Cabana: add save DBC dialog (#26282)

* export DBC to text edit

* added saveAs & Copy To Clipboard

* cleanup

* cleanup include

* add test case

* rename variable

* fix precision

.github/workflows/selfdrive_tests.yaml

@@ -232,6 +232,7 @@ jobs:
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./tools/replay/tests/test_replay && \
+                        ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"

tools/cabana/.gitignore

@@ -4,4 +4,4 @@ moc_*
 _cabana
 settings
 car_fingerprint_to_dbc.json
-
+tests/_test_cabana

tools/cabana/SConscript

@@ -18,5 +18,9 @@ cabana_env = qt_env.Clone()
 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json')
-cabana_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
                             'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+
+if GetOption('test'):
+  cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])

tools/cabana/dbcmanager.cc

@@ -28,8 +28,25 @@ void DBCManager::open(const QString &name, const QString &content) {
   emit DBCFileChanged();
 }
 
-void save(const QString &dbc_file_name) {
-  // TODO: save DBC to file
+QString DBCManager::generateDBC() {
+  if (!dbc) return {};
+
+  QString dbc_string;
+  for (auto &m : dbc->msgs) {
+    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(m.address).arg(m.name.c_str()).arg(m.size);
+    for (auto &sig : m.sigs) {
+      dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n")
+                        .arg(sig.name.c_str())
+                        .arg(sig.start_bit)
+                        .arg(sig.size)
+                        .arg(sig.is_little_endian ? '1' : '0')
+                        .arg(sig.is_signed ? '-' : '+')
+                        .arg(sig.factor, 0, 'g', 20)
+                        .arg(sig.offset);
+    }
+    dbc_string += "\n";
+  }
+  return dbc_string;
 }
 
 void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) {

tools/cabana/dbcmanager.h

@@ -13,8 +13,7 @@ public:
 
   void open(const QString &dbc_file_name);
   void open(const QString &name, const QString &content);
-  void save(const QString &dbc_file_name);
-
+  QString generateDBC();
   void addSignal(const QString &id, const Signal &sig);
   void updateSignal(const QString &id, const QString &sig_name, const Signal &sig);
   void removeSignal(const QString &id, const QString &sig_name);
@@ -24,6 +23,7 @@ public:
   inline QString name() const { return dbc_name; }
 
   void updateMsg(const QString &id, const QString &name, uint32_t size);
+  inline const DBC *getDBC() const { return dbc; }
   inline const Msg *msg(const QString &id) const { return msg(addressFromId(id)); }
   inline const Msg *msg(uint32_t address) const {
     auto it = msg_map.find(address);

tools/cabana/messageswidget.cc

@@ -3,6 +3,8 @@
 #include <QCompleter>
 #include <QDialogButtonBox>
 #include <QFile>
+#include <QFileDialog>
+#include <QFileInfo>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QLineEdit>
@@ -69,9 +71,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); });
   QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &)));
   QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste);
-  QObject::connect(save_btn, &QPushButton::clicked, [=]() {
-    // TODO: save DBC to file
-  });
+  QObject::connect(save_btn, &QPushButton::clicked, this, &MessagesWidget::saveDBC);
   QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
     if (current.isValid()) {
       emit msgSelectionChanged(current.data(Qt::UserRole).toString());
@@ -79,7 +79,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   });
 
   QFile json_file("./car_fingerprint_to_dbc.json");
-  if(json_file.open(QIODevice::ReadOnly)) {
+  if (json_file.open(QIODevice::ReadOnly)) {
     fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
 }
@@ -111,6 +111,12 @@ void MessagesWidget::loadDBCFromFingerprint() {
   }
 }
 
+void MessagesWidget::saveDBC() {
+  SaveDBCDialog dlg(this);
+  dlg.dbc_edit->setText(dbc()->generateDBC());
+  dlg.exec();
+}
+
 // MessageListModel
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
@@ -224,6 +230,8 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
   }
 }
 
+// LoadDBCDialog
+
 LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   dbc_edit = new QTextEdit(this);
@@ -233,7 +241,48 @@ LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) {
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox);
 
