sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

cabana: refactor message id from QString to struct (#27352)

Browse Source 
* cabana: refactor message id from QString to struct

* fix tabbar

* fix findsimilarbits

* optimize hash function

* cleanup sorting

* use in updateLastMsgsTo
old-commit-hash: 5078c91805
beeps
Willem Melching 2 years ago committed by GitHub
parent 5128ca0dd9
commit c9a2d19596
20 changed files with 209 additions and 173 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      tools/cabana/binaryview.cc
  2. 8
      tools/cabana/binaryview.h
  3. 27
      tools/cabana/chartswidget.cc
  4. 28
      tools/cabana/chartswidget.h
  5. 18
      tools/cabana/commands.cc
  6. 20
      tools/cabana/commands.h
  7. 34
      tools/cabana/dbcmanager.cc
  8. 44
      tools/cabana/dbcmanager.h
  9. 51
      tools/cabana/detailwidget.cc
  10. 9
      tools/cabana/detailwidget.h
  11. 17
      tools/cabana/historylog.cc
  12. 8
      tools/cabana/historylog.h
  13. 22
      tools/cabana/messageswidget.cc
  14. 14
      tools/cabana/messageswidget.h
  15. 10
      tools/cabana/signaledit.cc
  16. 12
      tools/cabana/signaledit.h
  17. 19
      tools/cabana/streams/abstractstream.cc
  18. 17
      tools/cabana/streams/abstractstream.h
  19. 8
      tools/cabana/tools/findsimilarbits.cc
  20. 4
      tools/cabana/tools/findsimilarbits.h

12
tools/cabana/binaryview.cc
Unescape View File

@ -94,7 +94,7 @@ void BinaryView::addShortcuts() {
QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated); QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated);
QObject::connect(shortcut_plot, &QShortcut::activated, [=]{ QObject::connect(shortcut_plot, &QShortcut::activated, [=]{
if (hovered_sig != nullptr) { if (hovered_sig != nullptr) {
emit showChart(model->msg_id, hovered_sig, true, false); emit showChart(*model->msg_id, hovered_sig, true, false);
} }
}); });
} }
@ -189,14 +189,14 @@ void BinaryView::leaveEvent(QEvent *event) {
QTableView::leaveEvent(event); QTableView::leaveEvent(event);
} }
void BinaryView::setMessage(const QString &message_id) { void BinaryView::setMessage(const MessageId &message_id) {
model->msg_id = message_id; model->msg_id = message_id;
verticalScrollBar()->setValue(0); verticalScrollBar()->setValue(0);
refresh(); refresh();
} }
void BinaryView::refresh() { void BinaryView::refresh() {
if (model->msg_id.isEmpty()) return; if (!model->msg_id) return;
clearSelection(); clearSelection();
anchor_index = QModelIndex(); anchor_index = QModelIndex();
@ -231,7 +231,7 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
void BinaryViewModel::refresh() { void BinaryViewModel::refresh() {
beginResetModel(); beginResetModel();
items.clear(); items.clear();
if ((dbc_msg = dbc()->msg(msg_id))) { if ((dbc_msg = dbc()->msg(*msg_id))) {
row_count = dbc_msg->size; row_count = dbc_msg->size;
items.resize(row_count * column_count); items.resize(row_count * column_count);
for (auto sig : dbc_msg->getSignals()) { for (auto sig : dbc_msg->getSignals()) {
@ -250,7 +250,7 @@ void BinaryViewModel::refresh() {
} }
} }
} else { } else {
row_count = can->lastMessage(msg_id).dat.size(); row_count = can->lastMessage(*msg_id).dat.size();
items.resize(row_count * column_count); items.resize(row_count * column_count);
} }
endResetModel(); endResetModel();
@ -259,7 +259,7 @@ void BinaryViewModel::refresh() {
void BinaryViewModel::updateState() { void BinaryViewModel::updateState() {
auto prev_items = items; auto prev_items = items;
const auto &last_msg = can->lastMessage(msg_id); const auto &last_msg = can->lastMessage(*msg_id);
const auto &binary = last_msg.dat; const auto &binary = last_msg.dat;
// data size may changed. // data size may changed.

8
tools/cabana/binaryview.h
Unescape View File

@ -1,5 +1,7 @@
#pragma once #pragma once
#include <optional>
#include <QApplication> #include <QApplication>
#include <QList> #include <QList>
#include <QSet> #include <QSet>
@ -46,7 +48,7 @@ public:
}; };
std::vector<Item> items; std::vector<Item> items;
QString msg_id; std::optional<MessageId> msg_id;
const DBCMsg *dbc_msg = nullptr; const DBCMsg *dbc_msg = nullptr;
int row_count = 0; int row_count = 0;
const int column_count = 9; const int column_count = 9;
@ -57,7 +59,7 @@ class BinaryView : public QTableView {
public: public:
BinaryView(QWidget *parent = nullptr); BinaryView(QWidget *parent = nullptr);
void setMessage(const QString &message_id); void setMessage(const MessageId &message_id);
void highlight(const Signal *sig); void highlight(const Signal *sig);
QSet<const Signal*> getOverlappingSignals() const; QSet<const Signal*> getOverlappingSignals() const;
inline void updateState() { model->updateState(); } inline void updateState() { model->updateState(); }
@ -70,7 +72,7 @@ signals:
void resizeSignal(const Signal *sig, int from, int size); void resizeSignal(const Signal *sig, int from, int size);
void removeSignal(const Signal *sig); void removeSignal(const Signal *sig);
void editSignal(const Signal *origin_s, Signal &s); void editSignal(const Signal *origin_s, Signal &s);
void showChart(const QString &name, const Signal *sig, bool show, bool merge); void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
private: private:
void addShortcuts(); void addShortcuts();

