diff --git a/RELEASES.md b/RELEASES.md index 55edc47c27..1bc151fb8b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -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) diff --git a/common/statlog.cc b/common/statlog.cc index 26945882d9..587f3e8620 100644 --- a/common/statlog.cc +++ b/common/statlog.cc @@ -5,6 +5,7 @@ #include "common/statlog.h" #include "common/util.h" +#include #include #include #include diff --git a/common/swaglog.cc b/common/swaglog.cc index 22682dc54c..54f1c3478a 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -5,6 +5,7 @@ #include "common/swaglog.h" #include +#include #include #include #include diff --git a/docs/CARS.md b/docs/CARS.md index 42a5035f15..b6448235a3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch 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[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai 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[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 1c80ea3d93..8a879954fa 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -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 diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 9ddc3ca396..f6be1b1e3a 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -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), diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 22934c05b2..427f8cedb1 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -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: diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 1dd91ac888..bdb75c1fb9 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -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 diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 6ecfa03796..fba99ae74d 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -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()} diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7417d6c208..51717eb957 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -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), } diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 1b115c665d..965d2e1836 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -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: diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 598b598a16..4e235fba72 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -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', ], diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 16735acab0..f77de3b34b 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -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: { diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index f9261dcad2..921bed5406 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -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), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 75051316fa..65ca9fc5c9 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -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] diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 795b4cdde3..60450b9fe5 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -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', diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 53927ad46e..4d8ca5afb7 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -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', ], diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index 4de5b26762..c2f51c9355 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -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) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 87c5f644c5..de2373c1da 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -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; diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index f75ceee7ed..8f243af9a5 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -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) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d6c2779ac3..77738afae3 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -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) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chart/chart.cc similarity index 53% rename from tools/cabana/chartswidget.cc rename to tools/cabana/chart/chart.cc index e9ff72a987..d01a4882b2 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chart/chart.cc @@ -1,396 +1,19 @@ -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chart.h" #include #include -#include -#include #include -#include #include -#include +#include #include +#include #include -#include #include -#include -#include -#include -#include -#include +#include -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(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(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"( - Chart view
- - )")); -} - -void ChartsWidget::eventsMerged() { - QFutureSynchronizer 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(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(event); - back_button = ev->button() == Qt::BackButton; - break; - } - case QEvent::NativeGesture: { - QNativeGestureEvent *ev = static_cast(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 &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 &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 &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 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(&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()) { - 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(); - 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("■ %1").arg(getColor(sig).name(), sig->name); - if (show_msg_name) text += QString(" %0 %1").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::seletedItems() { - QList 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); -} diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h new file mode 100644 index 0000000000..d00ead0f9f --- /dev/null +++ b/tools/cabana/chart/chart.h @@ -0,0 +1,106 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +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 &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 vals; + QVector 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 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 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 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; +}; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc new file mode 100644 index 0000000000..dab9687b5a --- /dev/null +++ b/tools/cabana/chart/chartswidget.cc @@ -0,0 +1,497 @@ +#include "tools/cabana/chart/chartswidget.h" + +#include +#include +#include +#include +#include +#include + +#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(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"( + Chart view
+ + )")); +} + +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 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(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 ¤t_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(event); + back_button = ev->button() == Qt::BackButton; + break; + } + case QEvent::NativeGesture: { + QNativeGestureEvent *ev = static_cast(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(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; +} diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h new file mode 100644 index 0000000000..8fd0e87e51 --- /dev/null +++ b/tools/cabana/chart/chartswidget.h @@ -0,0 +1,125 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#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 ¤tCharts() { 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 charts; + std::unordered_map> tab_charts; + QTabBar *tabbar; + ChartsContainer *charts_container; + QScrollArea *charts_scroll; + uint32_t max_chart_range = 0; + bool is_zoomed = false; + std::pair display_range; + std::pair 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 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 prev_range, range; +}; + diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc new file mode 100644 index 0000000000..1aa8fc5016 --- /dev/null +++ b/tools/cabana/chart/signalselector.cc @@ -0,0 +1,108 @@ +#include "tools/cabana/chart/signalselector.h" + +#include +#include +#include +#include +#include +#include +#include + +#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(&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()) { + 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(); + 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("■ %1").arg(getColor(sig).name(), sig->name); + if (show_msg_name) text += QString(" %0 %1").