openpilot_comma/tools/cabana/tools/findsimilarbits.cc

#include "tools/cabana/tools/findsimilarbits.h"

#include <QHeaderView>
#include <QHBoxLayout>
#include <QIntValidator>
#include <QLabel>
#include <QPushButton>
#include <QRadioButton>

#include "tools/cabana/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h"

FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) {
  setWindowTitle(tr("Find similar bits"));
  setAttribute(Qt::WA_DeleteOnClose);

  QVBoxLayout *main_layout = new QVBoxLayout(this);

  QHBoxLayout *form_layout = new QHBoxLayout();
  bus_combo = new QComboBox(this);
  QSet<uint8_t> bus_set;
  for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) {
    bus_set << it.key().source;
  }
  for (uint8_t bus : bus_set) {
    bus_combo->addItem(QString::number(bus), bus);
  }
  bus_combo->model()->sort(0);
  bus_combo->setCurrentIndex(0);

  msg_cb = new QComboBox(this);
  // TODO: update when bus_combo changes
  for (auto &[id, msg] : dbc()->getMessages(0)) {
    msg_cb->addItem(msg.name, id.address);
  }
  msg_cb->model()->sort(0);
  msg_cb->setCurrentIndex(0);

  byte_idx_sb = new QSpinBox(this);
  byte_idx_sb->setRange(0, 63);

  bit_idx_sb = new QSpinBox(this);
  bit_idx_sb->setRange(0, 7);

  form_layout->addWidget(new QLabel("Bus"));
  form_layout->addWidget(bus_combo);
  form_layout->addWidget(msg_cb);
  form_layout->addWidget(new QLabel("Byte Index"));
  form_layout->addWidget(byte_idx_sb);
  form_layout->addWidget(new QLabel("Bit Index"));
  form_layout->addWidget(bit_idx_sb);


  min_msgs = new QLineEdit(this);
  min_msgs->setValidator(new QIntValidator(this));
  min_msgs->setText("100");
  form_layout->addWidget(new QLabel("Min msg count"));
  form_layout->addWidget(min_msgs);
  search_btn = new QPushButton(tr("&Find"), this);
  form_layout->addWidget(search_btn);
  form_layout->addStretch(1);
  main_layout->addLayout(form_layout);

  table = new QTableWidget(this);
  table->setSelectionBehavior(QAbstractItemView::SelectRows);
  table->setSelectionMode(QAbstractItemView::SingleSelection);
  table->setEditTriggers(QAbstractItemView::NoEditTriggers);
  table->horizontalHeader()->setStretchLastSection(true);
  main_layout->addWidget(table);

  setMinimumSize({700, 500});
  QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);

  QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
    if (index.isValid()) {
      MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)};
      emit openMessage(msg_id);
    }
  });
}

void FindSimilarBitsDlg::find() {
  search_btn->setEnabled(false);
  table->clear();
  uint32_t selected_address = msg_cb->currentData().toUInt();
  auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt());
  table->setRowCount(msg_mismatched.size());
  table->setColumnCount(6);
  table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"});
  for (int i = 0; i < msg_mismatched.size(); ++i) {
    auto &m = msg_mismatched[i];
    table->setItem(i, 0, new QTableWidgetItem(QString("%1").arg(m.address, 1, 16)));
    table->setItem(i, 1, new QTableWidgetItem(QString::number(m.byte_idx)));
    table->setItem(i, 2, new QTableWidgetItem(QString::number(m.bit_idx)));
    table->setItem(i, 3, new QTableWidgetItem(QString::number(m.mismatches)));
    table->setItem(i, 4, new QTableWidgetItem(QString::number(m.total)));
    table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc)));
  }
  search_btn->setEnabled(true);
}

QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) {
  QHash<uint32_t, QVector<uint32_t>> mismatches;
  QHash<uint32_t, uint32_t> msg_count;
  int bit_to_find = -1;
  for (const auto &[id, msg] : can->events()) {
    if (id.source == bus) {
      for (const auto &c : msg) {
        if (id.address == selected_address && c.size > byte_idx) {
          bit_to_find = ((c.dat[byte_idx] >> (7 - bit_idx)) & 1) != 0;
        }
        ++msg_count[id.address];
        if (bit_to_find == -1) continue;

        auto &mismatched = mismatches[id.address];
        if (mismatched.size() < c.size * 8) {
          mismatched.resize(c.size * 8);
        }
        for (int i = 0; i < c.size; ++i) {
          for (int j = 0; j < 8; ++j) {
            int bit = ((c.dat[i] >> (7 - j)) & 1) != 0;
            mismatched[i * 8 + j] += (bit != bit_to_find);
          }
        }
      }
    }
  }

  QList<mismatched_struct> result;
  result.reserve(mismatches.size());
  for (auto it = mismatches.begin(); it != mismatches.end(); ++it) {
    if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
      auto &mismatched = it.value();
      for (int i = 0; i < mismatched.size(); ++i) {
        if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
          result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
        }
      }
    }
  }
  std::sort(result.begin(), result.end(), [](auto &l, auto &r) { return l.perc < r.perc; });
  return result;
}