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cabana: simplifying endian conversion (#28601)

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pull/28607/head
Dean Lee 2 years ago committed by GitHub
parent 4b90117dd8
commit 3c398b2e2f
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GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 57 additions and 142 deletions
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  1. 66
      tools/cabana/binaryview.cc
  2. 7
      tools/cabana/binaryview.h
  3. 16
      tools/cabana/commands.cc
  4. 1
      tools/cabana/commands.h
  5. 25
      tools/cabana/dbc/dbc.cc
  6. 9
      tools/cabana/dbc/dbc.h
  7. 8
      tools/cabana/dbc/dbcfile.cc
  8. 3
      tools/cabana/detailwidget.cc
  9. 49
      tools/cabana/signalview.cc
  10. 3
      tools/cabana/signalview.h
  11. 10
      tools/cabana/tools/findsignal.cc
  12. 2
      tools/cabana/util.cc

66
tools/cabana/binaryview.cc
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@ -1,7 +1,5 @@
#include "tools/cabana/binaryview.h"
#include <cmath>
#include <QFontDatabase>
#include <QHeaderView>
#include <QMouseEvent>
@ -11,16 +9,12 @@
#include <QToolTip>
#include "tools/cabana/commands.h"
#include "tools/cabana/signalview.h"
// BinaryView
const int CELL_HEIGHT = 36;
const int VERTICAL_HEADER_WIDTH = 30;
inline int get_bit_index(const QModelIndex &index, bool little_endian) {
return index.row() * 8 + (little_endian ? 7 - index.column() : index.column());
}
inline int get_bit_pos(const QModelIndex &index) { return flipBitPos(index.row() * 8 + index.column()); }
BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
model = new BinaryViewModel(this);
@ -66,7 +60,7 @@ void BinaryView::addShortcuts() {
QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated);
QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{
if (hovered_sig != nullptr) {
emit removeSignal(hovered_sig);
UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig));
hovered_sig = nullptr;
}
});
@ -75,13 +69,9 @@ void BinaryView::addShortcuts() {
QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this);
QObject::connect(shortcut_endian, &QShortcut::activated, [=]{
if (hovered_sig != nullptr) {
const cabana::Signal *hovered_sig_prev = hovered_sig;
cabana::Signal s = *hovered_sig;
s.is_little_endian = !s.is_little_endian;
emit editSignal(hovered_sig, s);
hovered_sig = nullptr;
highlight(hovered_sig_prev);
}
});
@ -89,13 +79,9 @@ void BinaryView::addShortcuts() {
QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this);
QObject::connect(shortcut_sign, &QShortcut::activated, [=]{
if (hovered_sig != nullptr) {
const cabana::Signal *hovered_sig_prev = hovered_sig;
cabana::Signal s = *hovered_sig;
s.is_signed = !s.is_signed;
emit editSignal(hovered_sig, s);
hovered_sig = nullptr;
highlight(hovered_sig_prev);
}
});
@ -139,24 +125,24 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF
QItemSelection selection;
auto [start, size, is_lb] = getSelection(index);
for (int i = start; i < start + size; ++i) {
auto idx = model->bitIndex(i, is_lb);
selection.merge({idx, idx}, flags);
for (int i = 0; i < size; ++i) {
int pos = is_lb ? flipBitPos(start + i) : flipBitPos(start) + i;
selection << QItemSelectionRange{model->index(pos / 8, pos % 8)};
}
selectionModel()->select(selection, flags);
}
void BinaryView::mousePressEvent(QMouseEvent *event) {
delegate->selection_color = (palette().color(QPalette::Active, QPalette::Highlight));
resize_sig = nullptr;
if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) {
