Merge remote-tracking branch 'upstream/master' into trailblazer_support

pull/27830/head
Shane Smiskol 2 years ago
commit 185c18d3f4
  1. 1
      RELEASES.md
  2. 1
      common/statlog.cc
  3. 1
      common/swaglog.cc
  4. 13
      docs/CARS.md
  5. 2
      selfdrive/car/CARS_template.md
  6. 4
      selfdrive/car/honda/values.py
  7. 18
      selfdrive/car/hyundai/carstate.py
  8. 6
      selfdrive/car/hyundai/interface.py
  9. 9
      selfdrive/car/hyundai/tests/test_hyundai.py
  10. 24
      selfdrive/car/hyundai/values.py
  11. 16
      selfdrive/car/isotp_parallel_query.py
  12. 5
      selfdrive/car/mazda/values.py
  13. 4
      selfdrive/car/subaru/values.py
  14. 1
      selfdrive/car/tests/routes.py
  15. 1
      selfdrive/car/torque_data/override.yaml
  16. 4
      selfdrive/car/toyota/values.py
  17. 15
      selfdrive/car/volkswagen/values.py
  18. 8
      selfdrive/debug/test_car_model.py
  19. 8
      selfdrive/locationd/locationd.cc
  20. 3
      system/sensord/rawgps/rawgpsd.py
  21. 3
      tools/cabana/SConscript
  22. 648
      tools/cabana/chart/chart.cc
  23. 106
      tools/cabana/chart/chart.h
  24. 497
      tools/cabana/chart/chartswidget.cc
  25. 125
      tools/cabana/chart/chartswidget.h
  26. 108
      tools/cabana/chart/signalselector.cc
  27. 30
      tools/cabana/chart/signalselector.h
  28. 46
      tools/cabana/chart/tiplabel.cc
  29. 10
      tools/cabana/chart/tiplabel.h
  30. 232
      tools/cabana/chartswidget.h
  31. 4
      tools/cabana/dbc/dbc.h
  32. 6
      tools/cabana/detailwidget.cc
  33. 2
      tools/cabana/detailwidget.h
  34. 7
      tools/cabana/historylog.cc
  35. 2
      tools/cabana/historylog.h
  36. 1
      tools/cabana/mainwin.cc
  37. 2
      tools/cabana/mainwin.h
  38. 25
      tools/cabana/settings.cc
  39. 3
      tools/cabana/settings.h
  40. 7
      tools/cabana/signalview.cc
  41. 2
      tools/cabana/signalview.h
  42. 121
      tools/cabana/streams/abstractstream.cc
  43. 12
      tools/cabana/streams/abstractstream.h
  44. 117
      tools/cabana/util.cc
  45. 43
      tools/cabana/util.h
  46. 122
      tools/cabana/videowidget.cc
  47. 21
      tools/cabana/videowidget.h

@ -3,6 +3,7 @@ Version 0.9.2 (2023-03-XX)
* New driving model, trained on a new dataset
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Buick LaCrosse 2017-19 support thanks to koch-cf!
* Kia Niro EV 2023 support thanks to JosselinLecocq!
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28)

@ -5,6 +5,7 @@
#include "common/statlog.h"
#include "common/util.h"
#include <cstdarg>
#include <stdio.h>
#include <mutex>
#include <zmq.h>

@ -5,6 +5,7 @@
#include "common/swaglog.h"
#include <cassert>
#include <cstdarg>
#include <cstring>
#include <limits>
#include <mutex>

@ -2,9 +2,9 @@
# Supported Cars
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 239 Supported Cars
# 240 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -45,9 +45,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
@ -108,6 +108,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A</a>||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
@ -238,8 +239,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||

@ -6,7 +6,7 @@
# Supported Cars
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# {{all_car_info | length}} Supported Cars

@ -127,8 +127,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022", "All"),
HondaCarInfo("Honda Civic Hatchback 2022", "All"),
HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),

@ -7,7 +7,7 @@ from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@ -27,9 +27,9 @@ class CarState(CarStateBase):
"GEAR_SHIFTER"
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
@ -123,11 +123,11 @@ class CarState(CarStateBase):
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
gear = cp.vl["TCU12"]["CUR_GR"]
elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@ -354,12 +354,12 @@ class CarState(CarStateBase):
("EMS16", 100),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
signals.append(("CF_Clu_Gear", "CLU15"))
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
signals.append(("CUR_GR", "TCU12"))
checks.append(("TCU12", 100))
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
checks.append(("ELECT_GEAR", 20))
else:

@ -136,10 +136,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars
ret.wheelbase = 2.7
ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
ret.steerRatio = 13.6 # average of all the cars
tire_stiffness_factor = 0.385
if candidate == CAR.KIA_NIRO_PHEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS

@ -2,16 +2,21 @@
import unittest
from cereal import car
from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS
from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
class TestHyundaiFingerprint(unittest.TestCase):
def test_canfd_not_in_can_features(self):
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR)
for car_model in CANFD_CAR:
self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
def test_auxiliary_request_ecu_whitelist(self):
# Asserts only auxiliary Ecus can exist in database for CAN-FD cars
whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3}
whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
for car_model in CANFD_CAR:
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}

@ -100,6 +100,7 @@ class CAR:
KIA_K5_2021 = "KIA K5 2021"
KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
@ -203,6 +204,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
],
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a),
CAR.KIA_NIRO_PHEV: [
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d),
@ -913,18 +915,23 @@ FW_VERSIONS = {
CAR.KIA_STINGER_2022: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ',
b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81HM6M1_0a0_H00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503',
b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622',
b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
],
},
CAR.PALISADE: {
@ -1306,6 +1313,14 @@ FW_VERSIONS = {
b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821',
],
},
CAR.KIA_NIRO_EV_2ND_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801',
],
},
CAR.KIA_NIRO_PHEV: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
@ -1622,6 +1637,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
@ -1640,6 +1656,7 @@ FW_VERSIONS = {
},
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
],
(Ecu.fwdRadar, 0x7d0, None): [
@ -1712,14 +1729,14 @@ CHECKSUM = {
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}
FEATURES = {
CAN_GEARS = {
# which message has the gear
"use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
@ -1728,7 +1745,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
@ -1791,4 +1808,5 @@ DBC = {
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
}

@ -100,9 +100,6 @@ class IsoTpParallelQuery:
while True:
self.rx()
if all(request_done.values()):
break
for tx_addr, msg in msgs.items():
try:
dat, rx_in_progress = msg.recv()
@ -134,18 +131,21 @@ class IsoTpParallelQuery:
error_code = dat[2] if len(dat) > 2 else -1
if error_code == 0x78:
response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
if self.debug:
cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
cloudlog.error(f"iso-tp query response pending: {tx_addr}")
else:
response_timeouts[tx_addr] = 0
request_done[tx_addr] = True
cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
# Mark request done if address timed out
cur_time = time.monotonic()
if cur_time - max(response_timeouts.values()) > 0:
for tx_addr in msgs:
for tx_addr in response_timeouts:
if cur_time - response_timeouts[tx_addr] > 0:
if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
request_done[tx_addr] = True
# Break if all requests are done (finished or timed out)
if all(request_done.values()):
break
if cur_time - start_time > total_timeout:

@ -258,9 +258,11 @@ FW_VERSIONS = {
CAR.MAZDA6: {
(Ecu.eps, 0x730, None): [
b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
],
(Ecu.engine, 0x7e0, None): [
b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
@ -270,13 +272,16 @@ FW_VERSIONS = {
],
(Ecu.abs, 0x760, None): [
b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
],
(Ecu.fwdCamera, 0x706, None): [
b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
],
(Ecu.transmission, 0x7e1, None): [
b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],

@ -276,6 +276,7 @@ FW_VERSIONS = {
b'\xa3 \x14\x01',
b'\xf1\x00\xbb\r\x05',
b'\xa3 \x18&\x00',
b'\xa3 \x19&\x00',
],
(Ecu.eps, 0x746, None): [
b'\x8d\xc0\x04\x00',
@ -288,6 +289,8 @@ FW_VERSIONS = {
b'\xf1\x00\xac\x02\x00',
b'\x00\x00e!\x00\x00\x00\x00',
b'\x00\x00e\x97\x00\x00\x00\x00',
b'\x00\x00e^\x1f@ !',
b'\x00\x00e^\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xb6"`A\x07',
@ -305,6 +308,7 @@ FW_VERSIONS = {
b'\x1a\xf6B`\x00',
b'\x1a\xf6b0\x00',
b'\x1a\xe6B1\x00',
b'\x1a\xe6F1\x00',
],
},
CAR.FORESTER_PREGLOBAL: {

@ -130,6 +130,7 @@ routes = [
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),

@ -44,6 +44,7 @@ KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]

@ -919,6 +919,7 @@ FW_VERSIONS = {
b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
@ -929,6 +930,7 @@ FW_VERSIONS = {
b'8965B12451\x00\x00\x00\x00\x00\x00',
b'8965B16011\x00\x00\x00\x00\x00\x00',
b'8965B16101\x00\x00\x00\x00\x00\x00',
b'8965B16170\x00\x00\x00\x00\x00\x00',
b'8965B76012\x00\x00\x00\x00\x00\x00',
b'8965B76050\x00\x00\x00\x00\x00\x00',
b'\x018965B12350\x00\x00\x00\x00\x00\x00',
@ -956,6 +958,7 @@ FW_VERSIONS = {
b'F152612D00\x00\x00\x00\x00\x00\x00',
b'F152616011\x00\x00\x00\x00\x00\x00',
b'F152616060\x00\x00\x00\x00\x00\x00',
b'F152616030\x00\x00\x00\x00\x00\x00',
b'F152642540\x00\x00\x00\x00\x00\x00',
b'F152676293\x00\x00\x00\x00\x00\x00',
b'F152676303\x00\x00\x00\x00\x00\x00',
@ -1995,6 +1998,7 @@ FW_VERSIONS = {
b'\x01896634D12100\x00\x00\x00\x00',
b'\x01896634D43000\x00\x00\x00\x00',
b'\x01896634D44000\x00\x00\x00\x00',
b'\x018966348X0000\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'\x01F15260E031\x00\x00\x00\x00\x00\x00',

@ -214,8 +214,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
],
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
CAR.POLO_MK6: [
VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
],
CAR.SHARAN_MK2: [
VWCarInfo("Volkswagen Sharan 2018-22"),
@ -672,9 +672,11 @@ FW_VERSIONS = {
b'\xf1\x8704C906025H \xf1\x895177',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300042D \xf1\x891612',
b'\xf1\x870CW300050D \xf1\x891908',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
],
(Ecu.eps, 0x712, None): [
@ -814,6 +816,7 @@ FW_VERSIONS = {
},
CAR.TRANSPORTER_T61: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056AL\xf1\x899970',
b'\xf1\x8704L906057AP\xf1\x891186',
b'\xf1\x8704L906057N \xf1\x890413',
],
@ -822,10 +825,11 @@ FW_VERSIONS = {
b'\xf1\x870BT300012E \xf1\x893105',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411',
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
],
(Ecu.fwdRadar, 0x757, None): [
@ -949,14 +953,17 @@ FW_VERSIONS = {
b'\xf1\x8705L906022M \xf1\x890901',
b'\xf1\x8783A906259 \xf1\x890001',
b'\xf1\x8783A906259 \xf1\x890005',
b'\xf1\x8783A906259F \xf1\x890001',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158CN\xf1\x893608',
b'\xf1\x8709G927158GP\xf1\x893937',
b'\xf1\x870GC300045D \xf1\x892802',
b'\xf1\x870GC300046F \xf1\x892701',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
],
@ -964,8 +971,10 @@ FW_VERSIONS = {
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
b'\xf1\x872Q0907572R \xf1\x890372',
b'\xf1\x872Q0907572T \xf1\x890383',
],

