Cabana: add signal value filters to the logs view (#26779)

add filter to logs view
old-commit-hash: cecef89124

tools/cabana/canmessages.cc

@@ -32,30 +32,6 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint3
   return false;
 }
 
-QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) {
-  auto evts = events();
-  if (!evts) return {};
-
-  QList<QPointF> ret;
-  ret.reserve(max_count);
-  auto [bus, address] = DBCManager::parseId(id);
-  for (auto &evt : *evts) {
-    if (evt->which != cereal::Event::Which::CAN) continue;
-
-    for (const auto &c : evt->event.getCan()) {
-      if (bus == c.getSrc() && address == c.getAddress()) {
-        double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
-        if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
-          ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
-          if (ret.size() >= max_count)
-            return ret;
-        }
-      }
-    }
-  }
-  return ret;
-}
-
 void CANMessages::process(QHash<QString, CanData> *messages) {
   for (auto it = messages->begin(); it != messages->end(); ++it) {
     can_msgs[it.key()] = it.value();

tools/cabana/canmessages.h

@@ -4,7 +4,6 @@
 
 #include <QColor>
 #include <QHash>
-#include <QList>
 
 #include "opendbc/can/common_dbc.h"
 #include "tools/cabana/settings.h"
@@ -21,12 +20,10 @@ class CANMessages : public QObject {
   Q_OBJECT
 
 public:
-  enum FindFlags{ EQ, LT, GT };
   CANMessages(QObject *parent);
   ~CANMessages();
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   void seekTo(double ts);
-  QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
   bool eventFilter(const Event *event);
 
   inline QString routeName() const { return replay->route()->name(); }

tools/cabana/detailwidget.cc

@@ -86,7 +86,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   tab_widget = new QTabWidget(this);
   tab_widget->setTabPosition(QTabWidget::South);
   tab_widget->addTab(scroll, "&Msg");
-  history_log = new HistoryLog(this);
+  history_log = new LogsWidget(this);
   tab_widget->addTab(history_log, "&Logs");
   main_layout->addWidget(tab_widget);
 

tools/cabana/detailwidget.h

@@ -53,7 +53,7 @@ private:
   QTabWidget *tab_widget;
   QToolBar *toolbar;
   QAction *remove_msg_act;
-  HistoryLog *history_log;
+  LogsWidget *history_log;
   BinaryView *binary_view;
   QScrollArea *scroll;
   ChartsWidget *charts;

tools/cabana/historylog.cc

@@ -2,6 +2,8 @@
 
 #include <QFontDatabase>
 #include <QPainter>
+#include <QPushButton>
+#include <QVBoxLayout>
 
 // HistoryLogModel
 
@@ -17,7 +19,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
     if (index.column() == 0) {
       return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
     }
-    return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data);
+    return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : m.data;
   } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) {
     return QFontDatabase::systemFont(QFontDatabase::FixedFont);
   }
@@ -26,15 +28,18 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
 
 void HistoryLogModel::setMessage(const QString &message_id) {
   beginResetModel();
-  msg_id = message_id;
   sigs.clear();
   messages.clear();
   has_more_data = true;
   if (auto dbc_msg = dbc()->msg(message_id)) {
     sigs = dbc_msg->getSignals();
   }
-  endResetModel();
+  if (msg_id != message_id || sigs.empty()) {
+    filter_cmp = nullptr;
+  }
+  msg_id = message_id;
   updateState();
+  endResetModel();
 }
 
 QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const {
@@ -53,6 +58,18 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
   return {};
 }
 
+void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp) {
+  if (sig_idx < sigs.size()) {
+    filter_sig_idx = sig_idx;
+    filter_value = value.toDouble();
+    filter_cmp = value.isEmpty() ? nullptr : cmp;
+    beginResetModel();
+    messages.clear();
+    updateState();
+    endResetModel();
+  }
+}
+
 void HistoryLogModel::updateState() {
   if (!msg_id.isEmpty()) {
     uint64_t last_mono_time = messages.empty() ? 0 : messages.front().mono_time;
@@ -87,20 +104,23 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t min_mon
   std::deque<HistoryLogModel::Message> msgs;
   const auto [src, address] = DBCManager::parseId(msg_id);
   uint32_t cnt = 0;
+  QVector<double> values(sigs.size());
   for (--it; it != events->begin() && (*it)->mono_time > min_mono_time; --it) {
     if ((*it)->which == cereal::Event::Which::CAN) {
       for (const auto &c : (*it)->event.getCan()) {
         if (src == c.getSrc() && address == c.getAddress()) {
           const auto dat = c.getDat();
-          auto &m = msgs.emplace_back();
-          m.mono_time = (*it)->mono_time;
-          m.data.append((char *)dat.begin(), dat.size());
-          m.sig_values.reserve(sigs.size());
-          for (const Signal *sig : sigs) {
-            m.sig_values.push_back(get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig));
+          for (int i = 0; i < sigs.size(); ++i) {
+            values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i]));
+          }
+          if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
+            auto &m = msgs.emplace_back();
+            m.mono_time = (*it)->mono_time;
+            m.data = toHex(QByteArray((char *)dat.begin(), dat.size()));
+            m.sig_values = values;
+            if (++cnt >= batch_size && min_mono_time == 0)
+              return msgs;
           }
-          if (++cnt >= batch_size && min_mono_time == 0)
-            return msgs;
         }
       }
     }
@@ -132,12 +152,64 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
 // HistoryLog
 
 HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
-  model = new HistoryLogModel(this);
-  setModel(model);
   setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
   horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
   horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
   verticalHeader()->setVisible(false);
-  setFrameShape(QFrame::NoFrame);
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
 }
+
+// LogsWidget
+
+LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  filter_container = new QWidget(this);
+  QHBoxLayout *h = new QHBoxLayout(filter_container);
+  signals_cb = new QComboBox(this);
+  h->addWidget(signals_cb);
+  comp_box = new QComboBox();
+  comp_box->addItems({">", "=", "<"});
+  h->addWidget(comp_box);
+  value_edit = new QLineEdit(this);
+  value_edit->setClearButtonEnabled(true);
+  value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this));
+  h->addWidget(value_edit);
+  main_layout->addWidget(filter_container);
+
+  model = new HistoryLogModel(this);
+  logs = new HistoryLog(this);
+  logs->setModel(model);
+  main_layout->addWidget(logs);
+
+  QObject::connect(signals_cb, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter()));
+  QObject::connect(comp_box, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter()));
+  QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter);
+}
+
+void LogsWidget::setMessage(const QString &message_id) {
+  blockSignals(true);
+  value_edit->setText("");
+  signals_cb->clear();
+  comp_box->setCurrentIndex(0);
+  sigs.clear();
+  if (auto dbc_msg = dbc()->msg(message_id)) {
+    sigs = dbc_msg->getSignals();
+    for (auto s : sigs) {
+      signals_cb->addItem(s->name.c_str());
+    }
+  }
+  filter_container->setVisible(!sigs.empty());
+  model->setMessage(message_id);
+  blockSignals(false);
+}
+
+void LogsWidget::setFilter() {
+  std::function<bool(double, double)> cmp;
+  switch (comp_box->currentIndex()) {
+    case 0: cmp = std::greater<double>{}; break;
+    case 1: cmp = std::equal_to<double>{}; break;
+    case 2: cmp = std::less<double>{}; break;
+  }
+  model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp);
+}

tools/cabana/historylog.h

@@ -1,7 +1,9 @@
 #pragma once
 
 #include <deque>
+#include <QComboBox>
 #include <QHeaderView>
+#include <QLineEdit>
 #include <QTableView>
 
 #include "tools/cabana/canmessages.h"
@@ -19,6 +21,7 @@ public:
   HistoryLogModel(QObject *parent);
   void setMessage(const QString &message_id);
   void updateState();
+  void setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   void fetchMore(const QModelIndex &parent) override;
@@ -29,13 +32,16 @@ public:
   struct Message {
     uint64_t mono_time = 0;
     QVector<double> sig_values;
-    QByteArray data;
+    QString data;
   };
 
   std::deque<Message> fetchData(uint64_t min_mono_time, uint64_t max_mono_time);
   QString msg_id;
   bool has_more_data = true;
   const int batch_size = 50;
+  int filter_sig_idx = -1;
+  double filter_value = 0;
+  std::function<bool(double, double)> filter_cmp = nullptr;
   std::deque<Message> messages;
   std::vector<const Signal*> sigs;
 };
@@ -43,11 +49,27 @@ public:
 class HistoryLog : public QTableView {
 public:
   HistoryLog(QWidget *parent);
-  void setMessage(const QString &message_id) { model->setMessage(message_id); }
+  int sizeHintForColumn(int column) const override { return -1; };
+};
+
+class LogsWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  LogsWidget(QWidget *parent);
+  void setMessage(const QString &message_id);
   void updateState() { model->updateState(); }
 
+private slots:
+  void setFilter();
+
 private:
-  int sizeHintForColumn(int column) const override { return -1; };
   void showEvent(QShowEvent *event) override { model->setMessage(model->msg_id); };
+
+  HistoryLog *logs;
   HistoryLogModel *model;
+  QWidget *filter_container;
+  QComboBox *signals_cb, *comp_box;
+  QLineEdit *value_edit;
+  std::vector<const Signal*> sigs;
 };

tools/cabana/signaledit.cc

@@ -4,12 +4,8 @@
 #include <QFormLayout>
 #include <QGuiApplication>
 #include <QHBoxLayout>
-#include <QScrollArea>
-#include <QToolBar>
 #include <QVBoxLayout>
 