anchor_index = index;
auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
int bit_idx = get_bit_index(anchor_index, true);
int bit_pos = get_bit_pos(anchor_index);
for (auto s : item->sigs) {
if (bit_idx == s->lsb || bit_idx == s->msb) {
anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true);
if (bit_pos == s->lsb || bit_pos == s->msb) {
int idx = flipBitPos(bit_pos == s->lsb ? s->msb : s->lsb);
anchor_index = model->index(idx / 8, idx % 8);
resize_sig = s;
delegate->selection_color = s->color;
break;
}
}
@ -183,9 +169,10 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
auto release_index = indexAt(event->pos());
if (release_index.isValid() && anchor_index.isValid()) {
if (selectionModel()->hasSelection()) {
auto [start_bit, size, is_lb] = getSelection(release_index);
resize_sig ? emit resizeSignal(resize_sig, start_bit, size)
: emit addSignal(start_bit, size, is_lb);
auto sig = resize_sig ? *resize_sig : cabana::Signal{};
std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index);
resize_sig ? emit editSignal(resize_sig, sig)
: UndoStack::push(new AddSigCommand(model->msg_id, sig));
} else {
auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
if (item && item->sigs.size() > 0)
@ -246,10 +233,11 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
is_lb = false;
}
int cur_bit_idx = get_bit_index(index, is_lb);
int anchor_bit_idx = get_bit_index(anchor_index, is_lb);
auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx);
return {start_bit, end_bit - start_bit + 1, is_lb};
int cur_bit_pos = get_bit_pos(index);
int anchor_bit_pos = get_bit_pos(anchor_index);
int start_bit = is_lb ? std::min(cur_bit_pos, anchor_bit_pos) : get_bit_pos(std::min(index, anchor_index));
int size = is_lb ? std::abs(cur_bit_pos - anchor_bit_pos) + 1 : std::abs(flipBitPos(cur_bit_pos) - flipBitPos(anchor_bit_pos)) + 1;
return {start_bit, size, is_lb};
}
// BinaryViewModel
@ -261,16 +249,15 @@ void BinaryViewModel::refresh() {
row_count = dbc_msg->size;
items.resize(row_count * column_count);
for (auto sig : dbc_msg->getSignals()) {
auto [start, end] = getSignalRange(sig);
for (int j = start; j <= end; ++j) {
int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j;
int idx = column_count * (bit_index / 8) + bit_index % 8;
for (int j = 0; j < sig->size; ++j) {
int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
int idx = column_count * (pos / 8) + pos % 8;
if (idx >= items.size()) {
qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
break;
}
if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
if (j == sig->size - 1) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
auto &sigs = items[idx].sigs;
sigs.push_back(sig);
@ -379,7 +366,8 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
painter->fillRect(option.rect, item->bg_color);
}
} else if (option.state & QStyle::State_Selected) {
painter->fillRect(option.rect, selection_color);
auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
painter->fillRect(option.rect, color);
painter->setPen(option.palette.color(QPalette::BrightText));
} else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing
if (item->sigs.size() > 0) {
@ -441,7 +429,7 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
QColor color = sig->color;
color.setAlpha(item->bg_color.alpha());
// Mixing the signal colour with the Base background color to fade it
painter->fillRect(rc, QApplication::palette().color(QPalette::Base));
painter->fillRect(rc, option.palette.color(QPalette::Base));
painter->fillRect(rc, color);
// Draw edges