@ -6,6 +6,7 @@ import unittest
from selfdrive.car.tests.routes import CarTestRoute
from selfdrive.car.tests.test_models import TestCarModel
from tools.lib.route import SegmentName
def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite:
@ -21,16 +22,17 @@ def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
"Uses selfdrive/car/tests/test_models.py")
parser.add_argument("route", help="Specify route to run tests on")
parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
parser.add_argument("--car", help="Specify car model for test route")
parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test")
parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
args = parser.parse_args()
if len(sys.argv) == 1:
parser.print_help()
sys.exit()
test_route = CarTestRoute(args.route, args.car, segment=args.segment)
route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci)
unittest.TextTestRunner().run(test_suite)

@ -303,13 +303,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
// quectel gps verticalAccuracy is clipped to 500
bool gps_accuracy_insane_quectel = false;
if (!ublox_available) {
gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500;
}
if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) {
if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
//this->gps_valid = false;
this->determine_gps_mode(current_time);
return;

@ -270,7 +270,6 @@ def main() -> NoReturn:
msg = messaging.new_message('gpsLocation')
gps = msg.gpsLocation
gps.flags = 1
gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
gps.altitude = report["q_FltFinalPosAlt"]
@ -283,6 +282,8 @@ def main() -> NoReturn:
gps.verticalAccuracy = report["q_FltVdop"]
gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
# quectel gps verticalAccuracy is clipped to 500, set invalid if so
gps.flags = 1 if gps.verticalAccuracy != 500 else 0
pm.send('gpsLocation', msg)

@ -29,8 +29,9 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
prev_moc_path = cabana_env['QT_MOCHPREFIX']
cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.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',
'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc',
'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)