27
tools/cabana/chartswidget.cc
Unescape View File

@ -181,7 +181,7 @@ void ChartsWidget::settingChanged() {
} }
} }
ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) { ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) {
for (auto c : charts) for (auto c : charts)
if (c->hasSeries(id, sig)) return c; if (c->hasSeries(id, sig)) return c;
return nullptr; return nullptr;
@ -204,7 +204,7 @@ ChartView *ChartsWidget::createChart() {
return chart; return chart;
} }
void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bool merge) { void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) {
setUpdatesEnabled(false); setUpdatesEnabled(false);
ChartView *chart = findChart(id, sig); ChartView *chart = findChart(id, sig);
if (show && !chart) { if (show && !chart) {
@ -363,19 +363,18 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
} }
void ChartView::addSeries(const QString &msg_id, const Signal *sig) { void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) {
if (hasSeries(msg_id, sig)) return; if (hasSeries(msg_id, sig)) return;
QXYSeries *series = createSeries(series_type, getColor(sig)); QXYSeries *series = createSeries(series_type, getColor(sig));
auto [source, address] = DBCManager::parseId(msg_id); sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series});
updateTitle(); updateTitle();
updateSeries(sig); updateSeries(sig);
updateSeriesPoints(); updateSeriesPoints();
emit seriesAdded(msg_id, sig); emit seriesAdded(msg_id, sig);
} }
bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const { bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const {
return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
} }
@ -409,7 +408,7 @@ void ChartView::signalUpdated(const Signal *sig) {
} }
void ChartView::msgUpdated(uint32_t address) { void ChartView::msgUpdated(uint32_t address) {
if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.address == address; })) if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; }))
updateTitle(); updateTitle();
} }
@ -455,7 +454,7 @@ void ChartView::updateTitle() {
} }
for (auto &s : sigs) { for (auto &s : sigs) {
auto decoration = s.series->isVisible() ? "none" : "line-through"; auto decoration = s.series->isVisible() ? "none" : "line-through";
s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name.c_str(), msgName(s.msg_id), s.msg_id)); s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name.c_str(), msgName(s.msg_id), s.msg_id.toString()));
} }
} }
@ -517,7 +516,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
for (auto it = chunk.first; it != chunk.second; ++it) { for (auto it = chunk.first; it != chunk.second; ++it) {
if ((*it)->which == cereal::Event::Which::CAN) { if ((*it)->which == cereal::Event::Which::CAN) {
for (const auto &c : (*it)->event.getCan()) { for (const auto &c : (*it)->event.getCan()) {
if (s.address == c.getAddress() && s.source == c.getSrc()) { if (s.msg_id.address == c.getAddress() && s.msg_id.source == c.getSrc()) {
auto dat = c.getDat(); auto dat = c.getDat();
double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig);
double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds
@ -847,7 +846,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent)
for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) { for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) {
if (auto m = dbc()->msg(it.key())) { if (auto m = dbc()->msg(it.key())) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key()), it.key()); msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
} }
} }
msgs_combo->model()->sort(0); msgs_combo->model()->sort(0);
@ -872,7 +871,7 @@ void SeriesSelector::add(QListWidgetItem *item) {
void SeriesSelector::remove(QListWidgetItem *item) { void SeriesSelector::remove(QListWidgetItem *item) {
auto it = (ListItem *)item; auto it = (ListItem *)item;
if (it->msg_id == msgs_combo->currentData().toString()) { if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
addItemToList(available_list, it->msg_id, it->sig); addItemToList(available_list, it->msg_id, it->sig);
} }
delete item; delete item;
@ -881,7 +880,7 @@ void SeriesSelector::remove(QListWidgetItem *item) {
void SeriesSelector::updateAvailableList(int index) { void SeriesSelector::updateAvailableList(int index) {
if (index == -1) return; if (index == -1) return;
available_list->clear(); available_list->clear();
QString msg_id = msgs_combo->itemData(index).toString(); MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
auto selected_items = seletedItems(); auto selected_items = seletedItems();
for (auto &[name, s] : dbc()->msg(msg_id)->sigs) { for (auto &[name, s] : dbc()->msg(msg_id)->sigs) {
bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=&s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=&s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
@ -891,9 +890,9 @@ void SeriesSelector::updateAvailableList(int index) {
} }
} }
void SeriesSelector::addItemToList(QListWidget *parent, const QString id, const Signal *sig, bool show_msg_name) { void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) {
QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name.c_str()); QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name.c_str());
if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id); if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
QLabel *label = new QLabel(text); QLabel *label = new QLabel(text);
label->setContentsMargins(5, 0, 5, 0); label->setContentsMargins(5, 0, 5, 0);