7
tools/cabana/binaryview.h
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@ -1,6 +1,5 @@
#pragma once
#include <QApplication>
#include <QList>
#include <QSet>
#include <QStyledItemDelegate>
@ -13,12 +12,10 @@ class BinaryItemDelegate : public QStyledItemDelegate {
public:
BinaryItemDelegate(QObject *parent);
void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void setSelectionColor(const QColor &color) { selection_color = color; }
bool hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const;
void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;
QFont small_font, hex_font;
QColor selection_color;
};
class BinaryViewModel : public QAbstractTableModel {
@ -31,7 +28,6 @@ public:
QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
inline QModelIndex bitIndex(int bit, bool is_lb) const { return index(bit / 8, is_lb ? (7 - bit % 8) : bit % 8); }
QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override {
return createIndex(row, column, (void *)&items[row * column_count + column]);
}
@ -68,9 +64,6 @@ public:
signals:
void signalClicked(const cabana::Signal *sig);
void signalHovered(const cabana::Signal *sig);
void addSignal(int start_bit, int size, bool little_endian);
void resizeSignal(const cabana::Signal *sig, int from, int size);
void removeSignal(const cabana::Signal *sig);
void editSignal(const cabana::Signal *origin_s, cabana::Signal &s);
void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);

16
tools/cabana/commands.cc
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@ -56,8 +56,20 @@ AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUn
setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
}
void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name); }
void AddSigCommand::redo() { dbc()->addSignal(id, signal); }
void AddSigCommand::undo() {
dbc()->removeSignal(id, signal.name);
if (msg_created) dbc()->removeMsg(id);
}
void AddSigCommand::redo() {
if (auto msg = dbc()->msg(id); !msg) {
msg_created = true;
dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
}
signal.name = dbc()->newSignalName(id);
signal.max = std::pow(2, signal.size) - 1;
dbc()->addSignal(id, signal);
}
// RemoveSigCommand

1
tools/cabana/commands.h
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@ -37,6 +37,7 @@ public:
private:
const MessageId id;
bool msg_created = false;
cabana::Signal signal = {};
};

25
tools/cabana/dbc/dbc.cc
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@ -119,6 +119,8 @@ void cabana::Msg::update() {
// cabana::Signal
void cabana::Signal::update() {
updateMsbLsb(*this);
float h = 19 * (float)lsb / 64.0;
h = fmod(h, 1.0);
size_t hash = qHash(name);
@ -165,14 +167,6 @@ bool cabana::Signal::operator==(const cabana::Signal &other) const {
// helper functions
static QVector<int> BIG_ENDIAN_START_BITS = []() {
QVector<int> ret;
for (int i = 0; i < 64; i++)
for (int j = 7; j >= 0; j--)
ret.push_back(j + i * 8);
return ret;
}();
double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) {
int64_t val = 0;
@ -195,23 +189,12 @@ double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal
return val * sig.factor + sig.offset;
}
int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; }
int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); }
void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) {
s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit);
s.size = size;
void updateMsbLsb(cabana::Signal &s) {
if (s.is_little_endian) {
s.lsb = s.start_bit;
s.msb = s.start_bit + s.size - 1;
} else {
s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
s.lsb = flipBitPos(flipBitPos(s.start_bit) + s.size - 1);
s.msb = s.start_bit;
}
}
std::pair<int, int> getSignalRange(const cabana::Signal *s) {
int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
int to = from + s->size - 1;
return {from, to};
}

9
tools/cabana/dbc/dbc.h
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@ -66,7 +66,8 @@ public:
Type type = Type::Normal;
QString name;
int start_bit, msb, lsb, size;
double factor, offset;
double factor = 1.0;
double offset = 0;
bool is_signed;
bool is_little_endian;
double min, max;
@ -110,9 +111,7 @@ public:
// Helper functions
double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
int bigEndianStartBitsIndex(int start_bit);
int bigEndianBitIndex(int index);
void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size);
std::pair<int, int> getSignalRange(const cabana::Signal *s);
void updateMsbLsb(cabana::Signal &s);
inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }

8
tools/cabana/dbc/dbcfile.cc
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@ -148,16 +148,10 @@ void DBCFile::parse(const QString &content) {
s.is_signed = match.captured(offset + 5) == "-";
s.factor = match.captured(offset + 6).toDouble();
s.offset = match.captured(offset + 7).toDouble();
if (s.is_little_endian) {
s.lsb = s.start_bit;
s.msb = s.start_bit + s.size - 1;
} else {
s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
s.msb = s.start_bit;
}
s.min = match.captured(8 + offset).toDouble();
s.max = match.captured(9 + offset).toDouble();
s.unit = match.captured(10 + offset);
current_msg->sigs.push_back(new cabana::Signal(s));
} else if (line.startsWith("VAL_ ")) {
auto match = val_regexp.match(line);

3
tools/cabana/detailwidget.cc
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@ -64,12 +64,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal);
QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal);
QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal);
QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart);
QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart);
QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);