@ -1,396 +1,19 @@
#include "tools/cabana/chartswidget.h"
#include "tools/cabana/chart/chart.h"
#include <QActionGroup>
#include <QApplication>
#include <QCompleter>
#include <QDialogButtonBox>
#include <QDrag>
#include <QFutureSynchronizer>
#include <QGraphicsLayout>
#include <QLineEdit>
#include <QGraphicsDropShadowEffect>
#include <QMenu>
#include <QMimeData>
#include <QOpenGLWidget>
#include <QPushButton>
#include <QRubberBand>
#include <QScrollBar>
#include <QStylePainter>
#include <QToolBar>
#include <QToolTip>
#include <QtConcurrent>
#include <QtMath>
const int MAX_COLUMN_COUNT = 4;
static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
// ChartsWidget
ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
// toolbar
QToolBar *toolbar = new QToolBar(tr("Charts"), this);
int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
toolbar->setIconSize({icon_size, icon_size});
QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot"));
toolbar->addWidget(title_label = new QLabel());
title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
QMenu *menu = new QMenu(this);
for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
}
columns_action = toolbar->addAction("");
columns_action->setMenu(menu);
qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
QLabel *stretch_label = new QLabel(this);
stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
toolbar->addWidget(stretch_label);
range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
range_slider = new LogSlider(1000, Qt::Horizontal, this);
range_slider->setMaximumWidth(200);
range_slider->setToolTip(tr("Set the chart range"));
range_slider->setRange(1, settings.max_cached_minutes * 60);
range_slider->setSingleStep(1);
range_slider->setPageStep(60); // 1 min
range_slider_action = toolbar->addWidget(range_slider);
// zoom controls
zoom_undo_stack = new QUndoStack(this);
undo_zoom_action = zoom_undo_stack->createUndoAction(this);
undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
toolbar->addAction(undo_zoom_action);
redo_zoom_action = zoom_undo_stack->createRedoAction(this);
redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
toolbar->addAction(redo_zoom_action);
reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), "");
reset_zoom_action->setToolTip(tr("Reset zoom"));
qobject_cast<QToolButton*>(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
remove_all_btn = toolbar->addAction(utils::icon("x"), tr("Remove all charts"));
dock_btn = toolbar->addAction("");
main_layout->addWidget(toolbar);
// charts
charts_layout = new QGridLayout();
charts_layout->setSpacing(10);
charts_container = new QWidget(this);
QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container);
charts_main_layout->setContentsMargins(0, 0, 0, 0);
charts_main_layout->addLayout(charts_layout);
charts_main_layout->addStretch(0);
charts_scroll = new QScrollArea(this);
charts_scroll->setFrameStyle(QFrame::NoFrame);
charts_scroll->setWidgetResizable(true);
charts_scroll->setWidget(charts_container);
charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
main_layout->addWidget(charts_scroll);
// init settings
column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
display_range = {0, max_chart_range};
range_slider->setValue(max_chart_range);
updateToolBar();
align_timer.setSingleShot(true);
QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart);
QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset);
QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
QObject::connect(dock_btn, &QAction::triggered, [this]() {
emit dock(!docking);
docking = !docking;
updateToolBar();
});
setWhatsThis(tr(R"(
<b>Chart view</b><br />
<!-- TODO: add descprition here -->
)"));
}
void ChartsWidget::eventsMerged() {
QFutureSynchronizer<void> future_synchronizer;
for (auto c : charts) {
future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
}
}
void ChartsWidget::setZoom(double min, double max) {
zoomed_range = {min, max};
is_zoomed = zoomed_range != display_range;
updateToolBar();
updateState();
emit rangeChanged(min, max, is_zoomed);
}
void ChartsWidget::zoomIn(double min, double max) {
zoom_undo_stack->push(new ZoomCommand(this, {min, max}));
}
void ChartsWidget::zoomReset() {
setZoom(display_range.first, display_range.second);
zoom_undo_stack->clear();
}
void ChartsWidget::showValueTip(double sec) {
const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
for (auto c : charts) {
if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
c->showTip(sec);
} else {
c->hideTip();
}
}
}
void ChartsWidget::updateState() {
if (charts.isEmpty()) return;
const double cur_sec = can->currentSec();
if (!is_zoomed) {
double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
if (pos < 0 || pos > 0.8) {
display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
}
double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
display_range.first = std::max(0.0, max_sec - max_chart_range);
display_range.second = display_range.first + max_chart_range;
} else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) {
// loop in zoomed range
can->seekTo(zoomed_range.first);
}
const auto &range = is_zoomed ? zoomed_range : display_range;
for (auto c : charts) {
c->updatePlot(cur_sec, range.first, range.second);
}
}
void ChartsWidget::setMaxChartRange(int value) {
max_chart_range = settings.chart_range = range_slider->value();
updateToolBar();
updateState();
}
void ChartsWidget::updateToolBar() {
title_label->setText(tr("Charts: %1").arg(charts.size()));
columns_action->setText(tr("Column: %1").arg(column_count));
range_lb->setText(utils::formatSeconds(max_chart_range));
range_lb_action->setVisible(!is_zoomed);
range_slider_action->setVisible(!is_zoomed);
undo_zoom_action->setVisible(is_zoomed);
redo_zoom_action->setVisible(is_zoomed);
reset_zoom_action->setVisible(is_zoomed);
reset_zoom_action->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
remove_all_btn->setEnabled(!charts.isEmpty());
dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square"));
dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
}
void ChartsWidget::settingChanged() {
range_slider->setRange(1, settings.max_cached_minutes * 60);
for (auto c : charts) {
c->setFixedHeight(settings.chart_height);
c->setSeriesType((SeriesType)settings.chart_series_type);
}
}
ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
for (auto c : charts)
if (c->hasSeries(id, sig)) return c;
return nullptr;
}
ChartView *ChartsWidget::createChart() {
auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
chart->setFixedHeight(settings.chart_height);
chart->setMinimumWidth(CHART_MIN_WIDTH);
chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
chart->chart()->setTheme(settings.theme == 2 ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); });
QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn);
QObject::connect(chart, &ChartView::zoomUndo, undo_zoom_action, &QAction::trigger);
QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip);
charts.push_back(chart);
updateLayout();
updateToolBar();
return chart;
}
void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
ChartView *chart = findChart(id, sig);
if (show && !chart) {
chart = merge && charts.size() > 0 ? charts.back() : createChart();
chart->addSeries(id, sig);
} else if (!show && chart) {
chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
}
}
void ChartsWidget::setColumnCount(int n) {
n = std::clamp(n, 1, MAX_COLUMN_COUNT);
if (column_count != n) {
column_count = settings.chart_column_count = n;
updateToolBar();
updateLayout();
}
}
void ChartsWidget::updateLayout() {
int n = MAX_COLUMN_COUNT;
for (; n > 1; --n) {
if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
}
bool show_column_cb = n > 1;
columns_action->setVisible(show_column_cb);
n = std::min(column_count, n);
if (charts.size() != charts_layout->count() || n != current_column_count) {
current_column_count = n;
charts_layout->parentWidget()->setUpdatesEnabled(false);
for (int i = 0; i < charts.size(); ++i) {
charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n);
}
QTimer::singleShot(0, [this]() { charts_layout->parentWidget()->setUpdatesEnabled(true); });
}
}
void ChartsWidget::startAutoScroll() {
auto_scroll_timer.start(50);
}
void ChartsWidget::stopAutoScroll() {
auto_scroll_timer.stop();
auto_scroll_count = 0;
}
void ChartsWidget::doAutoScroll() {
QScrollBar *scroll = charts_scroll->verticalScrollBar();
if (auto_scroll_count < scroll->pageStep()) {
++auto_scroll_count;
}
int value = scroll->value();
QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
QRect area = charts_scroll->viewport()->rect();
if (pos.y() - area.top() < settings.chart_height / 2) {
scroll->setValue(value - auto_scroll_count);
} else if (area.bottom() - pos.y() < settings.chart_height / 2) {
scroll->setValue(value + auto_scroll_count);
}
bool vertical_unchanged = value == scroll->value();
if (vertical_unchanged) {
stopAutoScroll();
}
}
void ChartsWidget::resizeEvent(QResizeEvent *event) {
QWidget::resizeEvent(event);
updateLayout();
}
void ChartsWidget::newChart() {
SeriesSelector dlg(tr("New Chart"), this);
if (dlg.exec() == QDialog::Accepted) {
auto items = dlg.seletedItems();
if (!items.isEmpty()) {
auto c = createChart();
for (auto it : items) {
c->addSeries(it->msg_id, it->sig);
}
}
}
}
void ChartsWidget::removeChart(ChartView *chart) {
charts.removeOne(chart);
chart->deleteLater();
updateToolBar();
updateLayout();
alignCharts();
emit seriesChanged();
}
void ChartsWidget::removeAll() {
if (!charts.isEmpty()) {
for (auto c : charts) {
c->deleteLater();
}
charts.clear();
updateToolBar();
emit seriesChanged();
}
}
#include "tools/cabana/chart/chartswidget.h"
void ChartsWidget::alignCharts() {
int plot_left = 0;
for (auto c : charts) {
plot_left = std::max(plot_left, c->y_label_width);
}
plot_left = std::max((plot_left / 10) * 10 + 10, 50);
for (auto c : charts) {
c->updatePlotArea(plot_left);
}
}
bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
if (obj != this && event->type() == QEvent::Close) {
emit dock_btn->triggered();
return true;
}
return false;
}
bool ChartsWidget::event(QEvent *event) {
bool back_button = false;
switch (event->type()) {
case QEvent::MouseButtonPress: {
QMouseEvent *ev = static_cast<QMouseEvent *>(event);
back_button = ev->button() == Qt::BackButton;
break;
}
case QEvent::NativeGesture: {
QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
back_button = (ev->value() == 180);
break;
}
case QEvent::WindowActivate:
case QEvent::WindowDeactivate:
case QEvent::FocusIn:
case QEvent::FocusOut:
case QEvent::Leave:
showValueTip(-1);
break;
default:
break;
}
if (back_button) {
emit undo_zoom_action->triggered();
return true;
}
return QFrame::event(event);
}
// ChartView
static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
series_type = (SeriesType)settings.chart_series_type;
@ -411,6 +34,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
// TODO: enable zoomIn/seekTo in live streaming mode.
setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
setMouseTracking(true);
setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); });
@ -423,9 +47,9 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
void ChartView::createToolButtons() {
move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
move_icon->setToolTip(tr("Drag and drop to combine charts"));
move_icon->setToolTip(tr("Drag and drop to move chart"));
QToolButton *remove_btn = toolButton("x", tr("Remove Chart"));
QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart"));
close_btn_proxy = new QGraphicsProxyWidget(chart());
close_btn_proxy->setWidget(remove_btn);
close_btn_proxy->setZValue(chart()->zValue() + 11);
@ -445,19 +69,38 @@ void ChartView::createToolButtons() {
menu->addSeparator();
menu->addAction(tr("Manage series"), this, &ChartView::manageSeries);
QToolButton *manage_btn = toolButton("list", "");
QToolButton *manage_btn = new ToolButton("list", "");
manage_btn->setMenu(menu);
manage_btn->setPopupMode(QToolButton::InstantPopup);
manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }");
manage_btn_proxy = new QGraphicsProxyWidget(chart());
manage_btn_proxy->setWidget(manage_btn);
manage_btn_proxy->setZValue(chart()->zValue() + 11);
QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); });
QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
setSeriesType((SeriesType)action->data().toInt());
});
}
QSize ChartView::sizeHint() const {
return {CHART_MIN_WIDTH, settings.chart_height};
}
void ChartView::setTheme(QChart::ChartTheme theme) {
chart()->setTheme(theme);
if (theme == QChart::ChartThemeDark) {
axis_x->setTitleBrush(palette().color(QPalette::Text));
axis_x->setLabelsBrush(palette().color(QPalette::Text));
axis_y->setTitleBrush(palette().color(QPalette::Text));
axis_y->setLabelsBrush(palette().color(QPalette::Text));
chart()->legend()->setLabelColor(palette().color(QPalette::Text));
}
for (auto &s : sigs) {
s.series->setColor(getColor(s.sig));
}
}
void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) {
if (hasSeries(msg_id, sig)) return;
@ -466,7 +109,7 @@ void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) {
updateTitle();
updateSeries(sig);
updateSeriesPoints();
emit seriesAdded(msg_id, sig);
emit charts_widget->seriesChanged();
}
bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const {
@ -479,17 +122,15 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
if (predicate(*it)) {
chart()->removeSeries(it->series);
it->series->deleteLater();
auto msg_id = it->msg_id;
auto sig = it->sig;
it = sigs.erase(it);
emit seriesRemoved(msg_id, sig);
} else {
++it;
}
}
if (sigs.empty()) {
emit remove();
charts_widget->removeChart(this);
} else if (sigs.size() != prev_size) {
emit charts_widget->seriesChanged();
updateAxisY();
resetChartCache();
}
@ -509,7 +150,7 @@ void ChartView::msgUpdated(MessageId id) {
}
void ChartView::manageSeries() {
SeriesSelector dlg(tr("Mange Chart"), this);
SignalSelector dlg(tr("Mange Chart"), this);
for (auto &s : sigs) {
dlg.addSelected(s.msg_id, s.sig);
}
@ -726,25 +367,56 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
void ChartView::leaveEvent(QEvent *event) {
if (tip_label.isVisible()) {
emit hovered(-1);
charts_widget->showValueTip(-1);
}
QChartView::leaveEvent(event);
}
QPixmap getBlankShadowPixmap(const QSize &size, int extent) {
QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
e->setColor(QColor(40, 40, 40, 245));
e->setOffset(0, 2);
e->setBlurRadius(10);
QGraphicsScene scene;
QGraphicsPixmapItem item;
QPixmap src(size);
src.fill(Qt::white);
item.setPixmap(src);
item.setGraphicsEffect(e);
scene.addItem(&item);
QImage target(src.size() + QSize(extent * 2, extent * 2), QImage::Format_ARGB32);
target.fill(Qt::transparent);
QPainter p(&target);
scene.render(&p, QRectF(), QRectF(-extent, -extent, src.width() + extent * 2, src.height() + extent * 2));
return QPixmap::fromImage(target);
}
static QPixmap getDropPixmap(const QPixmap &src) {
static QPixmap shadow_px;
const int extent = 10;
if (shadow_px.size() != src.size() + QSize(extent * 2, extent * 2)) {
shadow_px = getBlankShadowPixmap(src.size(), extent);
}
QPixmap px = shadow_px;
QPainter p(&px);
int delta_w = px.width() - src.width();
int delta_h = px.height() - src.height();
p.drawPixmap(QPoint(delta_w / 2, delta_h / 2), src);
p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
p.fillRect(delta_w / 2, delta_h / 2, src.width(), src.height(), QColor(0, 0, 0, 200));
return px;
}
void ChartView::mousePressEvent(QMouseEvent *event) {
if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
QMimeData *mimeData = new QMimeData;
mimeData->setData(mime_type, QByteArray::number((qulonglong)this));
QPixmap pm = grab();
QPainter p(&pm);
p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
p.fillRect(pm.rect(), QColor(0, 0, 0, 180));
p.end();
mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this));
QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH, Qt::SmoothTransformation);
QDrag *drag = new QDrag(this);
drag->setMimeData(mimeData);
drag->setPixmap(pm);
drag->setHotSpot(event->pos());
drag->setPixmap(getDropPixmap(px));
drag->setHotSpot(-QPoint(5, 5));
drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
charts_widget->stopAutoScroll();
} else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
@ -777,13 +449,13 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
// no rubber dragged, seek to mouse position
can->seekTo(min);
} else if (rubber->width() > 10) {
emit zoomIn(min, max);
charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
} else {
viewport()->update();
}
event->accept();
} else if (!can->liveStreaming() && event->button() == Qt::RightButton) {
emit zoomUndo();
charts_widget->zoom_undo_stack->undo();
event->accept();
} else {
QGraphicsView::mouseReleaseEvent(event);
@ -812,9 +484,9 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
if (!is_zooming && plot_area.contains(ev->pos())) {
const double sec = chart()->mapToValue(ev->pos()).x();
emit hovered(sec);
charts_widget->showValueTip(sec);
} else if (tip_label.isVisible()) {
emit hovered(-1);
charts_widget->showValueTip(-1);
}
QChartView::mouseMoveEvent(ev);
@ -864,32 +536,23 @@ void ChartView::hideTip() {
}
void ChartView::dragEnterEvent(QDragEnterEvent *event) {
can_drop = event->source() != this;
viewport()->update();
QChartView::dragEnterEvent(event);
}
void ChartView::dragLeaveEvent(QDragLeaveEvent *event) {
can_drop = false;
viewport()->update();
QChartView::dragLeaveEvent(event);
if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
drawDropIndicator(event->source() != this);
event->acceptProposedAction();
}
}
void ChartView::dragMoveEvent(QDragMoveEvent *event) {
if (event->mimeData()->hasFormat(mime_type)) {
if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
event->accept();
} else {
event->ignore();
}
charts_widget->startAutoScroll();
}
void ChartView::dropEvent(QDropEvent *event) {
if (event->mimeData()->hasFormat(mime_type)) {
if (event->source() == this) {
event->setDropAction(Qt::MoveAction);
event->accept();
} else {
if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
if (event->source() != this) {
ChartView *source_chart = (ChartView *)event->source();
for (auto &s : source_chart->sigs) {
source_chart->chart()->removeSeries(s.series);
@ -902,12 +565,10 @@ void ChartView::dropEvent(QDropEvent *event) {
updateTitle();
source_chart->sigs.clear();
emit source_chart->remove();
charts_widget->removeChart(source_chart);
event->acceptProposedAction();
}
can_drop = false;
} else {
event->ignore();
}
}
@ -1064,138 +725,3 @@ void ChartView::handleMarkerClicked() {
updateTitle();
}
}
// SeriesSelector
SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) {
setWindowTitle(title);
QGridLayout *main_layout = new QGridLayout(this);
// left column
main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0);
main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0);
msgs_combo->setEditable(true);
msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
msgs_combo->setInsertPolicy(QComboBox::NoInsert);
msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
msgs_combo->completer()->setFilterMode(Qt::MatchContains);
main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
// buttons
QVBoxLayout *btn_layout = new QVBoxLayout();
QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this);
add_btn->setEnabled(false);
QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this);
remove_btn->setEnabled(false);
btn_layout->addStretch(0);
btn_layout->addWidget(add_btn);
btn_layout->addWidget(remove_btn);
btn_layout->addStretch(0);
main_layout->addLayout(btn_layout, 0, 1, 3, 1);
// right column
main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2);
main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
main_layout->addWidget(buttonBox, 3, 2);
for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
if (auto m = dbc()->msg(it.key())) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
}
}
msgs_combo->model()->sort(0);
msgs_combo->setCurrentIndex(-1);
QObject::connect(msgs_combo, qOverload<int>(&QComboBox::currentIndexChanged), this, &SeriesSelector::updateAvailableList);
QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); });
QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); });
QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add);
QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove);
QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); });
QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); });
QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
}
void SeriesSelector::add(QListWidgetItem *item) {
auto it = (ListItem *)item;
addItemToList(selected_list, it->msg_id, it->sig, true);
delete item;
}
void SeriesSelector::remove(QListWidgetItem *item) {
auto it = (ListItem *)item;
if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
addItemToList(available_list, it->msg_id, it->sig);
}
delete item;
}
void SeriesSelector::updateAvailableList(int index) {
if (index == -1) return;
available_list->clear();
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; });
if (!is_selected) {
addItemToList(available_list, msg_id, s);
}
}
}
void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name);
if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
QLabel *label = new QLabel(text);
label->setContentsMargins(5, 0, 5, 0);
auto new_item = new ListItem(id, sig, parent);
new_item->setSizeHint(label->sizeHint());
parent->setItemWidget(new_item, label);
}
QList<SeriesSelector::ListItem *> SeriesSelector::seletedItems() {
QList<SeriesSelector::ListItem *> ret;
for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
return ret;
}
// ValueTipLabel
ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
setForegroundRole(QPalette::ToolTipText);
setBackgroundRole(QPalette::ToolTipBase);
setPalette(QToolTip::palette());
ensurePolished();
setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
setAttribute(Qt::WA_ShowWithoutActivating);
setTextFormat(Qt::RichText);
setVisible(false);
}
void ValueTipLabel::showText(const QPoint &pt, const QString &text, int right_edge) {
setText(text);
if (!text.isEmpty()) {
QSize extra(1, 1);
resize(sizeHint() + extra);
QPoint tip_pos(pt.x() + 12, pt.y());
if (tip_pos.x() + size().width() >= right_edge) {
tip_pos.rx() = pt.x() - size().width() - 12;
}
move(tip_pos);
}
setVisible(!text.isEmpty());
}
void ValueTipLabel::paintEvent(QPaintEvent *ev) {
QStylePainter p(this);
QStyleOptionFrame opt;
opt.init(this);
p.drawPrimitive(QStyle::PE_PanelTipLabel, opt);
p.end();
QLabel::paintEvent(ev);
}

