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() {
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
-
-      file_name = dbc_file->name();
     }
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
   }
-
-  QStringList title;
-  for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
-  }
-  setWindowFilePath(title.join(" | "));
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
@@ -536,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) {
     settings.recent_files.removeLast();
   }
   settings.last_dir = QFileInfo(fn).absolutePath();
-  updateRecentFileActions();
 }
 
-void MainWindow::updateRecentFileActions() {
+void MainWindow::updateRecentFileMenu() {
+  open_recent_menu->clear();
+
   int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
+  if (!num_recent_files) {
+    open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false);
+    return;
+  }
+
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    recent_files_acts[i]->setText(text);
+    open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); });
-    recent_files_acts[i]->setData(settings.recent_files[i]);
-    recent_files_acts[i]->setVisible(true);
-  }
-  for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i]->setVisible(false);
   }
-  open_recent_menu->setEnabled(num_recent_files > 0);
 }
 
 void MainWindow::remindSaveChanges() {
@@ -606,7 +544,6 @@ void MainWindow::toggleChartsDocking() {
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
-  cleanupAutoSaveFile();
   remindSaveChanges();
 
   installDownloadProgressHandler(nullptr);
@@ -618,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   // save states
   settings.geometry = saveGeometry();
   settings.window_state = saveState();
-  if (!can->liveStreaming()) {
+  if (can && !can->liveStreaming()) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();

tools/cabana/mainwin.h

@@ -20,22 +20,20 @@ class MainWindow : public QMainWindow {
   Q_OBJECT
 
 public:
-  MainWindow();
+  MainWindow(AbstractStream *stream, const QString &dbc_file);
   void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
 
 public slots:
-  void openStream();
+  void selectAndOpenStream();
+  void openStream(AbstractStream *stream, const QString &dbc_file = {});
   void closeStream();
   void exportToCSV();
-  void changingStream();
-  void streamStarted();
 
   void newFile(SourceSet s = SOURCE_ALL);
   void openFile(SourceSet s = SOURCE_ALL);
-  void openRecentFile();
   void loadDBCFromOpendbc(const QString &name);
   void save();
   void saveAs();
@@ -55,10 +53,8 @@ protected:
   void saveFileToClipboard(DBCFile *dbc_file);
   void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
-  void autoSave();
-  void cleanupAutoSaveFile();
   void updateRecentFiles(const QString &fn);
-  void updateRecentFileActions();
+  void updateRecentFileMenu();
   void createActions();
   void createDockWindows();
   void createStatusBar();
@@ -70,7 +66,6 @@ protected:
   void findSimilarBits();
   void findSignal();
   void undoStackCleanChanged(bool clean);
-  void undoStackIndexChanged(int index);
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
@@ -88,10 +83,8 @@ protected:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
-  QStringList opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
-  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
   QMenu *open_recent_menu = nullptr;
   QMenu *manage_dbcs_menu = nullptr;
   QMenu *tools_menu = nullptr;
@@ -101,8 +94,6 @@ protected:
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;
   QString car_fingerprint;
-  int prev_undostack_index = 0;
-  int prev_undostack_count = 0;
   QByteArray default_state;
 };
 

tools/cabana/signalview.cc

@@ -494,6 +494,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }
 
 void SignalView::setMessage(const MessageId &id) {
+  max_value_width = 0;
   filter_edit->clear();
   model->setMessage(id);
 }
@@ -617,7 +618,6 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
-  int max_value_width = 0;
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {

tools/cabana/signalview.h

@@ -135,6 +135,7 @@ private:
       QTreeView::leaveEvent(event);
     }
   };
+  int max_value_width = 0;
   int value_column_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;

tools/cabana/streams/abstractstream.cc

@@ -10,11 +10,6 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
 
 AbstractStream *can = nullptr;
 