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::seletedItems() { + QList ret; + for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); + return ret; +} diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h new file mode 100644 index 0000000000..f46779f044 --- /dev/null +++ b/tools/cabana/chart/signalselector.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include +#include + +#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 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; +}; diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc new file mode 100644 index 0000000000..db686e44fa --- /dev/null +++ b/tools/cabana/chart/tiplabel.cc @@ -0,0 +1,46 @@ +#include "tools/cabana/chart/tiplabel.h" + +#include +#include +#include + +#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); +} diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h new file mode 100644 index 0000000000..568aa3d726 --- /dev/null +++ b/tools/cabana/chart/tiplabel.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +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; +}; diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h deleted file mode 100644 index 01bdf1437c..0000000000 --- a/tools/cabana/chartswidget.h +++ /dev/null @@ -1,232 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#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 &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 vals; - QVector 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 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 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 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 charts; - QWidget *charts_container; - QScrollArea *charts_scroll; - uint32_t max_chart_range = 0; - bool is_zoomed = false; - std::pair display_range; - std::pair 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 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 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 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; -}; diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index 701908112f..8b1e5a16e9 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -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); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 543946b19a..dd12d4c8a3 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -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); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index b7cfed376c..074ce3b4d3 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -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" diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 4ebe8e0473..5d09d8a90b 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -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::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::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()); } 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('_'), ' ')); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 8b8d1b06d2..1f8c157f21 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -54,7 +54,7 @@ public: std::deque 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; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 892dfdb91f..c979a20f16 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -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) { diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 991a34931d..3445642d4d 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -7,7 +7,7 @@ #include #include -#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" diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index a18b8a9ad6..3a1fc14751 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -1,11 +1,13 @@ #include "tools/cabana/settings.h" +#include #include #include #include #include -// 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(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 8076cbf36d..dd01b602e7 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -5,6 +5,9 @@ #include #include +#define LIGHT_THEME 1 +#define DARK_THEME 2 + class Settings : public QObject { Q_OBJECT diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index ee1c154483..f404dd3346 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -6,6 +6,7 @@ #include #include #include +#include #include #include @@ -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); diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 9711ae47bc..a2102ff9a7 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -8,7 +8,7 @@ #include #include -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chartswidget.h" class SignalModel : public QAbstractItemModel { Q_OBJECT diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index d60beed0c8..bab8777580 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -11,8 +11,14 @@ AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_liv } void AbstractStream::process(QHash *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 *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); @@ -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()); 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(m.dat.size(), m.ts); - m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); - m.bit_change_counts = QVector>(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> &msgs, std::vector::const_iterator first, std::vector::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::const_iterator first, std::vector::const_iterator last, bool append) { @@ -126,3 +121,67 @@ void AbstractStream::mergeEvents(std::vector::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); +} diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 0515f7c7e8..caa17ab177 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -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 processing = false; - QHash counters; std::unique_ptr> new_msgs; - QHash change_trackers; + QHash all_msgs; std::unordered_map> events_; uint64_t last_event_ts = 0; }; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 8a25b11cbf..58c1deb349 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,70 +1,10 @@ #include "tools/cabana/util.h" -#include #include #include #include -#include -#include #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 hex = []() { std::array ret; diff --git a/tools/cabana/util.h b/tools/cabana/util.h index e0fe4ad036..3b3a10ea17 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,8 +1,8 @@ #pragma once -#include #include +#include #include #include #include @@ -14,22 +14,7 @@ #include #include "tools/cabana/dbc/dbc.h" - -class ChangeTracker { -public: - void compute(const QByteArray &dat, double ts, uint32_t freq); - void clear(); - - QVector last_change_t; - QVector colors; - QVector> 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); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 228c8d6b2c..99992907c5 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -19,7 +20,6 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; - bool sortTimelineBasedOnEventPriority(const std::tuple &left, const std::tuple &right){ const static std::map timelinePriority = { { TimelineType::None, 0 }, @@ -29,7 +29,6 @@ bool sortTimelineBasedOnEventPriority(const std::tuple & { 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); + } } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 00b059428d..960053f9a3 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -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 abort_load_thumbnail = false; QMap thumbnails; + std::map alerts; QFuture 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; };