@ -0,0 +1,106 @@
#pragma once
#include <QGraphicsPixmapItem>
#include <QGraphicsProxyWidget>
#include <QtCharts/QChartView>
#include <QtCharts/QLegendMarker>
#include <QtCharts/QLineSeries>
#include <QtCharts/QScatterSeries>
#include <QtCharts/QValueAxis>
using namespace QtCharts;
#include "tools/cabana/chart/tiplabel.h"
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h"
enum class SeriesType {
Line = 0,
StepLine,
Scatter
};
class ChartsWidget;
class ChartView : public QChartView {
Q_OBJECT
public:
ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
void updateSeries(const cabana::Signal *sig = nullptr);
void updatePlot(double cur, double min, double max);
void setSeriesType(SeriesType type);
void updatePlotArea(int left, bool force = false);
void showTip(double sec);
void hideTip();
struct SigItem {
MessageId msg_id;
const cabana::Signal *sig = nullptr;
QXYSeries *series = nullptr;
QVector<QPointF> vals;
QVector<QPointF> step_vals;
uint64_t last_value_mono_time = 0;
QPointF track_pt{};
SegmentTree segment_tree;
double min = 0;
double max = 0;
};
signals:
void axisYLabelWidthChanged(int w);
private slots:
void signalUpdated(const cabana::Signal *sig);
void manageSeries();
void handleMarkerClicked();
void msgUpdated(MessageId id);
void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
private:
void createToolButtons();
void mousePressEvent(QMouseEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override;
void mouseMoveEvent(QMouseEvent *ev) override;
void dragEnterEvent(QDragEnterEvent *event) override;
void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
void dragMoveEvent(QDragMoveEvent *event) override;
void dropEvent(QDropEvent *event) override;
void leaveEvent(QEvent *event) override;
void resizeEvent(QResizeEvent *event) override;
QSize sizeHint() const override;
void updateAxisY();
void updateTitle();
void resetChartCache();
void setTheme(QChart::ChartTheme theme);
void paintEvent(QPaintEvent *event) override;
void drawForeground(QPainter *painter, const QRectF &rect) override;
void drawBackground(QPainter *painter, const QRectF &rect) override;
void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
qreal niceNumber(qreal x, bool ceiling);
QXYSeries *createSeries(SeriesType type, QColor color);
void updateSeriesPoints();
void removeIf(std::function<bool(const SigItem &)> predicate);
inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
int y_label_width = 0;
int align_to = 0;
QValueAxis *axis_x;
QValueAxis *axis_y;
QGraphicsPixmapItem *move_icon;
QGraphicsProxyWidget *close_btn_proxy;
QGraphicsProxyWidget *manage_btn_proxy;
TipLabel tip_label;
QList<SigItem> sigs;
double cur_sec = 0;
SeriesType series_type = SeriesType::Line;
bool is_scrubbing = false;
bool resume_after_scrub = false;
QPixmap chart_pixmap;
bool can_drop = false;
double tooltip_x = -1;
ChartsWidget *charts_widget;
friend class ChartsWidget;
};

@ -0,0 +1,497 @@
#include "tools/cabana/chart/chartswidget.h"
#include <QApplication>
#include <QFutureSynchronizer>
#include <QMenu>
#include <QScrollBar>
#include <QToolBar>
#include <QtConcurrent>
#include "tools/cabana/chart/chart.h"
const int MAX_COLUMN_COUNT = 4;
const int CHART_SPACING = 10;
ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
main_layout->setSpacing(0);
// toolbar
QToolBar *toolbar = new QToolBar(tr("Charts"), this);
int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
toolbar->setIconSize({icon_size, icon_size});
auto new_plot_btn = new ToolButton("file-plus", tr("New Chart"));
auto new_tab_btn = new ToolButton("window-stack", tr("New Tab"));
toolbar->addWidget(new_plot_btn);
toolbar->addWidget(new_tab_btn);
toolbar->addWidget(title_label = new QLabel());
title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
QMenu *menu = new QMenu(this);
for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
}
columns_action = toolbar->addAction("");
columns_action->setMenu(menu);
qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
QLabel *stretch_label = new QLabel(this);
stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
toolbar->addWidget(stretch_label);
range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
range_slider = new LogSlider(1000, Qt::Horizontal, this);
range_slider->setMaximumWidth(200);
range_slider->setToolTip(tr("Set the chart range"));
range_slider->setRange(1, settings.max_cached_minutes * 60);
range_slider->setSingleStep(1);
range_slider->setPageStep(60); // 1 min
range_slider_action = toolbar->addWidget(range_slider);
// zoom controls
zoom_undo_stack = new QUndoStack(this);
toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
toolbar->addWidget(remove_all_btn = new ToolButton("x", tr("Remove all charts")));
toolbar->addWidget(dock_btn = new ToolButton(""));
main_layout->addWidget(toolbar);
// tabbar
tabbar = new QTabBar(this);
tabbar->setAutoHide(true);
tabbar->setExpanding(false);
tabbar->setDrawBase(true);
tabbar->setAcceptDrops(true);
tabbar->setChangeCurrentOnDrag(true);
tabbar->setTabsClosable(true);
tabbar->setUsesScrollButtons(true);
main_layout->addWidget(tabbar);
// charts
charts_container = new ChartsContainer(this);
charts_scroll = new QScrollArea(this);
charts_scroll->setFrameStyle(QFrame::NoFrame);
charts_scroll->setWidgetResizable(true);
charts_scroll->setWidget(charts_container);
charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
main_layout->addWidget(charts_scroll);
// init settings
current_theme = settings.theme;
column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
display_range = {0, max_chart_range};
range_slider->setValue(max_chart_range);
updateToolBar();
align_timer.setSingleShot(true);
QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
if (index != -1) updateLayout(true);
});
QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
emit dock(!docking);
docking = !docking;
updateToolBar();
});
newTab();
setWhatsThis(tr(R"(
<b>Chart view</b><br />
<!-- TODO: add descprition here -->
)"));
}
void ChartsWidget::newTab() {
static int tab_unique_id = 0;
int idx = tabbar->addTab("");
tabbar->setTabData(idx, tab_unique_id++);
for (int i = 0; i < tabbar->count(); ++i) {
tabbar->setTabText(i, QString("Tab %1").arg(i + 1));
}
tabbar->setCurrentIndex(idx);
}
void ChartsWidget::removeTab(int index) {
int id = tabbar->tabData(index).toInt();
for (auto &c : tab_charts[id]) {
removeChart(c);
}
tab_charts.erase(id);
tabbar->removeTab(index);
}
void ChartsWidget::eventsMerged() {
QFutureSynchronizer<void> future_synchronizer;
for (auto c : charts) {
future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
}
}
void ChartsWidget::setZoom(double min, double max) {
zoomed_range = {min, max};
is_zoomed = zoomed_range != display_range;
updateToolBar();
updateState();
emit rangeChanged(min, max, is_zoomed);
}
void ChartsWidget::zoomReset() {
setZoom(display_range.first, display_range.second);
zoom_undo_stack->clear();
}
void ChartsWidget::showValueTip(double sec) {
const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
for (auto c : currentCharts()) {
if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
c->showTip(sec);
} else {
c->hideTip();
}
}
}
void ChartsWidget::updateState() {
if (charts.isEmpty()) return;
const double cur_sec = can->currentSec();
if (!is_zoomed) {
double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
if (pos < 0 || pos > 0.8) {
display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
}
double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
display_range.first = std::max(0.0, max_sec - max_chart_range);
display_range.second = display_range.first + max_chart_range;
} else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) {
// loop in zoomed range
can->seekTo(zoomed_range.first);
}
const auto &range = is_zoomed ? zoomed_range : display_range;
for (auto c : charts) {
c->updatePlot(cur_sec, range.first, range.second);
}
}
void ChartsWidget::setMaxChartRange(int value) {
max_chart_range = settings.chart_range = range_slider->value();
updateToolBar();
updateState();
}
void ChartsWidget::updateToolBar() {
title_label->setText(tr("Charts: %1").arg(charts.size()));
columns_action->setText(tr("Column: %1").arg(column_count));
range_lb->setText(utils::formatSeconds(max_chart_range));
range_lb_action->setVisible(!is_zoomed);
range_slider_action->setVisible(!is_zoomed);
undo_zoom_action->setVisible(is_zoomed);
redo_zoom_action->setVisible(is_zoomed);
reset_zoom_action->setVisible(is_zoomed);
reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
remove_all_btn->setEnabled(!charts.isEmpty());
dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
}
void ChartsWidget::settingChanged() {
if (std::exchange(current_theme, settings.theme) != current_theme) {
undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
for (auto c : charts) {
c->setTheme(theme);
}
}
range_slider->setRange(1, settings.max_cached_minutes * 60);
for (auto c : charts) {
c->setFixedHeight(settings.chart_height);
c->setSeriesType((SeriesType)settings.chart_series_type);
c->resetChartCache();
}
}
ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
for (auto c : charts)
if (c->hasSeries(id, sig)) return c;
return nullptr;
}
ChartView *ChartsWidget::createChart() {
auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
chart->setFixedHeight(settings.chart_height);
chart->setMinimumWidth(CHART_MIN_WIDTH);
chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
charts.push_front(chart);
currentCharts().push_front(chart);
updateLayout(true);
updateToolBar();
return chart;
}
void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
ChartView *chart = findChart(id, sig);
if (show && !chart) {
chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
chart->addSeries(id, sig);
} else if (!show && chart) {
chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
}
}
void ChartsWidget::setColumnCount(int n) {
n = std::clamp(n, 1, MAX_COLUMN_COUNT);
if (column_count != n) {
column_count = settings.chart_column_count = n;
updateToolBar();
updateLayout();
}
}
void ChartsWidget::updateLayout(bool force) {
auto charts_layout = charts_container->charts_layout;
int n = MAX_COLUMN_COUNT;
for (; n > 1; --n) {
if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
}
bool show_column_cb = n > 1;
columns_action->setVisible(show_column_cb);
n = std::min(column_count, n);
auto &current_charts = currentCharts();
if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) {
current_column_count = n;
charts_container->setUpdatesEnabled(false);
for (auto c : charts) {
c->setVisible(false);
}
for (int i = 0; i < current_charts.size(); ++i) {
charts_layout->addWidget(current_charts[i], i / n, i % n);
current_charts[i]->setVisible(true);
}
charts_container->setUpdatesEnabled(true);
}
}
void ChartsWidget::startAutoScroll() {
auto_scroll_timer.start(50);
}
void ChartsWidget::stopAutoScroll() {
auto_scroll_timer.stop();
auto_scroll_count = 0;
}
void ChartsWidget::doAutoScroll() {
QScrollBar *scroll = charts_scroll->verticalScrollBar();
if (auto_scroll_count < scroll->pageStep()) {
++auto_scroll_count;
}
int value = scroll->value();
QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
QRect area = charts_scroll->viewport()->rect();
if (pos.y() - area.top() < settings.chart_height / 2) {
scroll->setValue(value - auto_scroll_count);
} else if (area.bottom() - pos.y() < settings.chart_height / 2) {
scroll->setValue(value + auto_scroll_count);
}
bool vertical_unchanged = value == scroll->value();
if (vertical_unchanged) {
stopAutoScroll();
} else {
// mouseMoveEvent to updates the drag-selection rectangle
const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
QApplication::sendEvent(charts_scroll->viewport(), &mm);
}
}
void ChartsWidget::resizeEvent(QResizeEvent *event) {
QWidget::resizeEvent(event);
updateLayout();
}
void ChartsWidget::newChart() {
SignalSelector dlg(tr("New Chart"), this);
if (dlg.exec() == QDialog::Accepted) {
auto items = dlg.seletedItems();
if (!items.isEmpty()) {
auto c = createChart();
for (auto it : items) {
c->addSeries(it->msg_id, it->sig);
}
}
}
}
void ChartsWidget::removeChart(ChartView *chart) {
charts.removeOne(chart);
chart->deleteLater();
for (auto &[_, list] : tab_charts) {
list.removeOne(chart);
}
updateToolBar();
updateLayout(true);
alignCharts();
emit seriesChanged();
}
void ChartsWidget::removeAll() {
if (!charts.isEmpty()) {
for (auto c : charts) {
c->deleteLater();
}
charts.clear();
tab_charts.clear();
updateToolBar();
emit seriesChanged();
}
while (tabbar->count() > 1) {
tabbar->removeTab(1);
}
}
void ChartsWidget::alignCharts() {
int plot_left = 0;
for (auto c : charts) {
plot_left = std::max(plot_left, c->y_label_width);
}
plot_left = std::max((plot_left / 10) * 10 + 10, 50);
for (auto c : charts) {
c->updatePlotArea(plot_left);
}
}
bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
if (obj != this && event->type() == QEvent::Close) {
emit dock_btn->clicked();
return true;
}
return false;
}
bool ChartsWidget::event(QEvent *event) {
bool back_button = false;
switch (event->type()) {
case QEvent::MouseButtonPress: {
QMouseEvent *ev = static_cast<QMouseEvent *>(event);
back_button = ev->button() == Qt::BackButton;
break;
}
case QEvent::NativeGesture: {
QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
back_button = (ev->value() == 180);
break;
}
case QEvent::WindowActivate:
case QEvent::WindowDeactivate:
case QEvent::FocusIn:
case QEvent::FocusOut:
case QEvent::Leave:
showValueTip(-1);
break;
default:
break;
}
if (back_button) {
zoom_undo_stack->undo();
return true;
}
return QFrame::event(event);
}
// ChartsContainer
ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
setAcceptDrops(true);
QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
charts_main_layout->setContentsMargins(0, 10, 0, 0);
charts_layout = new QGridLayout();
charts_layout->setSpacing(CHART_SPACING);
charts_main_layout->addLayout(charts_layout);
charts_main_layout->addStretch(0);
}
void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
event->acceptProposedAction();
drawDropIndicator(event->pos());
}
}
void ChartsContainer::dropEvent(QDropEvent *event) {
if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
auto w = getDropAfter(event->pos());
auto chart = qobject_cast<ChartView *>(event->source());
if (w != chart) {
for (auto &[_, list] : charts_widget->tab_charts) {
list.removeOne(chart);
}
int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
charts_widget->currentCharts().insert(to, chart);
charts_widget->updateLayout(true);
event->acceptProposedAction();
}
drawDropIndicator({});
}
}
void ChartsContainer::paintEvent(QPaintEvent *ev) {
if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
QRect r;
if (auto insert_after = getDropAfter(drop_indictor_pos)) {
QRect area = insert_after->geometry();
r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
} else {
r = geometry();
r.setHeight(CHART_SPACING);
}
const int margin = (CHART_SPACING - 2) / 2;
QPainterPath path;
path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
QPainter p(this);
p.setRenderHint(QPainter::Antialiasing);
p.fillPath(path, palette().highlight());
p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
}
}
ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const {
auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) {
auto area = c->geometry();
return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom();
});
return it == charts_widget->currentCharts().crend() ? nullptr : *it;
}