-StreamNotifier *StreamNotifier::instance() {
-  static StreamNotifier notifier;
-  return &notifier;
-}
-
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
   event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
@@ -24,12 +19,6 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
-  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
-    emit StreamNotifier::instance()->changingStream();
-    delete can;
-    can = this;
-    emit StreamNotifier::instance()->streamStarted();
-  });
 }
 
 void AbstractStream::updateMasks() {

tools/cabana/streams/abstractstream.h

@@ -96,7 +96,6 @@ signals:
   void seeking(double sec);
   void seekedTo(double sec);
   void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
-  void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
@@ -133,15 +132,11 @@ private:
 class AbstractOpenStreamWidget : public QWidget {
   Q_OBJECT
 public:
-  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
+  AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {}
-  virtual bool open() = 0;
+  virtual AbstractStream *open() = 0;
-  virtual QString title() = 0;
 
 signals:
   void enableOpenButton(bool);
-
-protected:
-  AbstractStream **stream = nullptr;
 };
 
 class DummyStream : public AbstractStream {
@@ -149,17 +144,7 @@ class DummyStream : public AbstractStream {
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
   QString routeName() const override { return tr("No Stream"); }
-  void start() override { emit streamStarted(); }
+  void start() override {}
-};
-
-class StreamNotifier : public QObject {
-  Q_OBJECT
-public:
-  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
-  static StreamNotifier* instance();
-signals:
-  void streamStarted();
-  void changingStream();
 };
 
 // A global pointer referring to the unique AbstractStream object

tools/cabana/streams/devicestream.cc

@@ -33,13 +33,9 @@ void DeviceStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
-  return new OpenDeviceWidget(stream);
-}
-
 // OpenDeviceWidget
 
-OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
   QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
   ip_address = new QLineEdit(this);
@@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream
   zmq->setChecked(true);
 }
 
-bool OpenDeviceWidget::open() {
+AbstractStream *OpenDeviceWidget::open() {
   QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
   bool msgq = group->checkedId() == 0;
-  *stream = new DeviceStream(qApp, msgq ? "" : ip);
+  return new DeviceStream(qApp, msgq ? "" : ip);
-  return true;
 }

tools/cabana/streams/devicestream.h

@@ -6,7 +6,6 @@ class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
   }
@@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenDeviceWidget(AbstractStream **stream);
+  OpenDeviceWidget(QWidget *parent = nullptr);
-  bool open() override;
+  AbstractStream *open() override;
-  QString title() override { return tr("&Device"); }
 
 private:
   QLineEdit *ip_address;

tools/cabana/streams/livestream.cc

@@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() {
 }
 
 void LiveStream::start() {
-  emit streamStarted();
   stream_thread->start();
   startUpdateTimer();
   begin_date_time = QDateTime::currentDateTime();

tools/cabana/streams/pandastream.cc

@@ -77,13 +77,9 @@ void PandaStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
-  return new OpenPandaWidget(stream);
-}
-
 // OpenPandaWidget
 
-OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
     form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
@@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() {
   }
 }
 
-bool OpenPandaWidget::open() {
+AbstractStream *OpenPandaWidget::open() {
   try {
-    *stream = new PandaStream(qApp, config);
+    return new PandaStream(qApp, config);
-    return true;
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
 }

tools/cabana/streams/pandastream.h

@@ -28,7 +28,6 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Panda: %1").arg(config.serial);
   }
@@ -45,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenPandaWidget(AbstractStream **stream);
+  OpenPandaWidget(QWidget *parent = nullptr);
-  bool open() override;
+  AbstractStream *open() override;
-  QString title() override { return tr("&Panda"); }
 
 private:
   void refreshSerials();

tools/cabana/streams/replaystream.cc

@@ -83,11 +83,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
   return success;
 }
 
-void ReplayStream::start() {
-  emit streamStarted();
-  replay->start();
-}
-
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
@@ -115,13 +110,9 @@ void ReplayStream::pause(bool pause) {
 }
 
 
-AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
-  return new OpenReplayWidget(stream);
-}
-
 // OpenReplayWidget
 
-OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QGridLayout *grid_layout = new QGridLayout(this);
   grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
   grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
@@ -154,7 +145,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
   });
 }
 
-bool OpenReplayWidget::open() {
+AbstractStream *OpenReplayWidget::open() {
   QString route = route_edit->text();
   QString data_dir;
   if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
@@ -173,8 +164,8 @@ bool OpenReplayWidget::open() {
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
     if (replay_stream->loadRoute(route, data_dir, flags)) {
-      *stream = replay_stream.release();
+      return replay_stream.release();
     }
   }
-  return *stream != nullptr;
+  return nullptr;
 }

tools/cabana/streams/replaystream.h

@@ -15,7 +15,7 @@ class ReplayStream : public AbstractStream {
 
 public:
   ReplayStream(QObject *parent);
-  void start() override;
+  void start() override { replay->start(); }
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
@@ -31,7 +31,6 @@ public:
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
 private:
   void mergeSegments();
@@ -44,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenReplayWidget(AbstractStream **stream);
+  OpenReplayWidget(QWidget *parent = nullptr);
-  bool open() override;
+  AbstractStream *open() override;
-  QString title() override { return tr("&Replay"); }
 
 private:
   QLineEdit *route_edit;

tools/cabana/streams/socketcanstream.cc

@@ -66,11 +66,7 @@ void SocketCanStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
-  return new OpenSocketCanWidget(stream);
-}
-
-OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->addStretch(1);
 
@@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() {
 }
 
 
-bool OpenSocketCanWidget::open() {
+AbstractStream *OpenSocketCanWidget::open() {
   try {
-    *stream = new SocketCanStream(qApp, config);
+    return new SocketCanStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
-  return true;
 }

tools/cabana/streams/socketcanstream.h

@@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
   ~SocketCanStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   static bool available();
 
   inline QString routeName() const override {
@@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenSocketCanWidget(AbstractStream **stream);
+  OpenSocketCanWidget(QWidget *parent = nullptr);
-  bool open() override;
+  AbstractStream *open() override;
-  QString title() override { return tr("&SocketCAN"); }
 
 private:
   void refreshDevices();

tools/cabana/streamselector.cc

@@ -10,7 +10,7 @@
 #include "tools/cabana/streams/replaystream.h"
 #include "tools/cabana/streams/socketcanstream.h"
 
-StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
+StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
   QVBoxLayout *layout = new QVBoxLayout(this);
   tab = new QTabWidget(this);
@@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   layout->addWidget(btn_box);
 
-  addStreamWidget(ReplayStream::widget(stream));
+  addStreamWidget(new OpenReplayWidget, tr("&Replay"));
-  addStreamWidget(PandaStream::widget(stream));
+  addStreamWidget(new OpenPandaWidget, tr("&Panda"));
   if (SocketCanStream::available()) {
-    addStreamWidget(SocketCanStream::widget(stream));
+    addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
   }
-  addStreamWidget(DeviceStream::widget(stream));
+  addStreamWidget(new OpenDeviceWidget, tr("&Device"));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
   QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
     setEnabled(false);
-    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
+    if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) {
       accept();
     }
     setEnabled(true);
@@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   });
 }
 
-void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) {
-  tab->addTab(w, w->title());
+  tab->addTab(w, title);
   auto open_btn = btn_box->button(QDialogButtonBox::Open);
   QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }

tools/cabana/streamselector.h

@@ -11,11 +11,13 @@ class StreamSelector : public QDialog {
   Q_OBJECT
 
 public:
-  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
+  StreamSelector(QWidget *parent = nullptr);
-  void addStreamWidget(AbstractOpenStreamWidget *w);
+  void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title);
   QString dbcFile() const { return dbc_file->text(); }
+  AbstractStream *stream() const { return stream_; }
 
 private:
+  AbstractStream *stream_ = nullptr;
   QLineEdit *dbc_file;
   QTabWidget *tab;
   QDialogButtonBox *btn_box;