cabana: increase replay's segment cache limit & add setting dialog (#26019)

* increase replay's segment cache limit

* todo

* add settings dialog

blank line

typo

tools/cabana/.gitignore

@@ -2,3 +2,4 @@ moc_*
 *.moc
 
 _cabana
+settings

tools/cabana/canmessages.cc

@@ -1,9 +1,11 @@
 #include "tools/cabana/canmessages.h"
 
 #include <QDebug>
+#include <QSettings>
 
 Q_DECLARE_METATYPE(std::vector<CanData>);
 
+Settings settings;
 CANMessages *can = nullptr;
 
 CANMessages::CANMessages(QObject *parent) : QObject(parent) {
@@ -11,6 +13,7 @@ CANMessages::CANMessages(QObject *parent) : QObject(parent) {
 
   qRegisterMetaType<std::vector<CanData>>();
   QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection);
+  QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged);
 }
 
 CANMessages::~CANMessages() {
@@ -24,6 +27,7 @@ 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);
+  replay->setSegmentCacheLimit(settings.cached_segment_limit);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged);
   if (replay->load()) {
@@ -38,11 +42,11 @@ void CANMessages::process(QHash<QString, std::deque<CanData>> *messages) {
     ++counters[it.key()];
     auto &msgs = can_msgs[it.key()];
     const auto &new_msgs = it.value();
-    if (msgs.size() == CAN_MSG_LOG_SIZE || can_msgs[it.key()].size() == 0) {
+    if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) {
       msgs = std::move(new_msgs);
     } else {
       msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end()));
-      while (msgs.size() >= CAN_MSG_LOG_SIZE) {
+      while (msgs.size() >= settings.can_msg_log_size) {
         msgs.pop_back();
       }
     }
@@ -71,7 +75,7 @@ bool CANMessages::eventFilter(const Event *event) {
     for (const auto &c : can_events) {
       QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16);
       auto &list = (*received_msgs)[id];
-      while (list.size() >= CAN_MSG_LOG_SIZE) {
+      while (list.size() >= settings.can_msg_log_size) {
         list.pop_back();
       }
       CanData &data = list.emplace_front();
@@ -80,7 +84,7 @@ bool CANMessages::eventFilter(const Event *event) {
       data.dat.append((char *)c.getDat().begin(), c.getDat().size());
     }
 
-    if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / FPS) {
+    if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) {
       prev_update_sec = current_sec;
       // use pointer to avoid data copy in queued connection.
       emit received(received_msgs.release());
@@ -121,3 +125,27 @@ void CANMessages::segmentsMerged() {
 void CANMessages::resetRange() {
   setRange(event_begin_sec, event_end_sec);
 }
+
+void CANMessages::settingChanged() {
+  replay->setSegmentCacheLimit(settings.cached_segment_limit);
+}
+
+// Settings
+
+Settings::Settings() {
+  load();
+}
+
+void Settings::save() {
+  QSettings s("settings", QSettings::IniFormat);
+  s.setValue("fps", fps);
+  s.setValue("log_size", can_msg_log_size);
+  s.setValue("cached_segment", cached_segment_limit);
+}
+
+void Settings::load() {
+  QSettings s("settings", QSettings::IniFormat);
+  fps = s.value("fps", 10).toInt();
+  can_msg_log_size = s.value("log_size", 100).toInt();
+  cached_segment_limit = s.value("cached_segment", 3.).toInt();
+}

tools/cabana/canmessages.h

@@ -8,8 +8,21 @@
 
 #include "tools/replay/replay.h"
 
-const int FPS = 10;
-const int CAN_MSG_LOG_SIZE = 100;
+class Settings : public QObject {
+  Q_OBJECT
+
+public:
+  Settings();
+  void save();
+  void load();
+
+  int fps = 10;
+  int can_msg_log_size = 100;
+  int cached_segment_limit = 3;
+
+signals:
+  void changed();
+};
 
 struct CanData {
   double ts;
@@ -57,6 +70,7 @@ public:
 protected:
   void process(QHash<QString, std::deque<CanData>> *);
   void segmentsMerged();
+  void settingChanged();
 
   std::atomic<double> current_sec = 0.;
   std::atomic<bool> seeking = false;
@@ -82,3 +96,4 @@ inline const QString &getColor(int i) {
 
 // A global pointer referring to the unique CANMessages object
 extern CANMessages *can;
+extern Settings settings;

tools/cabana/mainwin.cc

@@ -1,7 +1,9 @@
 #include "tools/cabana/mainwin.h"
 
