From 2c5cfcedf5155df44a09e8be3588193b93885dd7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 19 Oct 2022 02:01:38 +0800
Subject: [PATCH] cabana: display fingerprint and route on the top right
 (#26133)

old-commit-hash: 855099eb86938d683bb58868697c038b7b7ac650
---
 tools/cabana/canmessages.cc |  3 ++-
 tools/cabana/canmessages.h  |  3 +++
 tools/cabana/mainwin.cc     | 11 ++++++++++-
 tools/cabana/videowidget.cc |  1 +
 4 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc
index 3cf08eaaa0..252a8c680c 100644
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@@ -26,7 +26,8 @@ static bool event_filter(const Event *e, void *opaque) {
 }
 
 bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
-  replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
+  routeName = route;
+  replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
   replay->setSegmentCacheLimit(settings.cached_segment_limit);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged);
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
index fe71840d74..58f5ad70b7 100644
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@@ -44,6 +44,8 @@ public:
   bool eventFilter(const Event *event);
 
   inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }
+  inline QString route() const { return routeName; }
+  inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
   inline double totalSeconds() const { return replay->totalSeconds(); }
   inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const { return current_sec; }
@@ -80,6 +82,7 @@ protected:
   double event_begin_sec = 0;
   double event_end_sec = 0;
   bool is_zoomed = false;
+  QString routeName;
   Replay *replay = nullptr;
 };
 
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index f3c3bf74ae..50fcbc455c 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -30,8 +30,16 @@ MainWindow::MainWindow() : QWidget() {
   right_container->setFixedWidth(640);
   r_layout = new QVBoxLayout(right_container);
 
+  QHBoxLayout *right_hlayout = new QHBoxLayout();
+  QLabel *fingerprint_label = new QLabel(this);
+  right_hlayout->addWidget(fingerprint_label);
+
+  // TODO: click to select another route.
+  right_hlayout->addWidget(new QLabel(can->route()));
   QPushButton *settings_btn = new QPushButton("Settings");
-  r_layout->addWidget(settings_btn, 0, Qt::AlignRight);
+  right_hlayout->addWidget(settings_btn, 0, Qt::AlignRight);
+
+  r_layout->addLayout(right_hlayout);
 
   video_widget = new VideoWidget(this);
   r_layout->addWidget(video_widget, 0, Qt::AlignTop);
@@ -45,6 +53,7 @@ MainWindow::MainWindow() : QWidget() {
   QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart);
   QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
   QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption);
+  QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); });
 }
 
 void MainWindow::dockCharts(bool dock) {
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index bb90d56570..78965e3e8c 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -15,6 +15,7 @@ inline QString formatTime(int seconds) {
 
 VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
 
   // TODO: figure out why the CameraWidget crashed occasionally.
   cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);