@ -0,0 +1,125 @@
#pragma once
#include <QGridLayout>
#include <QLabel>
#include <QScrollArea>
#include <QTabBar>
#include <QTimer>
#include <QUndoCommand>
#include <QUndoStack>
#include "tools/cabana/chart/signalselector.h"
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h"
const int CHART_MIN_WIDTH = 300;
const QString CHART_MIME_TYPE = "application/x-cabanachartview";
class ChartView;
class ChartsWidget;
class ChartsContainer : public QWidget {
public:
ChartsContainer(ChartsWidget *parent);
void dragEnterEvent(QDragEnterEvent *event) override;
void dropEvent(QDropEvent *event) override;
void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
void paintEvent(QPaintEvent *ev) override;
ChartView *getDropAfter(const QPoint &pos) const;
QGridLayout *charts_layout;
ChartsWidget *charts_widget;
QPoint drop_indictor_pos;
};
class ChartsWidget : public QFrame {
Q_OBJECT
public:
ChartsWidget(QWidget *parent = nullptr);
void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
public slots:
void setColumnCount(int n);
void removeAll();
void setZoom(double min, double max);
signals:
void dock(bool floating);
void rangeChanged(double min, double max, bool is_zommed);
void seriesChanged();
private:
void resizeEvent(QResizeEvent *event) override;
bool event(QEvent *event) override;
void alignCharts();
void newChart();
ChartView *createChart();
void removeChart(ChartView *chart);
void eventsMerged();
void updateState();
void zoomReset();
void startAutoScroll();
void stopAutoScroll();
void doAutoScroll();
void updateToolBar();
void setMaxChartRange(int value);
void updateLayout(bool force = false);
void settingChanged();
void showValueTip(double sec);
bool eventFilter(QObject *obj, QEvent *event) override;
void newTab();
void removeTab(int index);
inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
QLabel *title_label;
QLabel *range_lb;
LogSlider *range_slider;
QAction *range_lb_action;
QAction *range_slider_action;
bool docking = true;
ToolButton *dock_btn;
QAction *undo_zoom_action;
QAction *redo_zoom_action;
QAction *reset_zoom_action;
ToolButton *reset_zoom_btn;
QUndoStack *zoom_undo_stack;
ToolButton *remove_all_btn;
QList<ChartView *> charts;
std::unordered_map<int, QList<ChartView *>> tab_charts;
QTabBar *tabbar;
ChartsContainer *charts_container;
QScrollArea *charts_scroll;
uint32_t max_chart_range = 0;
bool is_zoomed = false;
std::pair<double, double> display_range;
std::pair<double, double> zoomed_range;
QAction *columns_action;
int column_count = 1;
int current_column_count = 0;
int auto_scroll_count = 0;
QTimer auto_scroll_timer;
QTimer align_timer;
int current_theme = 0;
friend class ZoomCommand;
friend class ChartView;
friend class ChartsContainer;
};
class ZoomCommand : public QUndoCommand {
public:
ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
}
void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
void redo() override { charts->setZoom(range.first, range.second); }
ChartsWidget *charts;
std::pair<double, double> prev_range, range;
};

@ -0,0 +1,108 @@
#include "tools/cabana/chart/signalselector.h"
#include <QCompleter>
#include <QDialogButtonBox>
#include <QGridLayout>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QVBoxLayout>
#include "tools/cabana/streams/abstractstream.h"
SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) {
setWindowTitle(title);
QGridLayout *main_layout = new QGridLayout(this);
// left column
main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0);
main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0);
msgs_combo->setEditable(true);
msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
msgs_combo->setInsertPolicy(QComboBox::NoInsert);
msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
msgs_combo->completer()->setFilterMode(Qt::MatchContains);
main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
// buttons
QVBoxLayout *btn_layout = new QVBoxLayout();
QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this);
add_btn->setEnabled(false);
QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this);
remove_btn->setEnabled(false);
btn_layout->addStretch(0);
btn_layout->addWidget(add_btn);
btn_layout->addWidget(remove_btn);
btn_layout->addStretch(0);
main_layout->addLayout(btn_layout, 0, 1, 3, 1);
// right column
main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2);
main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
main_layout->addWidget(buttonBox, 3, 2);
for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
if (auto m = dbc()->msg(it.key())) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
}
}
msgs_combo->model()->sort(0);
msgs_combo->setCurrentIndex(-1);
QObject::connect(msgs_combo, qOverload<int>(&QComboBox::currentIndexChanged), this, &SignalSelector::updateAvailableList);
QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); });
QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); });
QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::add);
QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::remove);
QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); });
QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); });
QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
}
void SignalSelector::add(QListWidgetItem *item) {
auto it = (ListItem *)item;
addItemToList(selected_list, it->msg_id, it->sig, true);
delete item;
}
void SignalSelector::remove(QListWidgetItem *item) {
auto it = (ListItem *)item;
if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
addItemToList(available_list, it->msg_id, it->sig);
}
delete item;
}
void SignalSelector::updateAvailableList(int index) {
if (index == -1) return;
available_list->clear();
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; });
if (!is_selected) {
addItemToList(available_list, msg_id, s);
}
}
}
void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name);
if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
QLabel *label = new QLabel(text);
label->setContentsMargins(5, 0, 5, 0);
auto new_item = new ListItem(id, sig, parent);
new_item->setSizeHint(label->sizeHint());
parent->setItemWidget(new_item, label);
}
QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
QList<SignalSelector::ListItem *> ret;
for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
return ret;
}

@ -0,0 +1,30 @@
#pragma once
#include <QComboBox>
#include <QDialog>
#include <QListWidget>
#include "tools/cabana/dbc/dbcmanager.h"
class SignalSelector : public QDialog {
public:
struct ListItem : public QListWidgetItem {
ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
MessageId msg_id;
const cabana::Signal *sig;
};
SignalSelector(QString title, QWidget *parent);
QList<ListItem *> seletedItems();
inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
private:
void updateAvailableList(int index);
void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false);
void add(QListWidgetItem *item);
void remove(QListWidgetItem *item);
QComboBox *msgs_combo;
QListWidget *available_list;
QListWidget *selected_list;
};

@ -0,0 +1,46 @@
#include "tools/cabana/chart/tiplabel.h"
#include <QApplication>
#include <QStylePainter>
#include <QToolTip>
#include "tools/cabana/settings.h"
TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
setForegroundRole(QPalette::ToolTipText);
setBackgroundRole(QPalette::ToolTipBase);
auto palette = QToolTip::palette();
if (settings.theme != DARK_THEME) {
palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
palette.setColor(QPalette::ToolTipText, QRgb(0x404044)); // same color as chart label brush
}
setPalette(palette);
ensurePolished();
setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
setAttribute(Qt::WA_ShowWithoutActivating);
setTextFormat(Qt::RichText);
setVisible(false);
}
void TipLabel::showText(const QPoint &pt, const QString &text, int right_edge) {
setText(text);
if (!text.isEmpty()) {
QSize extra(1, 1);
resize(sizeHint() + extra);
QPoint tip_pos(pt.x() + 12, pt.y());
if (tip_pos.x() + size().width() >= right_edge) {
tip_pos.rx() = pt.x() - size().width() - 12;
}
move(tip_pos);
}
setVisible(!text.isEmpty());
}
void TipLabel::paintEvent(QPaintEvent *ev) {
QStylePainter p(this);
QStyleOptionFrame opt;
opt.init(this);
p.drawPrimitive(QStyle::PE_PanelTipLabel, opt);
p.end();
QLabel::paintEvent(ev);
}