28
tools/cabana/chartswidget.h
Unescape View File

@ -25,17 +25,15 @@ class ChartView : public QChartView {
public: public:
ChartView(QWidget *parent = nullptr); ChartView(QWidget *parent = nullptr);
void addSeries(const QString &msg_id, const Signal *sig); void addSeries(const MessageId &msg_id, const Signal *sig);
bool hasSeries(const QString &msg_id, const Signal *sig) const; bool hasSeries(const MessageId &msg_id, const Signal *sig) const;
void updateSeries(const Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true); void updateSeries(const Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true);
void updatePlot(double cur, double min, double max); void updatePlot(double cur, double min, double max);
void setSeriesType(QAbstractSeries::SeriesType type); void setSeriesType(QAbstractSeries::SeriesType type);
void updatePlotArea(int left); void updatePlotArea(int left);
struct SigItem { struct SigItem {
QString msg_id; MessageId msg_id;
uint8_t source = 0;
uint32_t address = 0;
const Signal *sig = nullptr; const Signal *sig = nullptr;
QXYSeries *series = nullptr; QXYSeries *series = nullptr;
QVector<QPointF> vals; QVector<QPointF> vals;
@ -43,8 +41,8 @@ public:
}; };
signals: signals:
void seriesRemoved(const QString &id, const Signal *sig); void seriesRemoved(const MessageId &id, const Signal *sig);
void seriesAdded(const QString &id, const Signal *sig); void seriesAdded(const MessageId &id, const Signal *sig);
void zoomIn(double min, double max); void zoomIn(double min, double max);
void zoomReset(); void zoomReset();
void remove(); void remove();
@ -55,7 +53,7 @@ private slots:
void signalUpdated(const Signal *sig); void signalUpdated(const Signal *sig);
void manageSeries(); void manageSeries();
void handleMarkerClicked(); void handleMarkerClicked();
void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.address == address; }); } void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); }
void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
private: private:
@ -99,8 +97,8 @@ class ChartsWidget : public QWidget {
public: public:
ChartsWidget(QWidget *parent = nullptr); ChartsWidget(QWidget *parent = nullptr);
void showChart(const QString &id, const Signal *sig, bool show, bool merge); void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
inline bool hasSignal(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != nullptr; }
public slots: public slots:
void setColumnCount(int n); void setColumnCount(int n);
@ -126,7 +124,7 @@ private:
void updateLayout(); void updateLayout();
void settingChanged(); void settingChanged();
bool eventFilter(QObject *obj, QEvent *event) override; bool eventFilter(QObject *obj, QEvent *event) override;
ChartView *findChart(const QString &id, const Signal *sig); ChartView *findChart(const MessageId &id, const Signal *sig);
QLabel *title_label; QLabel *title_label;
QLabel *range_lb; QLabel *range_lb;
@ -152,18 +150,18 @@ private:
class SeriesSelector : public QDialog { class SeriesSelector : public QDialog {
public: public:
struct ListItem : public QListWidgetItem { struct ListItem : public QListWidgetItem {
ListItem(const QString &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
QString msg_id; MessageId msg_id;
const Signal *sig; const Signal *sig;
}; };
SeriesSelector(QString title, QWidget *parent); SeriesSelector(QString title, QWidget *parent);
QList<ListItem *> seletedItems(); QList<ListItem *> seletedItems();
inline void addSelected(const QString &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); }
private: private:
void updateAvailableList(int index); void updateAvailableList(int index);
void addItemToList(QListWidget *parent, const QString id, const Signal *sig, bool show_msg_name = false); void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false);
void add(QListWidgetItem *item); void add(QListWidgetItem *item);
void remove(QListWidgetItem *item); void remove(QListWidgetItem *item);

18
tools/cabana/commands.cc
Unescape View File

@ -4,13 +4,13 @@
// EditMsgCommand // EditMsgCommand
EditMsgCommand::EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent) EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent)
: id(id), new_title(title), new_size(size), QUndoCommand(parent) { : id(id), new_title(title), new_size(size), QUndoCommand(parent) {
if (auto msg = dbc()->msg(id)) { if (auto msg = dbc()->msg(id)) {
old_title = msg->name; old_title = msg->name;
old_size = msg->size; old_size = msg->size;
} }
setText(QObject::tr("Edit message %1:%2").arg(DBCManager::parseId(id).second).arg(title)); setText(QObject::tr("Edit message %1:%2").arg(id.address).arg(title));
} }
void EditMsgCommand::undo() { void EditMsgCommand::undo() {
@ -26,10 +26,10 @@ void EditMsgCommand::redo() {
// RemoveMsgCommand // RemoveMsgCommand
RemoveMsgCommand::RemoveMsgCommand(const QString &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) { RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
if (auto msg = dbc()->msg(id)) { if (auto msg = dbc()->msg(id)) {
message = *msg; message = *msg;
setText(QObject::tr("Remove message %1:%2").arg(DBCManager::parseId(id).second).arg(message.name)); setText(QObject::tr("Remove message %1:%2").arg(id.address).arg(message.name));
} }
} }
@ -48,9 +48,9 @@ void RemoveMsgCommand::redo() {
// AddSigCommand // AddSigCommand
AddSigCommand::AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent) AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent)
: id(id), signal(sig), QUndoCommand(parent) { : id(id), signal(sig), QUndoCommand(parent) {
setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(DBCManager::parseId(id).second)); setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(id.address));
} }
void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); } void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); }
@ -58,9 +58,9 @@ void AddSigCommand::redo() { dbc()->addSignal(id, signal); }
// RemoveSigCommand // RemoveSigCommand
RemoveSigCommand::RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent) RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent)
: id(id), signal(*sig), QUndoCommand(parent) { : id(id), signal(*sig), QUndoCommand(parent) {
setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(DBCManager::parseId(id).second)); setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(id.address));
} }
void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); } void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); }
@ -68,7 +68,7 @@ void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); }
// EditSignalCommand // EditSignalCommand
EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent)
: id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) {
setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str())); setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str()));
} }