 #include <QApplication>
+#include <QDialogButtonBox>
 #include <QHBoxLayout>
+#include <QFormLayout>
 #include <QScreen>
 #include <QVBoxLayout>
 
@@ -23,6 +25,9 @@ MainWindow::MainWindow() : QWidget() {
   right_container->setFixedWidth(640);
   r_layout = new QVBoxLayout(right_container);
 
+  QPushButton *settings_btn = new QPushButton("Settings");
+  r_layout->addWidget(settings_btn, 0, Qt::AlignRight);
+
   video_widget = new VideoWidget(this);
   r_layout->addWidget(video_widget, 0, Qt::AlignTop);
 
@@ -34,6 +39,7 @@ MainWindow::MainWindow() : QWidget() {
   QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage);
   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);
 }
 
 void MainWindow::dockCharts(bool dock) {
@@ -59,3 +65,51 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     floating_window->deleteLater();
   QWidget::closeEvent(event);
 }
+
+void MainWindow::setOption() {
+  SettingsDlg dlg(this);
+  dlg.exec();
+}
+
+// SettingsDlg
+
+SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Settings"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QFormLayout *form_layout = new QFormLayout();
+
+  fps = new QSpinBox(this);
+  fps->setRange(10, 100);
+  fps->setSingleStep(10);
+  fps->setValue(settings.fps);
+  form_layout->addRow("FPS", fps);
+
+  log_size = new QSpinBox(this);
+  log_size->setRange(50, 500);
+  log_size->setSingleStep(10);
+  log_size->setValue(settings.can_msg_log_size);
+  form_layout->addRow(tr("Log size"), log_size);
+
+  cached_segment = new QSpinBox(this);
+  cached_segment->setRange(3, 60);
+  cached_segment->setSingleStep(1);
+  cached_segment->setValue(settings.cached_segment_limit);
+  form_layout->addRow(tr("Cached segments limit"), cached_segment);
+
+  main_layout->addLayout(form_layout);
+
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox);
+
+  setFixedWidth(360);
+  connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
+  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
+
+void SettingsDlg::save() {
+  settings.fps = fps->value();
+  settings.can_msg_log_size = log_size->value();
+  settings.cached_segment_limit = cached_segment->value();
+  settings.save();
+  accept();
+}

tools/cabana/mainwin.h

@@ -14,6 +14,7 @@ public:
 
 protected:
   void closeEvent(QCloseEvent *event) override;
+  void setOption();
 
   VideoWidget *video_widget;
   MessagesWidget *messages_widget;
@@ -22,3 +23,14 @@ protected:
   QWidget *floating_window = nullptr;
   QVBoxLayout *r_layout;
 };
+
+class SettingsDlg : public QDialog {
+  Q_OBJECT
+
+public:
+  SettingsDlg(QWidget *parent);
+  void save();
+  QSpinBox *fps;
+  QSpinBox *log_size ;
+  QSpinBox *cached_segment;
+};

tools/replay/replay.cc

@@ -211,7 +211,7 @@ void Replay::queueSegment() {
 
   SegmentMap::iterator cur, end;
   cur = end = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first));
-  for (int i = 0; end != segments_.end() && i <= FORWARD_SEGS; ++i) {
+  for (int i = 0; end != segments_.end() && i <= segment_cache_limit + FORWARD_FETCH_SEGS; ++i) {
     ++end;
   }
   // load one segment at a time
@@ -250,7 +250,7 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
   // merge 3 segments in sequence.
   std::vector<int> segments_need_merge;
   size_t new_events_size = 0;
-  for (auto it = begin; it != end && it->second && it->second->isLoaded() && segments_need_merge.size() < 3; ++it) {
+  for (auto it = begin; it != end && it->second && it->second->isLoaded() && segments_need_merge.size() < segment_cache_limit; ++it) {
     segments_need_merge.push_back(it->first);
     new_events_size += it->second->log->events.size();
   }

tools/replay/replay.h

@@ -10,7 +10,7 @@
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 
 // one segment uses about 100M of memory
-constexpr int FORWARD_SEGS = 5;
+constexpr int FORWARD_FETCH_SEGS = 3;
 
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
@@ -57,6 +57,8 @@ public:
     filter_opaque = opaque;
     event_filter = filter;
   }
+  inline int segmentCacheLimit() const { return segment_cache_limit; }
+  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(3, n); }
   inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
   inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
   inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
@@ -131,4 +133,5 @@ protected:
   float speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
   void *filter_opaque = nullptr;
+  int segment_cache_limit = 3;
 };