@ -0,0 +1,10 @@
#pragma once
#include <QLabel>
class TipLabel : public QLabel {
public:
TipLabel(QWidget *parent = nullptr);
void showText(const QPoint &pt, const QString &sec, int right_edge);
void paintEvent(QPaintEvent *ev) override;
};

@ -1,232 +0,0 @@
#pragma once
#include <QGridLayout>
#include <QLabel>
#include <QListWidget>
#include <QGraphicsPixmapItem>
#include <QGraphicsProxyWidget>
#include <QTimer>
#include <QUndoCommand>
#include <QUndoStack>
#include <QtCharts/QChartView>
#include <QtCharts/QLegendMarker>
#include <QtCharts/QLineSeries>
#include <QtCharts/QScatterSeries>
#include <QtCharts/QValueAxis>
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h"
using namespace QtCharts;
const int CHART_MIN_WIDTH = 300;
enum class SeriesType {
Line = 0,
StepLine,
Scatter
};
class ValueTipLabel : public QLabel {
public:
ValueTipLabel(QWidget *parent = nullptr);
void showText(const QPoint &pt, const QString &sec, int right_edge);
void paintEvent(QPaintEvent *ev) override;
};
class ChartsWidget;
class ChartView : public QChartView {
Q_OBJECT
public:
ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
void updateSeries(const cabana::Signal *sig = nullptr);
void updatePlot(double cur, double min, double max);
void setSeriesType(SeriesType type);
void updatePlotArea(int left, bool force = false);
void showTip(double sec);
void hideTip();
struct SigItem {
MessageId msg_id;
const cabana::Signal *sig = nullptr;
QXYSeries *series = nullptr;
QVector<QPointF> vals;
QVector<QPointF> step_vals;
uint64_t last_value_mono_time = 0;
QPointF track_pt{};
SegmentTree segment_tree;
double min = 0;
double max = 0;
};
signals:
void seriesRemoved(const MessageId &id, const cabana::Signal *sig);
void seriesAdded(const MessageId &id, const cabana::Signal *sig);
void zoomIn(double min, double max);
void zoomUndo();
void remove();
void axisYLabelWidthChanged(int w);
void hovered(double sec);
private slots:
void signalUpdated(const cabana::Signal *sig);
void manageSeries();
void handleMarkerClicked();
void msgUpdated(MessageId id);
void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
private:
void createToolButtons();
void mousePressEvent(QMouseEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override;
void mouseMoveEvent(QMouseEvent *ev) override;
void dragEnterEvent(QDragEnterEvent *event) override;
void dragLeaveEvent(QDragLeaveEvent *event) override;
void dragMoveEvent(QDragMoveEvent *event) override;
void dropEvent(QDropEvent *event) override;
void leaveEvent(QEvent *event) override;
void resizeEvent(QResizeEvent *event) override;
QSize sizeHint() const override { return {CHART_MIN_WIDTH, settings.chart_height}; }
void updateAxisY();
void updateTitle();
void resetChartCache();
void paintEvent(QPaintEvent *event) override;
void drawForeground(QPainter *painter, const QRectF &rect) override;
void drawBackground(QPainter *painter, const QRectF &rect) override;
std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
qreal niceNumber(qreal x, bool ceiling);
QXYSeries *createSeries(SeriesType type, QColor color);
void updateSeriesPoints();
void removeIf(std::function<bool(const SigItem &)> predicate);
inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
int y_label_width = 0;
int align_to = 0;
QValueAxis *axis_x;
QValueAxis *axis_y;
QGraphicsPixmapItem *move_icon;
QGraphicsProxyWidget *close_btn_proxy;
QGraphicsProxyWidget *manage_btn_proxy;
ValueTipLabel tip_label;
QList<SigItem> sigs;
double cur_sec = 0;
const QString mime_type = "application/x-cabanachartview";
SeriesType series_type = SeriesType::Line;
bool is_scrubbing = false;
bool resume_after_scrub = false;
QPixmap chart_pixmap;
bool can_drop = false;
double tooltip_x = -1;
ChartsWidget *charts_widget;
friend class ChartsWidget;
};
class ChartsWidget : public QFrame {
Q_OBJECT
public:
ChartsWidget(QWidget *parent = nullptr);
void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
public slots:
void setColumnCount(int n);
void removeAll();
void setZoom(double min, double max);
signals:
void dock(bool floating);
void rangeChanged(double min, double max, bool is_zommed);
void seriesChanged();
private:
void resizeEvent(QResizeEvent *event) override;
bool event(QEvent *event) override;
void alignCharts();
void newChart();
ChartView *createChart();
void removeChart(ChartView *chart);
void eventsMerged();
void updateState();
void zoomIn(double min, double max);
void zoomReset();
void startAutoScroll();
void stopAutoScroll();
void doAutoScroll();
void updateToolBar();
void setMaxChartRange(int value);
void updateLayout();
void settingChanged();
void showValueTip(double sec);
bool eventFilter(QObject *obj, QEvent *event) override;
ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
QLabel *title_label;
QLabel *range_lb;
LogSlider *range_slider;
QAction *range_lb_action;
QAction *range_slider_action;
bool docking = true;
QAction *dock_btn;
QAction *undo_zoom_action;
QAction *redo_zoom_action;
QAction *reset_zoom_action;
QUndoStack *zoom_undo_stack;
QAction *remove_all_btn;
QGridLayout *charts_layout;
QList<ChartView *> charts;
QWidget *charts_container;
QScrollArea *charts_scroll;
uint32_t max_chart_range = 0;
bool is_zoomed = false;
std::pair<double, double> display_range;
std::pair<double, double> zoomed_range;
QAction *columns_action;
int column_count = 1;
int current_column_count = 0;
int auto_scroll_count = 0;
QTimer auto_scroll_timer;
QTimer align_timer;
friend class ZoomCommand;
friend class ChartView;
};
class ZoomCommand : public QUndoCommand {
public:
ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
}
void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
void redo() override { charts->setZoom(range.first, range.second); }
ChartsWidget *charts;
std::pair<double, double> prev_range, range;
};
class SeriesSelector : public QDialog {
public:
struct ListItem : public QListWidgetItem {
ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
MessageId msg_id;
const cabana::Signal *sig;
};
SeriesSelector(QString title, QWidget *parent);
QList<ListItem *> seletedItems();
inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
private:
void updateAvailableList(int index);
void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false);
void add(QListWidgetItem *item);
void remove(QListWidgetItem *item);
QComboBox *msgs_combo;
QListWidget *available_list;
QListWidget *selected_list;
};

@ -11,8 +11,8 @@
const QString UNTITLED = "untitled";
struct MessageId {
uint8_t source;
uint32_t address;
uint8_t source = 0;
uint32_t address = 0;
QString toString() const {
return QString("%1:%2").arg(source).arg(address, 1, 16);

@ -22,7 +22,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
// message title
QHBoxLayout *title_layout = new QHBoxLayout();
title_layout->setContentsMargins(0, 6, 0, 0);
title_layout->setContentsMargins(3, 6, 3, 0);
time_label = new QLabel(this);
time_label->setToolTip(tr("Current time"));
time_label->setStyleSheet("QLabel{font-weight:bold;}");
@ -32,9 +32,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
name_label->setAlignment(Qt::AlignCenter);
name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
title_layout->addWidget(name_label);
auto edit_btn = toolButton("pencil", tr("Edit Message"));
auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
title_layout->addWidget(edit_btn);
remove_btn = toolButton("x-lg", tr("Remove Message"));
remove_btn = new ToolButton("x-lg", tr("Remove Message"));
title_layout->addWidget(remove_btn);
main_layout->addLayout(title_layout);

@ -6,7 +6,7 @@
#include "selfdrive/ui/qt/widgets/controls.h"
#include "tools/cabana/binaryview.h"
#include "tools/cabana/chartswidget.h"
#include "tools/cabana/chart/chartswidget.h"
#include "tools/cabana/historylog.h"
#include "tools/cabana/signalview.h"

@ -39,7 +39,7 @@ void HistoryLogModel::refresh(bool fetch_message) {
last_fetch_time = 0;
has_more_data = true;
messages.clear();
hex_colors.clear();
hex_colors = {};
if (fetch_message) {
updateState();
}
@ -146,7 +146,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
auto msgs = fetchData(first, events.rend(), min_time);
if (update_colors && (min_time > 0 || messages.empty())) {
for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, freq);
it->colors = hex_colors.colors;
}
}
@ -157,7 +157,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
auto msgs = fetchData(first, events.end(), 0);
if (update_colors) {
for (auto it = msgs.begin(); it != msgs.end(); ++it) {
hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, freq);
it->colors = hex_colors.colors;
}
}
@ -186,6 +186,7 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
painter->fillRect(rect, bg_role.value<QBrush>());
}
QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString();
painter->setPen(palette().color(settings.theme == DARK_THEME ? QPalette::BrightText : QPalette::Text));
painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text.replace(QChar('_'), ' '));
}

@ -54,7 +54,7 @@ public:
std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
MessageId msg_id;
ChangeTracker hex_colors;
CanData hex_colors;
bool has_more_data = true;
const int batch_size = 50;
int filter_sig_idx = -1;

@ -541,7 +541,6 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe
void MainWindow::updateStatus() {
status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
utils::setTheme(settings.theme);
}
void MainWindow::dockCharts(bool dock) {

@ -7,7 +7,7 @@
#include <QSplitter>
#include <QStatusBar>
#include "tools/cabana/chartswidget.h"
#include "tools/cabana/chart/chartswidget.h"
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/detailwidget.h"
#include "tools/cabana/messageswidget.h"

@ -1,11 +1,13 @@
#include "tools/cabana/settings.h"
#include <QAbstractButton>
#include <QDialogButtonBox>
#include <QDir>
#include <QFormLayout>
#include <QSettings>
// Settings
#include "tools/cabana/util.h"
Settings settings;
Settings::Settings() {
@ -85,21 +87,32 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
chart_height->setValue(settings.chart_height);
form_layout->addRow(tr("Chart Height"), chart_height);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
form_layout->addRow(buttonBox);
setFixedWidth(360);
connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
auto role = buttonBox->buttonRole(button);
if (role == QDialogButtonBox::AcceptRole) {
save();
accept();
} else if (role == QDialogButtonBox::ApplyRole) {
save();
} else if (role == QDialogButtonBox::RejectRole) {
reject();
}
});
}
void SettingsDlg::save() {
settings.fps = fps->value();
settings.theme = theme->currentIndex();
if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
// set theme before emit changed
utils::setTheme(settings.theme);
}
settings.max_cached_minutes = cached_minutes->value();
settings.chart_series_type = chart_series_type->currentIndex();
settings.chart_height = chart_height->value();
settings.save();
accept();
emit settings.changed();
}

@ -5,6 +5,9 @@
#include <QDialog>
#include <QSpinBox>
#define LIGHT_THEME 1
#define DARK_THEME 2
class Settings : public QObject {
Q_OBJECT