-  setFixedWidth(640);
-  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  setMinimumSize({640, 480});
+  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
+
+// SaveDBCDialog
+
+SaveDBCDialog::SaveDBCDialog(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Save DBC"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  dbc_edit = new QTextEdit(this);
+  dbc_edit->setAcceptRichText(false);
+  main_layout->addWidget(dbc_edit);
+
+  QPushButton *copy_to_clipboard = new QPushButton(tr("Copy To Clipboard"), this);
+  QPushButton *save_as = new QPushButton(tr("Save As"), this);
+
+  QHBoxLayout *btn_layout = new QHBoxLayout();
+  btn_layout->addStretch();
+  btn_layout->addWidget(copy_to_clipboard);
+  btn_layout->addWidget(save_as);
+  main_layout->addLayout(btn_layout);
+  setMinimumSize({640, 480});
+
+  QObject::connect(copy_to_clipboard, &QPushButton::clicked, this, &SaveDBCDialog::copytoClipboard);
+  QObject::connect(save_as, &QPushButton::clicked, this, &SaveDBCDialog::saveAs);
+}
+
+void SaveDBCDialog::copytoClipboard() {
+  dbc_edit->selectAll();
+  dbc_edit->copy();
+  QDialog::accept();
+}
+
+void SaveDBCDialog::saveAs() {
+  QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"),
+                                                   QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)"));
+  if (!file_name.isEmpty()) {
+    QFile file(file_name);
+    if (file.open(QIODevice::WriteOnly)) {
+      file.write(dbc_edit->toPlainText().toUtf8());
+    }
+    QDialog::accept();
+  }
 }

tools/cabana/messageswidget.h

@@ -17,6 +17,16 @@ public:
   QTextEdit *dbc_edit;
 };
 
+class SaveDBCDialog : public QDialog {
+  Q_OBJECT
+
+public:
+  SaveDBCDialog(QWidget *parent);
+  void copytoClipboard();
+  void saveAs();
+  QTextEdit *dbc_edit;
+};
+
 class MessageListModel : public QAbstractTableModel {
 Q_OBJECT
 
@@ -52,6 +62,7 @@ public slots:
   void loadDBCFromName(const QString &name);
   void loadDBCFromFingerprint();
   void loadDBCFromPaste();
+  void saveDBC();
 
 signals:
   void msgSelectionChanged(const QString &message_id);

tools/cabana/tests/test_cabana

@@ -0,0 +1,4 @@
+#!/bin/sh
+cd "$(dirname "$0")"
+export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH"
+exec ./_test_cabana "$1"

tools/cabana/tests/test_cabana.cc

@@ -0,0 +1,35 @@
+
+#include "catch2/catch.hpp"
+#include "tools/cabana/dbcmanager.h"
+
+TEST_CASE("DBCManager::generateDBC") {
+  DBCManager dbc_origin(nullptr);
+  dbc_origin.open("toyota_new_mc_pt_generated");
+  QString dbc_string = dbc_origin.generateDBC();
+
+  DBCManager dbc_from_generated(nullptr);
+  dbc_from_generated.open("", dbc_string);
+
+  auto dbc = dbc_origin.getDBC();
+  auto new_dbc = dbc_from_generated.getDBC();
+  REQUIRE(dbc->msgs.size() == new_dbc->msgs.size());
+  for (int i = 0; i < dbc->msgs.size(); ++i) {
+    REQUIRE(dbc->msgs[i].name == new_dbc->msgs[i].name);
+    REQUIRE(dbc->msgs[i].address == new_dbc->msgs[i].address);
+    REQUIRE(dbc->msgs[i].size == new_dbc->msgs[i].size);
+    REQUIRE(dbc->msgs[i].sigs.size() == new_dbc->msgs[i].sigs.size());
+    auto &sig = dbc->msgs[i].sigs;
+    auto &new_sig = new_dbc->msgs[i].sigs;
+    for (int j = 0; j < sig.size(); ++j) {
+      REQUIRE(sig[j].name == new_sig[j].name);
+      REQUIRE(sig[j].start_bit == new_sig[j].start_bit);
+      REQUIRE(sig[j].msb == new_sig[j].msb);
+      REQUIRE(sig[j].lsb == new_sig[j].lsb);
+      REQUIRE(sig[j].size == new_sig[j].size);
+      REQUIRE(sig[j].is_signed == new_sig[j].is_signed);
+      REQUIRE(sig[j].factor == new_sig[j].factor);
+      REQUIRE(sig[j].offset == new_sig[j].offset);
+      REQUIRE(sig[j].is_little_endian == new_sig[j].is_little_endian);
+    }
+  }
+}

tools/cabana/tests/test_runner.cc

@@ -0,0 +1,10 @@
+#define CATCH_CONFIG_RUNNER
+#include "catch2/catch.hpp"
+#include <QCoreApplication>
+
+int main(int argc, char **argv) {
+  // unit tests for Qt
+  QCoreApplication app(argc, argv);
+  const int res = Catch::Session().run(argc, argv);
+  return (res < 0xff ? res : 0xff);
+}