20
tools/cabana/commands.h
Unescape View File

@ -7,57 +7,57 @@
class EditMsgCommand : public QUndoCommand { class EditMsgCommand : public QUndoCommand {
public: public:
EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent = nullptr); EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent = nullptr);
void undo() override; void undo() override;
void redo() override; void redo() override;
private: private:
const QString id; const MessageId id;
QString old_title, new_title; QString old_title, new_title;
int old_size = 0, new_size = 0; int old_size = 0, new_size = 0;
}; };
class RemoveMsgCommand : public QUndoCommand { class RemoveMsgCommand : public QUndoCommand {
public: public:
RemoveMsgCommand(const QString &id, QUndoCommand *parent = nullptr); RemoveMsgCommand(const MessageId &id, QUndoCommand *parent = nullptr);
void undo() override; void undo() override;
void redo() override; void redo() override;
private: private:
const QString id; const MessageId id;
DBCMsg message; DBCMsg message;
}; };
class AddSigCommand : public QUndoCommand { class AddSigCommand : public QUndoCommand {
public: public:
AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent = nullptr); AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr);
void undo() override; void undo() override;
void redo() override; void redo() override;
private: private:
const QString id; const MessageId id;
Signal signal = {}; Signal signal = {};
}; };
class RemoveSigCommand : public QUndoCommand { class RemoveSigCommand : public QUndoCommand {
public: public:
RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent = nullptr); RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr);
void undo() override; void undo() override;
void redo() override; void redo() override;
private: private:
const QString id; const MessageId id;
Signal signal = {}; Signal signal = {};
}; };
class EditSignalCommand : public QUndoCommand { class EditSignalCommand : public QUndoCommand {
public: public:
EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr);
void undo() override; void undo() override;
void redo() override; void redo() override;
private: private:
const QString id; const MessageId id;
Signal old_signal = {}; Signal old_signal = {};
Signal new_signal = {}; Signal new_signal = {};
}; };

34
tools/cabana/dbcmanager.cc
Unescape View File

@ -4,6 +4,10 @@
#include <sstream> #include <sstream>
#include <QVector> #include <QVector>
uint qHash(const MessageId &item) {
return qHash(item.source) ^ qHash(item.address);
}
DBCManager::DBCManager(QObject *parent) : QObject(parent) {} DBCManager::DBCManager(QObject *parent) : QObject(parent) {}
DBCManager::~DBCManager() {} DBCManager::~DBCManager() {}
@ -56,29 +60,27 @@ QString DBCManager::generateDBC() {
return dbc_string; return dbc_string;
} }
void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) {
auto [_, address] = parseId(id); auto &m = msgs[id.address];
auto &m = msgs[address];
m.name = name; m.name = name;
m.size = size; m.size = size;
emit msgUpdated(address); emit msgUpdated(id.address);
} }
void DBCManager::removeMsg(const QString &id) { void DBCManager::removeMsg(const MessageId &id) {
uint32_t address = parseId(id).second; msgs.erase(id.address);
msgs.erase(address); emit msgRemoved(id.address);
emit msgRemoved(address);
} }
void DBCManager::addSignal(const QString &id, const Signal &sig) { void DBCManager::addSignal(const MessageId &id, const Signal &sig) {
if (auto m = const_cast<DBCMsg *>(msg(id))) { if (auto m = const_cast<DBCMsg *>(msg(id.address))) {
auto &s = m->sigs[sig.name.c_str()]; auto &s = m->sigs[sig.name.c_str()];
s = sig; s = sig;
emit signalAdded(parseId(id).second, &s); emit signalAdded(id.address, &s);
} }
} }
void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) { void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) {
if (auto m = const_cast<DBCMsg *>(msg(id))) { if (auto m = const_cast<DBCMsg *>(msg(id))) {
// change key name // change key name
QString new_name = QString::fromStdString(sig.name); QString new_name = QString::fromStdString(sig.name);
@ -91,7 +93,7 @@ void DBCManager::updateSignal(const QString &id, const QString &sig_name, const
} }
} }
void DBCManager::removeSignal(const QString &id, const QString &sig_name) { void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
if (auto m = const_cast<DBCMsg *>(msg(id))) { if (auto m = const_cast<DBCMsg *>(msg(id))) {
auto it = m->sigs.find(sig_name); auto it = m->sigs.find(sig_name);
if (it != m->sigs.end()) { if (it != m->sigs.end()) {
@ -101,12 +103,6 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) {
} }
} }
std::pair<uint8_t, uint32_t> DBCManager::parseId(const QString &id) {
const auto list = id.split(':');
if (list.size() != 2) return {0, 0};
return {list[0].toInt(), list[1].toUInt(nullptr, 16)};
}
DBCManager *dbc() { DBCManager *dbc() {
static DBCManager dbc_manager(nullptr); static DBCManager dbc_manager(nullptr);
return &dbc_manager; return &dbc_manager;