@ -6,6 +6,7 @@
#include <QHBoxLayout>
#include <QHeaderView>
#include <QMessageBox>
#include <QPainter>
#include <QPushButton>
#include <QVBoxLayout>
@ -525,7 +526,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
sparkline_range_slider->setValue(settings.sparkline_range);
sparkline_range_slider->setToolTip(tr("Sparkline time range"));
auto collapse_btn = toolButton("dash-square", tr("Collapse All"));
auto collapse_btn = new ToolButton("dash-square", tr("Collapse All"));
collapse_btn->setIconSize({12, 12});
hl->addWidget(collapse_btn);
@ -582,8 +583,8 @@ void SignalView::rowsChanged() {
h->setContentsMargins(0, v_margin, -h_margin, v_margin);
h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing));
auto remove_btn = toolButton("x", tr("Remove signal"));
auto plot_btn = toolButton("graph-up", "");
auto remove_btn = new ToolButton("x", tr("Remove signal"));
auto plot_btn = new ToolButton("graph-up", "");
plot_btn->setCheckable(true);
h->addWidget(plot_btn);
h->addWidget(remove_btn);

@ -8,7 +8,7 @@
#include <QTableWidget>
#include <QTreeView>
#include "tools/cabana/chartswidget.h"
#include "tools/cabana/chart/chartswidget.h"
class SignalModel : public QAbstractItemModel {
Q_OBJECT

@ -11,8 +11,14 @@ AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_liv
}
void AbstractStream::process(QHash<MessageId, CanData> *messages) {
auto prev_src_size = sources.size();
for (auto it = messages->begin(); it != messages->end(); ++it) {
last_msgs[it.key()] = it.value();
const auto &id = it.key();
last_msgs[id] = it.value();
sources.insert(id.source);
}
if (sources.size() != prev_src_size) {
emit sourcesUpdated(sources);
}
emit updated();
emit msgsReceived(messages);
@ -22,34 +28,24 @@ void AbstractStream::process(QHash<MessageId, CanData> *messages) {
bool AbstractStream::updateEvent(const Event *event) {
static double prev_update_ts = 0;
if (event->which == cereal::Event::Which::CAN) {
double current_sec = event->mono_time / 1e9 - routeStartTime();
for (const auto &c : event->event.getCan()) {
MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
CanData &data = (*new_msgs)[id];
data.ts = current_sec;
data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
data.count = ++counters[id];
data.freq = data.count / std::max(1.0, current_sec);
auto &tracker = change_trackers[id];
tracker.compute(data.dat, data.ts, data.freq);
data.colors = tracker.colors;
data.last_change_t = tracker.last_change_t;
data.bit_change_counts = tracker.bit_change_counts;
if (!sources.contains(id.source)) {
sources.insert(id.source);
emit sourcesUpdated(sources);
const auto dat = c.getDat();
all_msgs[id].compute((const char *)dat.begin(), dat.size(), current_sec);
if (!new_msgs->contains(id)) {
new_msgs->insert(id, {});
}
}
double ts = millis_since_boot();
// delay posting CAN message if UI thread is busy
if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) {
// delay posting CAN message if UI thread is busy
processing = true;
prev_update_ts = ts;
for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
it.value() = all_msgs[it.key()];
}
// use pointer to avoid data copy in queued connection.
emit received(new_msgs.release());
new_msgs.reset(new QHash<MessageId, CanData>);
@ -69,25 +65,22 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
// updateEvent will not be called before replayStream::seekedTo return.
void AbstractStream::updateLastMsgsTo(double sec) {
new_msgs->clear();
change_trackers.clear();
all_msgs.clear();
last_msgs.clear();
counters.clear();
CanEvent last_event = {.mono_time = uint64_t((sec + routeStartTime()) * 1e9)};
for (auto &[id, e] : events_) {
auto it = std::lower_bound(e.crbegin(), e.crend(), last_event, std::greater<CanEvent>());
if (it != e.crend()) {
auto &m = last_msgs[id];
m.dat = QByteArray((const char *)it->dat, it->size);
m.ts = it->mono_time / 1e9 - routeStartTime();
double ts = it->mono_time / 1e9 - routeStartTime();
auto &m = all_msgs[id];
m.compute((const char *)it->dat, it->size, ts);
m.count = std::distance(it, e.crend());
m.freq = m.count / std::max(1.0, m.ts);
m.last_change_t = QVector<double>(m.dat.size(), m.ts);
m.colors = QVector<QColor>(m.dat.size(), QColor(0, 0, 0, 0));
m.bit_change_counts = QVector<std::array<uint32_t, 8>>(m.dat.size());
counters[id] = m.count;
m.freq = m.count / std::max(1.0, ts);
}
}
last_msgs = all_msgs;
// use a timer to prevent recursive calls
QTimer::singleShot(0, [this]() {
emit updated();
emit msgsReceived(&last_msgs);
@ -96,18 +89,20 @@ void AbstractStream::updateLastMsgsTo(double sec) {
void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<CanEvent>> &msgs,
std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
uint64_t ts = 0;
for (; first != last; ++first) {
if ((*first)->which == cereal::Event::Which::CAN) {
ts = (*first)->mono_time;
for (const auto &c : (*first)->event.getCan()) {
auto dat = c.getDat();
auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}].emplace_back();
m.size = std::min(dat.size(), std::size(m.dat));
memcpy(m.dat, (uint8_t *)dat.begin(), m.size);
m.mono_time = (*first)->mono_time;
m.mono_time = ts;
}
last_event_ts = std::max(last_event_ts, (*first)->mono_time);
}
}
last_event_ts = std::max(last_event_ts, ts);
}
void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append) {
@ -126,3 +121,67 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
}
emit eventsMerged();
}
// CanData
constexpr int periodic_threshold = 10;
constexpr int start_alpha = 128;
constexpr float fade_time = 2.0;
const QColor CYAN = QColor(0, 187, 255, start_alpha);
const QColor RED = QColor(255, 0, 0, start_alpha);
const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
static inline QColor blend(const QColor &a, const QColor &b) {
return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
}
void CanData::compute(const char *can_data, const int size, double current_sec, uint32_t in_freq) {
ts = current_sec;
++count;
freq = in_freq == 0 ? count / std::max(1.0, current_sec) : in_freq;
if (dat.size() != size) {
dat.resize(size);
bit_change_counts.resize(size);
colors = QVector(size, QColor(0, 0, 0, 0));
last_change_t = QVector(size, ts);
} else {
bool lighter = settings.theme == DARK_THEME;
const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
const QColor &red = !lighter ? RED : RED_LIGHTER;
const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
for (int i = 0; i < size; ++i) {
const uint8_t last = dat[i];
const uint8_t cur = can_data[i];
if (last != cur) {
double delta_t = ts - last_change_t[i];
if (delta_t * freq > periodic_threshold) {
// Last change was while ago, choose color based on delta up or down
colors[i] = (cur > last) ? cyan : red;
} else {
// Periodic changes
colors[i] = blend(colors[i], greyish_blue);
}
// Track bit level changes
const uint8_t tmp = (cur ^ last);
for (int bit = 0; bit < 8; bit++) {
if (tmp & (1 << bit)) {
bit_change_counts[i][bit] += 1;
}
}
last_change_t[i] = ts;
} else {
// Fade out
float alpha_delta = 1.0 / (freq + 1) / fade_time;
colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
}
}
}
memcpy(dat.data(), can_data, size);
}

@ -1,5 +1,6 @@
#pragma once
#include <array>
#include <atomic>
#include <deque>
#include <unordered_map>
@ -12,6 +13,8 @@
#include "tools/replay/replay.h"
struct CanData {
void compute(const char *dat, const int size, double current_sec, uint32_t in_freq = 0);
double ts = 0.;
uint32_t count = 0;
uint32_t freq = 0;
@ -22,9 +25,9 @@ struct CanData {
};
struct CanEvent {
uint64_t mono_time;
uint8_t size;
uint8_t dat[64];
uint64_t mono_time = 0;
uint8_t size = 0;
uint8_t dat[64] = {};
inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; }
inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; }
};
@ -78,9 +81,8 @@ protected:
bool is_live_streaming = false;
std::atomic<bool> processing = false;
QHash<MessageId, uint32_t> counters;
std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
QHash<MessageId, ChangeTracker> change_trackers;
QHash<MessageId, CanData> all_msgs;
std::unordered_map<MessageId, std::deque<CanEvent>> events_;
uint64_t last_event_ts = 0;
};

@ -1,70 +1,10 @@
#include "tools/cabana/util.h"
#include <QApplication>
#include <QFontDatabase>
#include <QPainter>
#include <QPixmapCache>
#include <cmath>
#include <limits>
#include "selfdrive/ui/qt/util.h"
#include "tools/cabana/settings.h"
static QColor blend(QColor a, QColor b) {
return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
}
void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
if (prev_dat.size() != dat.size()) {
colors.resize(dat.size());
last_change_t.resize(dat.size());
bit_change_counts.resize(dat.size());
std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0));
std::fill(last_change_t.begin(), last_change_t.end(), ts);
} else {
for (int i = 0; i < dat.size(); ++i) {
const uint8_t last = prev_dat[i];
const uint8_t cur = dat[i];
if (last != cur) {
double delta_t = ts - last_change_t[i];
if (delta_t * freq > periodic_threshold) {
// Last change was while ago, choose color based on delta up or down
if (cur > last) {
colors[i] = QColor(0, 187, 255, start_alpha); // Cyan
} else {
colors[i] = QColor(255, 0, 0, start_alpha); // Red
}
} else {
// Periodic changes
colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue
}
// Track bit level changes
for (int bit = 0; bit < 8; bit++) {
if ((cur ^ last) & (1 << bit)) {
bit_change_counts[i][bit] += 1;
}
}
last_change_t[i] = ts;
} else {
// Fade out
float alpha_delta = 1.0 / (freq + 1) / fade_time;
colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
}
}
}
prev_dat = dat;
}
void ChangeTracker::clear() {
prev_dat.clear();
last_change_t.clear();
bit_change_counts.clear();
colors.clear();
}
// SegmentTree
@ -146,7 +86,7 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const {
namespace utils {
QPixmap icon(const QString &id) {
bool dark_theme = settings.theme == 2;
bool dark_theme = settings.theme == DARK_THEME;
QPixmap pm;
QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
if (!QPixmapCache::find(key, &pm)) {
@ -154,7 +94,7 @@ QPixmap icon(const QString &id) {
if (dark_theme) {
QPainter p(&pm);
p.setCompositionMode(QPainter::CompositionMode_SourceIn);
p.fillRect(pm.rect(), Qt::white);
p.fillRect(pm.rect(), QColor("#bbbbbb"));
}
QPixmapCache::insert(key, pm);
}
@ -168,42 +108,39 @@ void setTheme(int theme) {
static int prev_theme = 0;
if (theme != prev_theme) {
prev_theme = theme;
if (theme == 2) {
// modify palette to dark
QPalette darkPalette;
darkPalette.setColor(QPalette::Window, QColor(53, 53, 53));
darkPalette.setColor(QPalette::WindowText, Qt::white);
darkPalette.setColor(QPalette::Base, QColor(25, 25, 25));
darkPalette.setColor(QPalette::AlternateBase, QColor(53, 53, 53));
darkPalette.setColor(QPalette::ToolTipBase, Qt::white);
darkPalette.setColor(QPalette::ToolTipText, QColor(41, 41, 41));
darkPalette.setColor(QPalette::Text, Qt::white);
darkPalette.setColor(QPalette::Button, QColor(53, 53, 53));
darkPalette.setColor(QPalette::ButtonText, Qt::white);
darkPalette.setColor(QPalette::BrightText, Qt::red);
darkPalette.setColor(QPalette::Link, QColor(42, 130, 218));
darkPalette.setColor(QPalette::Highlight, QColor(42, 130, 218));
darkPalette.setColor(QPalette::HighlightedText, Qt::black);
qApp->setPalette(darkPalette);
QPalette new_palette;
if (theme == DARK_THEME) {
// "Darcula" like dark theme
new_palette.setColor(QPalette::Window, QColor("#353535"));
new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb"));
new_palette.setColor(QPalette::Base, QColor("#3c3f41"));
new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41"));
new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41"));
new_palette.setColor(QPalette::ToolTipText, QColor("#bbb"));
new_palette.setColor(QPalette::Text, QColor("#bbbbbb"));
new_palette.setColor(QPalette::Button, QColor("#3c3f41"));
new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb"));
new_palette.setColor(QPalette::Highlight, QColor("#2f65ca"));
new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb"));
new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));;
new_palette.setColor(QPalette::Light, QColor("#3c3f41"));
new_palette.setColor(QPalette::Dark, QColor("#353535"));
} else {
qApp->setPalette(style->standardPalette());
new_palette = style->standardPalette();
}
qApp->setPalette(new_palette);
style->polish(qApp);
for (auto w : QApplication::allWidgets()) {
w->setPalette(new_palette);
}
}
}
} // namespace utils
QToolButton *toolButton(const QString &icon, const QString &tooltip) {
auto btn = new QToolButton();
btn->setIcon(utils::icon(icon));
btn->setToolTip(tooltip);
btn->setAutoRaise(true);
const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize);
btn->setIconSize({metric, metric});
return btn;
};
QString toHex(uint8_t byte) {
static std::array<QString, 256> hex = []() {
std::array<QString, 256> ret;