49
tools/cabana/signalview.cc
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@ -1,11 +1,9 @@
#include "tools/cabana/signalview.h"
#include <QApplication>
#include <QCompleter>
#include <QDialogButtonBox>
#include <QHBoxLayout>
#include <QHeaderView>
#include <QHelpEvent>
#include <QMessageBox>
#include <QPainter>
#include <QPainterPath>
@ -214,53 +212,12 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s)
}
if (s.is_little_endian != origin_s->is_little_endian) {
int start = std::floor(s.start_bit / 8);
if (s.is_little_endian) {
int end = std::floor((s.start_bit - s.size + 1) / 8);
s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit);
} else {
int end = std::floor((s.start_bit + s.size - 1) / 8);
s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit);
}
}
if (s.is_little_endian) {
s.lsb = s.start_bit;
s.msb = s.start_bit + s.size - 1;
} else {
s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
s.msb = s.start_bit;
s.start_bit = flipBitPos(s.start_bit);
}
UndoStack::push(new EditSignalCommand(msg_id, origin_s, s));
return true;
}
void SignalModel::addSignal(int start_bit, int size, bool little_endian) {
auto msg = dbc()->msg(msg_id);
if (!msg) {
QString name = dbc()->newMsgName(msg_id);
UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size(), ""));
msg = dbc()->msg(msg_id);
}
cabana::Signal sig = {.name = dbc()->newSignalName(msg_id), .is_little_endian = little_endian, .factor = 1, .min = 0, .max = std::pow(2, size) - 1};
updateSigSizeParamsFromRange(sig, start_bit, size);
UndoStack::push(new AddSigCommand(msg_id, sig));
}
void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) {
cabana::Signal s = *sig;
updateSigSizeParamsFromRange(s, start_bit, size);
saveSignal(sig, s);
}
void SignalModel::removeSignal(const cabana::Signal *sig) {
UndoStack::push(new RemoveSigCommand(msg_id, sig));
if (dbc()->signalCount(msg_id) == 0) {
UndoStack::push(new RemoveMsgCommand(msg_id));
}
}
void SignalModel::handleMsgChanged(MessageId id) {
if (id.address == msg_id.address) {
refresh();
@ -324,7 +281,7 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo
}
width = std::min<int>(option.widget->size().width() / 3.0, it.value() + spacing);
}
return {width, QApplication::fontMetrics().height()};
return {width, option.fontMetrics.height()};
}
void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@ -565,7 +522,7 @@ void SignalView::rowsChanged() {
tree->setIndexWidget(index, w);
auto sig = model->getItem(index)->sig;
QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); });
QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); });
QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
});

3
tools/cabana/signalview.h
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@ -41,10 +41,7 @@ public:
bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
void setMessage(const MessageId &id);
void setFilter(const QString &txt);
void addSignal(int start_bit, int size, bool little_endian);
bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
void resizeSignal(const cabana::Signal *sig, int start_bit, int size);
void removeSignal(const cabana::Signal *sig);
Item *getItem(const QModelIndex &index) const;
int signalRow(const cabana::Signal *sig) const;
void showExtraInfo(const QModelIndex &index);

10
tools/cabana/tools/findsignal.cc
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@ -231,7 +231,9 @@ void FindSignalDlg::setInitialSignals() {
for (int size = min_size->value(); size <= max_size->value(); ++size) {
for (int start = 0; start <= total_size - size; ++start) {
FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
updateSigSizeParamsFromRange(s.sig, start, size);
s.sig.start_bit = start;
s.sig.size = size;
updateMsbLsb(s.sig);
s.value = get_raw_value((*e)->dat, (*e)->size, s.sig);
model->initial_signals.push_back(s);
}
@ -258,12 +260,6 @@ void FindSignalDlg::customMenuRequested(const QPoint &pos) {
menu.addAction(tr("Create Signal"));
if (menu.exec(view->mapToGlobal(pos))) {
auto &s = model->filtered_signals[index.row()];
auto msg = dbc()->msg(s.id);
if (!msg) {
UndoStack::push(new EditMsgCommand(s.id, dbc()->newMsgName(s.id), can->lastMessage(s.id).dat.size(), ""));
msg = dbc()->msg(s.id);
}
s.sig.name = dbc()->newSignalName(s.id);
UndoStack::push(new AddSigCommand(s.id, s.sig));
emit openMessage(s.id);
}

2
tools/cabana/util.cc
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@ -2,11 +2,9 @@
#include <QColor>
#include <QFontDatabase>
#include <QHelpEvent>
#include <QLocale>
#include <QPainter>
#include <QPixmapCache>
#include <QToolTip>
#include "selfdrive/ui/qt/util.h"

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