44
tools/cabana/dbcmanager.h
Unescape View File

@ -5,6 +5,35 @@
#include <QString> #include <QString>
#include "opendbc/can/common_dbc.h" #include "opendbc/can/common_dbc.h"
struct MessageId {
uint8_t source;
uint32_t address;
QString toString() const {
return QString("%1:%2").arg(source).arg(address, 1, 16);
}
bool operator==(const MessageId &other) const {
return source == other.source && address == other.address;
}
bool operator!=(const MessageId &other) const {
return !(*this == other);
}
bool operator<(const MessageId &other) const {
return std::pair{source, address} < std::pair{other.source, other.address};
}
bool operator>(const MessageId &other) const {
return std::pair{source, address} > std::pair{other.source, other.address};
}
};
Q_DECLARE_METATYPE(MessageId);
uint qHash(const MessageId &item);
struct DBCMsg { struct DBCMsg {
QString name; QString name;
uint32_t size; uint32_t size;
@ -24,17 +53,16 @@ public:
void open(const QString &dbc_file_name); void open(const QString &dbc_file_name);
bool open(const QString &name, const QString &content, QString *error = nullptr); bool open(const QString &name, const QString &content, QString *error = nullptr);
QString generateDBC(); QString generateDBC();
void addSignal(const QString &id, const Signal &sig); void addSignal(const MessageId &id, const Signal &sig);
void updateSignal(const QString &id, const QString &sig_name, const Signal &sig); void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig);
void removeSignal(const QString &id, const QString &sig_name); void removeSignal(const MessageId &id, const QString &sig_name);
static std::pair<uint8_t, uint32_t> parseId(const QString &id);
inline static std::vector<std::string> allDBCNames() { return get_dbc_names(); } inline static std::vector<std::string> allDBCNames() { return get_dbc_names(); }
inline QString name() const { return dbc ? dbc->name.c_str() : ""; } inline QString name() const { return dbc ? dbc->name.c_str() : ""; }
void updateMsg(const QString &id, const QString &name, uint32_t size); void updateMsg(const MessageId &id, const QString &name, uint32_t size);
void removeMsg(const QString &id); void removeMsg(const MessageId &id);
inline const std::map<uint32_t, DBCMsg> &messages() const { return msgs; } inline const std::map<uint32_t, DBCMsg> &messages() const { return msgs; }
inline const DBCMsg *msg(const QString &id) const { return msg(parseId(id).second); } inline const DBCMsg *msg(const MessageId &id) const { return msg(id.address); }
inline const DBCMsg *msg(uint32_t address) const { inline const DBCMsg *msg(uint32_t address) const {
auto it = msgs.find(address); auto it = msgs.find(address);
return it != msgs.end() ? &it->second : nullptr; return it != msgs.end() ? &it->second : nullptr;
@ -65,7 +93,7 @@ int bigEndianBitIndex(int index);
void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size);
std::pair<int, int> getSignalRange(const Signal *s); std::pair<int, int> getSignalRange(const Signal *s);
DBCManager *dbc(); DBCManager *dbc();
inline QString msgName(const QString &id) { inline QString msgName(const MessageId &id) {
auto msg = dbc()->msg(id); auto msg = dbc()->msg(id);
return msg ? msg->name : UNTITLED; return msg ? msg->name : UNTITLED;
} }