@ -1,8 +1,8 @@
#pragma once
#include <array>
#include <cmath>
#include <QApplication>
#include <QByteArray>
#include <QDateTime>
#include <QColor>
@ -14,22 +14,7 @@
#include <QVector>
#include "tools/cabana/dbc/dbc.h"
class ChangeTracker {
public:
void compute(const QByteArray &dat, double ts, uint32_t freq);
void clear();
QVector<double> last_change_t;
QVector<QColor> colors;
QVector<std::array<uint32_t, 8>> bit_change_counts;
private:
const int periodic_threshold = 10;
const int start_alpha = 128;
const float fade_time = 2.0;
QByteArray prev_dat;
};
#include "tools/cabana/settings.h"
class LogSlider : public QSlider {
Q_OBJECT
@ -104,5 +89,27 @@ inline QString formatSeconds(int seconds) {
}
}
QToolButton *toolButton(const QString &icon, const QString &tooltip);
class ToolButton : public QToolButton {
Q_OBJECT
public:
ToolButton(const QString &icon, const QString &tooltip = {}, QWidget *parent = nullptr) : QToolButton(parent) {
setIcon(icon);
setToolTip(tooltip);
setAutoRaise(true);
const int metric = QApplication::style()->pixelMetric(QStyle::PM_SmallIconSize);
setIconSize({metric, metric});
theme = settings.theme;
connect(&settings, &Settings::changed, this, &ToolButton::updateIcon);
}
void setIcon(const QString &icon) {
icon_str = icon;
QToolButton::setIcon(utils::icon(icon_str));
}
private:
void updateIcon() { if (std::exchange(theme, settings.theme) != theme) setIcon(icon_str); }
QString icon_str;
int theme;
};
int num_decimals(double num);

@ -3,6 +3,7 @@
#include <QButtonGroup>
#include <QMouseEvent>
#include <QPainter>
#include <QStackedLayout>
#include <QStyleOptionSlider>
#include <QVBoxLayout>
#include <QtConcurrent>
@ -19,7 +20,6 @@ static const QColor timeline_colors[] = {
[(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
};
bool sortTimelineBasedOnEventPriority(const std::tuple<int, int, TimelineType> &left, const std::tuple<int, int, TimelineType> &right){
const static std::map<TimelineType, int> timelinePriority = {
{ TimelineType::None, 0 },
@ -29,7 +29,6 @@ bool sortTimelineBasedOnEventPriority(const std::tuple<int, int, TimelineType> &
{ TimelineType::AlertCritical, 40 },
{ TimelineType::UserFlag, 35 }
};
return timelinePriority.at(std::get<2>(left)) < timelinePriority.at(std::get<2>(right));
}
@ -64,6 +63,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
updatePlayBtnState();
setWhatsThis(tr(R"(
@ -92,10 +92,14 @@ QWidget *VideoWidget::createCameraWidget() {
QWidget *w = new QWidget(this);
QVBoxLayout *l = new QVBoxLayout(w);
l->setContentsMargins(0, 0, 0, 0);
cam_widget = new CameraWidget("camerad", can->visionStreamType(), false);
QStackedLayout *stacked = new QStackedLayout();
stacked->setStackingMode(QStackedLayout::StackAll);
stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false));
cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
l->addWidget(cam_widget);
stacked->addWidget(alert_label = new InfoLabel(this));
l->addLayout(stacked);
// slider controls
slider_layout = new QHBoxLayout();
@ -130,8 +134,17 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
}
void VideoWidget::updateState() {
if (!slider->isSliderDown())
if (!slider->isSliderDown()) {
slider->setValue(can->currentSec() * 1000);
}
std::lock_guard lk(slider->thumbnail_lock);
uint64_t mono_time = (can->currentSec() + can->routeStartTime()) * 1e9;
auto it = slider->alerts.lower_bound(mono_time);
if (it != slider->alerts.end() && (it->first - mono_time) < 1e9) {
alert_label->showAlert(it->second);
} else {
alert_label->showAlert({});
}
}
void VideoWidget::updatePlayBtnState() {
@ -140,11 +153,10 @@ void VideoWidget::updatePlayBtnState() {
}
// Slider
Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt::Horizontal, parent) {
Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
timer.callOnTimeout([this]() {
timeline = can->getTimeline();
std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority);
update();
});
setMouseTracking(true);
@ -169,11 +181,11 @@ void Slider::streamStarted() {
void Slider::loadThumbnails() {
const auto &segments = can->route()->segments();
for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) {
LogReader log;
std::string qlog = it->second.qlog.toStdString();
if (!qlog.empty()) {
LogReader log;
if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) {
for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
auto thumb = (*ev)->event.getThumbnail();
auto data = thumb.getThumbnail();
if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
@ -181,6 +193,12 @@ void Slider::loadThumbnails() {
std::lock_guard lk(thumbnail_lock);
thumbnails[thumb.getTimestampEof()] = pm;
}
} else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
auto cs = (*ev)->event.getControlsState();
if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0) {
std::lock_guard lk(thumbnail_lock);
alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
}
}
}
}
@ -234,44 +252,96 @@ void Slider::mousePressEvent(QMouseEvent *e) {
void Slider::mouseMoveEvent(QMouseEvent *e) {
QPixmap thumb;
AlertInfo alert;
double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0;
{
std::lock_guard lk(thumbnail_lock);
auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9);
uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
auto it = thumbnails.lowerBound(mono_time);
if (it != thumbnails.end()) thumb = it.value();
auto alert_it = alerts.lower_bound(mono_time);
if (alert_it != alerts.end() && (alert_it->first - mono_time) < 1e9) {
alert = alert_it->second;
}
}
int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing);
thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb);
int y = -thumb.height();
thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert);
QSlider::mouseMoveEvent(e);
}
void Slider::leaveEvent(QEvent *event) {
thumbnail_label.hide();
QSlider::leaveEvent(event);
bool Slider::event(QEvent *event) {
switch (event->type()) {
case QEvent::WindowActivate:
case QEvent::WindowDeactivate:
case QEvent::FocusIn:
case QEvent::FocusOut:
case QEvent::Leave:
thumbnail_label.hide();
break;
default:
break;
}
return QSlider::event(event);
}
// ThumbnailLabel
// InfoLabel
ThumbnailLabel::ThumbnailLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) {
InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
setAttribute(Qt::WA_ShowWithoutActivating);
setVisible(false);
}
void ThumbnailLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm) {
void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) {
pixmap = pm;
second = sec;
alert_info = alert;
setVisible(!pm.isNull());
if (isVisible()) {
setGeometry({pt, pm.size()});
resize(pm.size());
move(pt);
update();
}
}
void ThumbnailLabel::paintEvent(QPaintEvent *event) {
void InfoLabel::showAlert(const AlertInfo &alert) {
alert_info = alert;
pixmap = {};
setVisible(!alert_info.text1.isEmpty());
if (isVisible()) {
update();
}
}
void InfoLabel::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.drawPixmap(0, 0, pixmap);
p.setPen(QPen(Qt::white, 2));
p.drawRect(rect());
p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
p.setPen(QPen(palette().color(QPalette::BrightText), 2));
if (!pixmap.isNull()) {
p.drawPixmap(0, 0, pixmap);
p.drawRect(rect());
p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
}
if (alert_info.text1.size() > 0) {
QColor color = timeline_colors[(int)TimelineType::AlertInfo];
if (alert_info.status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
color = timeline_colors[(int)TimelineType::AlertWarning];
} else if (alert_info.status == cereal::ControlsState::AlertStatus::CRITICAL) {
color = timeline_colors[(int)TimelineType::AlertCritical];
}
color.setAlphaF(0.5);
QString text = alert_info.text1;
if (!alert_info.text2.isEmpty()) {
text += "\n" + alert_info.text2;
}
if (!pixmap.isNull()) {
QFont font;
font.setPixelSize(11);
p.setFont(font);
}
QRect text_rect = rect().adjusted(2, 2, -2, -2);
QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
}
}

@ -13,13 +13,21 @@
#include "selfdrive/ui/qt/widgets/cameraview.h"
#include "tools/cabana/streams/abstractstream.h"
class ThumbnailLabel : public QWidget {
struct AlertInfo {
cereal::ControlsState::AlertStatus status;
QString text1;
QString text2;
};
class InfoLabel : public QWidget {
public:
ThumbnailLabel(QWidget *parent);
void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm);
InfoLabel(QWidget *parent);
void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert);
void showAlert(const AlertInfo &alert);
void paintEvent(QPaintEvent *event) override;
QPixmap pixmap;
QString second;
AlertInfo alert_info;
};
class Slider : public QSlider {
@ -32,7 +40,7 @@ public:
private:
void mousePressEvent(QMouseEvent *e) override;
void mouseMoveEvent(QMouseEvent *e) override;
void leaveEvent(QEvent *event) override;
bool event(QEvent *event) override;
void sliderChange(QAbstractSlider::SliderChange change) override;
void paintEvent(QPaintEvent *ev) override;
void streamStarted();
@ -43,9 +51,11 @@ private:
std::mutex thumbnail_lock;
std::atomic<bool> abort_load_thumbnail = false;
QMap<uint64_t, QPixmap> thumbnails;
std::map<uint64_t, AlertInfo> alerts;
QFuture<void> thumnail_future;
ThumbnailLabel thumbnail_label;
InfoLabel thumbnail_label;
QTimer timer;
friend class VideoWidget;
};
class VideoWidget : public QFrame {
@ -65,5 +75,6 @@ protected:
QLabel *time_label;
QHBoxLayout *slider_layout;
QPushButton *play_btn;
InfoLabel *alert_label;
Slider *slider;
};

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