-#include "selfdrive/ui/qt/util.h"
-
 // SignalForm
 
 SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
@@ -94,11 +90,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
   plot_btn->setCheckable(true);
   plot_btn->setAutoRaise(true);
   title_layout->addWidget(plot_btn);
-  auto seek_btn = new QToolButton(this);
-  seek_btn->setText("🔍");
-  seek_btn->setAutoRaise(true);
-  seek_btn->setToolTip(tr("Find signal values"));
-  title_layout->addWidget(seek_btn);
   auto remove_btn = new QToolButton(this);
   remove_btn->setAutoRaise(true);
   remove_btn->setText("x");
@@ -126,7 +117,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
   QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) {
     emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
   });
-  QObject::connect(seek_btn, &QToolButton::clicked, [this]() { SignalFindDlg(msg_id, sig, this).exec(); });
   QObject::connect(remove_btn, &QToolButton::clicked,  [this]() { emit remove(sig); });
   QObject::connect(form, &SignalForm::changed, [this]() { save_timer->start(); });
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
@@ -212,68 +202,3 @@ void SignalEdit::leaveEvent(QEvent *event) {
   emit highlight(nullptr);
   QWidget::leaveEvent(event);
 }
-
-// SignalFindDlg
-
-SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) {
-  setWindowTitle(tr("Find signal values"));
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-
-  QHBoxLayout *h = new QHBoxLayout();
-  h->addWidget(new QLabel(signal->name.c_str()));
-  QComboBox *comp_box = new QComboBox();
-  comp_box->addItems({">", "=", "<"});
-  h->addWidget(comp_box);
-  QLineEdit *value_edit = new QLineEdit("0", this);
-  value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this));
-  h->addWidget(value_edit, 1);
-  QPushButton *search_btn = new QPushButton(tr("Find"), this);
-  h->addWidget(search_btn);
-  main_layout->addLayout(h);
-
-  QWidget *container = new QWidget(this);
-  QVBoxLayout *signals_layout = new QVBoxLayout(container);
-  QScrollArea *scroll = new QScrollArea(this);
-  scroll->setWidget(container);
-  scroll->setWidgetResizable(true);
-  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  main_layout->addWidget(scroll);
-
-  QObject::connect(search_btn, &QPushButton::clicked, [=]() {
-    clearLayout(signals_layout);
-
-    CANMessages::FindFlags comp = CANMessages::EQ;
-    if (comp_box->currentIndex() == 0) {
-      comp = CANMessages::GT;
-    } else if (comp_box->currentIndex() == 2) {
-      comp = CANMessages::LT;
-    }
-    double value = value_edit->text().toDouble();
-
-    const int limit_results = 50;
-    auto values = can->findSignalValues(id, signal, value, comp, limit_results);
-    for (auto &v : values) {
-      QHBoxLayout *item_layout = new QHBoxLayout();
-      item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2)));
-      item_layout->addWidget(new QLabel(QString::number(v.y())));
-      item_layout->addStretch(1);
-
-      QPushButton *goto_btn = new QPushButton(tr("Goto"), this);
-      QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); });
-      item_layout->addWidget(goto_btn);
-      signals_layout->addLayout(item_layout);
-    }
-    if (values.size() == limit_results) {
-      QFrame *hline = new QFrame();
-      hline->setFrameShape(QFrame::HLine);
-      hline->setFrameShadow(QFrame::Sunken);
-      signals_layout->addWidget(hline);
-      QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results));
-      info->setAlignment(Qt::AlignCenter);
-      signals_layout->addWidget(info);
-    }
-    if (values.size() * 30 > container->height()) {
-      scroll->setFixedHeight(std::min(values.size() * 30, 300));
-    }
-  });
-}

tools/cabana/signaledit.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <QComboBox>
-#include <QDialog>
 #include <QLabel>
 #include <QLineEdit>
 #include <QSpinBox>
@@ -9,7 +8,6 @@
 #include <QToolButton>
 
 #include "selfdrive/ui/qt/widgets/controls.h"
-
 #include "tools/cabana/canmessages.h"
 #include "tools/cabana/dbcmanager.h"
 
@@ -59,8 +57,3 @@ protected:
   QToolButton *plot_btn;
   QTimer *save_timer;
 };
-
-class SignalFindDlg : public QDialog {
-public:
-  SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent);
-};