51
tools/cabana/detailwidget.cc
Unescape View File

@ -85,11 +85,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
if (index != -1 && tabbar->tabText(index) != msg_id) { if (index != -1) {
setMessage(tabbar->tabText(index)); setMessage(tabbar_ids[index]);
} }
}); });
QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); QObject::connect(tabbar, &QTabBar::tabCloseRequested, [this](int index) {
tabbar_ids.removeAt(index);
tabbar->removeTab(index);
assert(tabbar_ids.size() == tabbar->count());
});
QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState); QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
} }
@ -108,29 +112,32 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
} }
void DetailWidget::removeAll() { void DetailWidget::removeAll() {
msg_id = ""; msg_id = std::nullopt;
tabbar->blockSignals(true); tabbar->blockSignals(true);
while (tabbar->count() > 0) { while (tabbar->count() > 0) {
tabbar->removeTab(0); tabbar->removeTab(0);
} }
tabbar_ids.clear();
tabbar->blockSignals(false); tabbar->blockSignals(false);
stacked_layout->setCurrentIndex(0); stacked_layout->setCurrentIndex(0);
} }
void DetailWidget::setMessage(const QString &message_id) { void DetailWidget::setMessage(const MessageId &message_id) {
msg_id = message_id; msg_id = message_id;
int index = tabbar->count() - 1; int index = tabbar_ids.indexOf(*msg_id);
for (/**/; index >= 0 && tabbar->tabText(index) != msg_id; --index) { /**/ }
if (index == -1) { if (index == -1) {
index = tabbar->addTab(message_id); tabbar_ids.append(*msg_id);
index = tabbar->addTab(message_id.toString());
tabbar->setTabToolTip(index, msgName(message_id)); tabbar->setTabToolTip(index, msgName(message_id));
} }
assert(tabbar->count() == tabbar_ids.size());
setUpdatesEnabled(false); setUpdatesEnabled(false);
signal_view->setMessage(msg_id); signal_view->setMessage(*msg_id);
binary_view->setMessage(msg_id); binary_view->setMessage(*msg_id);
history_log->setMessage(msg_id); history_log->setMessage(*msg_id);
stacked_layout->setCurrentIndex(1); stacked_layout->setCurrentIndex(1);
tabbar->setCurrentIndex(index); tabbar->setCurrentIndex(index);
@ -141,12 +148,12 @@ void DetailWidget::setMessage(const QString &message_id) {
} }
void DetailWidget::refresh() { void DetailWidget::refresh() {
if (msg_id.isEmpty()) return; if (!msg_id) return;
QStringList warnings; QStringList warnings;
const DBCMsg *msg = dbc()->msg(msg_id); const DBCMsg *msg = dbc()->msg(*msg_id);
if (msg) { if (msg) {
if (msg->size != can->lastMessage(msg_id).dat.size()) { if (msg->size != can->lastMessage(*msg_id).dat.size()) {
warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
} }
for (auto s : binary_view->getOverlappingSignals()) { for (auto s : binary_view->getOverlappingSignals()) {
@ -156,7 +163,7 @@ void DetailWidget::refresh() {
warnings.push_back(tr("Drag-Select in binary view to create new signal.")); warnings.push_back(tr("Drag-Select in binary view to create new signal."));
} }
remove_msg_act->setEnabled(msg != nullptr); remove_msg_act->setEnabled(msg != nullptr);
name_label->setText(msgName(msg_id)); name_label->setText(msgName(*msg_id));
if (!warnings.isEmpty()) { if (!warnings.isEmpty()) {
warning_label->setText(warnings.join('\n')); warning_label->setText(warnings.join('\n'));
@ -165,9 +172,9 @@ void DetailWidget::refresh() {
warning_widget->setVisible(!warnings.isEmpty()); warning_widget->setVisible(!warnings.isEmpty());
} }
void DetailWidget::updateState(const QHash<QString, CanData> *msgs) { void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
time_label->setText(QString::number(can->currentSec(), 'f', 3)); time_label->setText(QString::number(can->currentSec(), 'f', 3));
if (msg_id.isEmpty() || (msgs && !msgs->contains(msg_id))) if (!msg_id || (msgs && !msgs->contains(*msg_id)))
return; return;
if (tab_widget->currentIndex() == 0) if (tab_widget->currentIndex() == 0)
@ -177,24 +184,24 @@ void DetailWidget::updateState(const QHash<QString, CanData> *msgs) {
} }
void DetailWidget::editMsg() { void DetailWidget::editMsg() {
QString id = msg_id; MessageId id = *msg_id;
auto msg = dbc()->msg(id); auto msg = dbc()->msg(id);
int size = msg ? msg->size : can->lastMessage(id).dat.size(); int size = msg ? msg->size : can->lastMessage(id).dat.size();
EditMessageDialog dlg(id, msgName(id), size, this); EditMessageDialog dlg(id, msgName(id), size, this);
if (dlg.exec()) { if (dlg.exec()) {
UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); UndoStack::push(new EditMsgCommand(*msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
} }
} }
void DetailWidget::removeMsg() { void DetailWidget::removeMsg() {
UndoStack::push(new RemoveMsgCommand(msg_id)); UndoStack::push(new RemoveMsgCommand(*msg_id));
} }
// EditMessageDialog // EditMessageDialog
EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
: original_name(title), QDialog(parent) { : original_name(title), QDialog(parent) {
setWindowTitle(tr("Edit message: %1").arg(msg_id)); setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
QFormLayout *form_layout = new QFormLayout(this); QFormLayout *form_layout = new QFormLayout(this);
form_layout->addRow("", error_label = new QLabel); form_layout->addRow("", error_label = new QLabel);

