openpilot_comma/tools/cabana/messageswidget.cc

#include "tools/cabana/messageswidget.h"

#include <QApplication>
#include <QFontDatabase>
#include <QHBoxLayout>
#include <QPainter>
#include <QPushButton>
#include <QVBoxLayout>

#include "tools/cabana/dbcmanager.h"

MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);

  // message filter
  filter = new QLineEdit(this);
  filter->setClearButtonEnabled(true);
  filter->setPlaceholderText(tr("filter messages"));
  main_layout->addWidget(filter);

  // message table
  table_widget = new QTableView(this);
  model = new MessageListModel(this);
  table_widget->setModel(model);
  table_widget->setItemDelegateForColumn(4, new MessageBytesDelegate(table_widget));
  table_widget->setSelectionBehavior(QAbstractItemView::SelectRows);
  table_widget->setSelectionMode(QAbstractItemView::SingleSelection);
  table_widget->setSortingEnabled(true);
  table_widget->sortByColumn(0, Qt::AscendingOrder);
  table_widget->horizontalHeader()->setStretchLastSection(true);
  table_widget->verticalHeader()->hide();
  main_layout->addWidget(table_widget);

  // suppress
  QHBoxLayout *suppress_layout = new QHBoxLayout();
  suppress_add = new QPushButton("Suppress Highlighted");
  suppress_clear = new QPushButton();
  suppress_layout->addWidget(suppress_add);
  suppress_layout->addWidget(suppress_clear);
  main_layout->addLayout(suppress_layout);

  // signals/slots
  QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString);
  QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
  QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
  QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
  QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
  QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(current_msg_id); });
  QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
    if (current.isValid() && current.row() < model->msgs.size()) {
      if (model->msgs[current.row()] != current_msg_id) {
        current_msg_id = model->msgs[current.row()];
        emit msgSelectionChanged(current_msg_id);
      }
    }
  });
  QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
    model->suppress();
    updateSuppressedButtons();
  });
  QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
    model->clearSuppress();
    updateSuppressedButtons();
  });

  updateSuppressedButtons();
}

void MessagesWidget::selectMessage(const QString &msg_id) {
  if (int row = model->msgs.indexOf(msg_id); row != -1) {
    table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
  }
}

void MessagesWidget::updateSuppressedButtons() {
  if (model->suppressed_bytes.empty()) {
    suppress_clear->setEnabled(false);
    suppress_clear->setText("Clear Suppressed");
  } else {
    suppress_clear->setEnabled(true);
    suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
  }
}

void MessagesWidget::reset() {
  model->reset();
  filter->clear();
  current_msg_id = "";
  updateSuppressedButtons();
}


// MessageListModel

QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
  if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
    return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section];
  return {};
}

QVariant MessageListModel::data(const QModelIndex &index, int role) const {
  const auto &id = msgs[index.row()];
  auto &can_data = can->lastMessage(id);

  if (role == Qt::DisplayRole) {
    switch (index.column()) {
      case 0: return msgName(id);
      case 1: return id;
      case 2: return can_data.freq;
      case 3: return can_data.count;
      case 4: return toHex(can_data.dat);
    }
  } else if (role == Qt::UserRole && index.column() == 4) {
    QList<QVariant> colors;
    colors.reserve(can_data.dat.size());
    for (int i = 0; i < can_data.dat.size(); i++){
      if (suppressed_bytes.contains({id, i})) {
        colors.append(QColor(255, 255, 255, 0));
      } else {
        colors.append(i < can_data.colors.size() ? can_data.colors[i] : QColor(255, 255, 255, 0));
      }
    }
    return colors;

  }
  return {};
}

void MessageListModel::setFilterString(const QString &string) {
  auto contains = [](const QString &id, const QString &txt) {
    auto cs = Qt::CaseInsensitive;
    if (id.contains(txt, cs) || msgName(id).contains(txt, cs)) return true;
    // Search by signal name
    if (const auto msg = dbc()->msg(id)) {
      for (auto &signal : msg->getSignals()) {
        if (QString::fromStdString(signal->name).contains(txt, cs)) return true;
      }
    }
    return false;
  };

  filter_str = string;
  msgs.clear();
  for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
    if (filter_str.isEmpty() || contains(it.key(), filter_str)) {
      msgs.push_back(it.key());
    }
  }
  sortMessages();
}

void MessageListModel::sortMessages() {
  beginResetModel();
  if (sort_column == 0) {
    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
      auto ll = std::pair{msgName(l), l};
      auto rr = std::pair{msgName(r), r};
      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
    });
  } else if (sort_column == 1) {
    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
      auto ll = DBCManager::parseId(l);
      auto rr = DBCManager::parseId(r);
      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
    });
  } else if (sort_column == 2) {
    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
      auto ll = std::pair{can->lastMessage(l).freq, l};
      auto rr = std::pair{can->lastMessage(r).freq, r};
      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
    });
  } else if (sort_column == 3) {
    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
      auto ll = std::pair{can->lastMessage(l).count, l};
      auto rr = std::pair{can->lastMessage(r).count, r};
      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
    });
  }
  endResetModel();
}

void MessageListModel::msgsReceived(const QHash<QString, CanData> *new_msgs) {
  int prev_row_count = msgs.size();
  bool update_all = new_msgs->size() == can->can_msgs.size();
  if (update_all || (filter_str.isEmpty() && msgs.size() != can->can_msgs.size())) {
    msgs = can->can_msgs.keys();
  }
  if (update_all || msgs.size() != prev_row_count) {
    sortMessages();
    return;
  }
  for (int i = 0; i < msgs.size(); ++i) {
    if (new_msgs->contains(msgs[i])) {
      for (int col = 2; col < columnCount(); ++col)
        emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
    }
  }
}

void MessageListModel::sort(int column, Qt::SortOrder order) {
  if (column != columnCount() - 1) {
    sort_column = column;
    sort_order = order;
    sortMessages();
  }
}

void MessageListModel::suppress() {
  const double cur_ts = can->currentSec();

  for (auto &id : msgs) {
    auto &can_data = can->lastMessage(id);
    for (int i = 0; i < can_data.dat.size(); i++) {
      const double dt = cur_ts - can_data.last_change_t[i];
      if (dt < 2.0) {
        suppressed_bytes.insert({id, i});
      }
    }
  }
}

void MessageListModel::clearSuppress() {
  suppressed_bytes.clear();
}

void MessageListModel::reset() {
  beginResetModel();
  filter_str = "";
  msgs.clear();
  clearSuppress();
  endResetModel();
}