9
tools/cabana/detailwidget.h
Unescape View File

@ -14,7 +14,7 @@
class EditMessageDialog : public QDialog { class EditMessageDialog : public QDialog {
public: public:
EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent); EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
void validateName(const QString &text); void validateName(const QString &text);
QString original_name; QString original_name;
@ -34,7 +34,7 @@ class DetailWidget : public QWidget {
public: public:
DetailWidget(ChartsWidget *charts, QWidget *parent); DetailWidget(ChartsWidget *charts, QWidget *parent);
void setMessage(const QString &message_id); void setMessage(const MessageId &message_id);
void refresh(); void refresh();
void removeAll(); void removeAll();
QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); }
@ -43,13 +43,14 @@ private:
void showTabBarContextMenu(const QPoint &pt); void showTabBarContextMenu(const QPoint &pt);
void editMsg(); void editMsg();
void removeMsg(); void removeMsg();
void updateState(const QHash<QString, CanData> * msgs = nullptr); void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
QString msg_id; std::optional<MessageId> msg_id;
QLabel *time_label, *warning_icon, *warning_label; QLabel *time_label, *warning_icon, *warning_label;
ElidedLabel *name_label; ElidedLabel *name_label;
QWidget *warning_widget; QWidget *warning_widget;
QTabBar *tabbar; QTabBar *tabbar;
QList<MessageId> tabbar_ids;
QTabWidget *tab_widget; QTabWidget *tab_widget;
QAction *remove_msg_act; QAction *remove_msg_act;
LogsWidget *history_log; LogsWidget *history_log;

17
tools/cabana/historylog.cc
Unescape View File

@ -22,14 +22,14 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
return {}; return {};
} }
void HistoryLogModel::setMessage(const QString &message_id) { void HistoryLogModel::setMessage(const MessageId &message_id) {
msg_id = message_id; msg_id = message_id;
} }
void HistoryLogModel::refresh() { void HistoryLogModel::refresh() {
beginResetModel(); beginResetModel();
sigs.clear(); sigs.clear();
if (auto dbc_msg = dbc()->msg(msg_id)) { if (auto dbc_msg = dbc()->msg(*msg_id)) {
sigs = dbc_msg->getSignals(); sigs = dbc_msg->getSignals();
} }
last_fetch_time = 0; last_fetch_time = 0;
@ -78,8 +78,8 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function
} }
void HistoryLogModel::updateState() { void HistoryLogModel::updateState() {
if (!msg_id.isEmpty()) { if (msg_id) {
uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1; uint64_t current_time = (can->lastMessage(*msg_id).ts + can->routeStartTime()) * 1e9 + 1;
auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0);
if (!new_msgs.empty()) { if (!new_msgs.empty()) {
beginInsertRows({}, 0, new_msgs.size() - 1); beginInsertRows({}, 0, new_msgs.size() - 1);
@ -106,12 +106,11 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
template <class InputIt> template <class InputIt>
std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) { std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
std::deque<HistoryLogModel::Message> msgs; std::deque<HistoryLogModel::Message> msgs;
const auto [src, address] = DBCManager::parseId(msg_id);
QVector<double> values(sigs.size()); QVector<double> values(sigs.size());
for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) { for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) {
if ((*it)->which == cereal::Event::Which::CAN) { if ((*it)->which == cereal::Event::Which::CAN) {
for (const auto &c : (*it)->event.getCan()) { for (const auto &c : (*it)->event.getCan()) {
if (address == c.getAddress() && src == c.getSrc()) { if (msg_id->address == c.getAddress() && msg_id->source == c.getSrc()) {
const auto dat = c.getDat(); const auto dat = c.getDat();
for (int i = 0; i < sigs.size(); ++i) { for (int i = 0; i < sigs.size(); ++i) {
values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i])); values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i]));
@ -136,7 +135,7 @@ template std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData<>(std::
std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
auto events = can->events(); auto events = can->events();
const auto freq = can->lastMessage(msg_id).freq; const auto freq = can->lastMessage(*msg_id).freq;
const bool update_colors = !display_signals_mode || sigs.empty(); const bool update_colors = !display_signals_mode || sigs.empty();
if (dynamic_mode) { if (dynamic_mode) {
@ -241,13 +240,13 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged); QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged);
} }
void LogsWidget::setMessage(const QString &message_id) { void LogsWidget::setMessage(const MessageId &message_id) {
model->setMessage(message_id); model->setMessage(message_id);
refresh(); refresh();
} }
void LogsWidget::refresh() { void LogsWidget::refresh() {
if (model->msg_id.isEmpty()) return; if (!model->msg_id) return;
model->setFilter(0, "", nullptr); model->setFilter(0, "", nullptr);
model->refresh(); model->refresh();

8
tools/cabana/historylog.h
Unescape View File

@ -1,6 +1,8 @@
#pragma once #pragma once
#include <deque> #include <deque>
#include <optional>
#include <QCheckBox> #include <QCheckBox>
#include <QComboBox> #include <QComboBox>
#include <QHeaderView> #include <QHeaderView>
@ -22,7 +24,7 @@ class HistoryLogModel : public QAbstractTableModel {
public: public:
HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {}
void setMessage(const QString &message_id); void setMessage(const MessageId &message_id);
void updateState(); void updateState();
void setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp); 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 headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
@ -52,7 +54,7 @@ public:
std::deque<HistoryLogModel::Message> fetchData(InputIt first, InputIt last, uint64_t min_time); std::deque<HistoryLogModel::Message> fetchData(InputIt first, InputIt last, uint64_t min_time);
std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0); std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
QString msg_id; std::optional<MessageId> msg_id;
ChangeTracker hex_colors; ChangeTracker hex_colors;
bool has_more_data = true; bool has_more_data = true;
const int batch_size = 50; const int batch_size = 50;
@ -71,7 +73,7 @@ class LogsWidget : public QWidget {
public: public:
LogsWidget(QWidget *parent); LogsWidget(QWidget *parent);
void setMessage(const QString &message_id); void setMessage(const MessageId &message_id);
void updateState() {if (dynamic_mode->isChecked()) model->updateState(); } void updateState() {if (dynamic_mode->isChecked()) model->updateState(); }
void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); } void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); }

22
tools/cabana/messageswidget.cc
Unescape View File

@ -46,12 +46,12 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(current_msg_id); }); QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(*current_msg_id); });
QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) { QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
if (current.isValid() && current.row() < model->msgs.size()) { if (current.isValid() && current.row() < model->msgs.size()) {
if (model->msgs[current.row()] != current_msg_id) { if (model->msgs[current.row()] != *current_msg_id) {
current_msg_id = model->msgs[current.row()]; current_msg_id = model->msgs[current.row()];
emit msgSelectionChanged(current_msg_id); emit msgSelectionChanged(*current_msg_id);
} }
} }
}); });
@ -67,7 +67,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
updateSuppressedButtons(); updateSuppressedButtons();
} }
void MessagesWidget::selectMessage(const QString &msg_id) { void MessagesWidget::selectMessage(const MessageId &msg_id) {
if (int row = model->msgs.indexOf(msg_id); row != -1) { if (int row = model->msgs.indexOf(msg_id); row != -1) {
table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
} }
@ -86,7 +86,7 @@ void MessagesWidget::updateSuppressedButtons() {
void MessagesWidget::reset() { void MessagesWidget::reset() {
model->reset(); model->reset();
filter->clear(); filter->clear();
current_msg_id = ""; current_msg_id = std::nullopt;
updateSuppressedButtons(); updateSuppressedButtons();
} }
@ -106,7 +106,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
if (role == Qt::DisplayRole) { if (role == Qt::DisplayRole) {
switch (index.column()) { switch (index.column()) {
case 0: return msgName(id); case 0: return msgName(id);
case 1: return id; case 1: return id.toString(); // TODO: put source and address in separate columns
case 2: return can_data.freq; case 2: return can_data.freq;
case 3: return can_data.count; case 3: return can_data.count;
case 4: return toHex(can_data.dat); case 4: return toHex(can_data.dat);
@ -128,9 +128,9 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
} }
void MessageListModel::setFilterString(const QString &string) { void MessageListModel::setFilterString(const QString &string) {
auto contains = [](const QString &id, const QString &txt) { auto contains = [](const MessageId &id, const QString &txt) {
auto cs = Qt::CaseInsensitive; auto cs = Qt::CaseInsensitive;
if (id.contains(txt, cs) || msgName(id).contains(txt, cs)) return true; if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true;
// Search by signal name // Search by signal name
if (const auto msg = dbc()->msg(id)) { if (const auto msg = dbc()->msg(id)) {
for (auto &signal : msg->getSignals()) { for (auto &signal : msg->getSignals()) {
@ -160,9 +160,7 @@ void MessageListModel::sortMessages() {
}); });
} else if (sort_column == 1) { } else if (sort_column == 1) {
std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
auto ll = DBCManager::parseId(l); return sort_order == Qt::AscendingOrder ? l < r : l > r;
auto rr = DBCManager::parseId(r);
return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
}); });
} else if (sort_column == 2) { } else if (sort_column == 2) {
std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
@ -180,7 +178,7 @@ void MessageListModel::sortMessages() {
endResetModel(); endResetModel();
} }
void MessageListModel::msgsReceived(const QHash<QString, CanData> *new_msgs) { void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs) {
int prev_row_count = msgs.size(); int prev_row_count = msgs.size();
if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) { if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) {
msgs = can->can_msgs.keys(); msgs = can->can_msgs.keys();

14
tools/cabana/messageswidget.h
Unescape View File

@ -1,5 +1,7 @@
#pragma once #pragma once
#include <optional>
#include <QAbstractTableModel> #include <QAbstractTableModel>
#include <QHeaderView> #include <QHeaderView>
#include <QLineEdit> #include <QLineEdit>
@ -20,13 +22,13 @@ public:
int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
void setFilterString(const QString &string); void setFilterString(const QString &string);
void msgsReceived(const QHash<QString, CanData> *new_msgs = nullptr); void msgsReceived(const QHash<MessageId, CanData> *new_msgs = nullptr);
void sortMessages(); void sortMessages();
void suppress(); void suppress();
void clearSuppress(); void clearSuppress();
void reset(); void reset();
QStringList msgs; QList<MessageId> msgs;
QSet<std::pair<QString, int>> suppressed_bytes; QSet<std::pair<MessageId, int>> suppressed_bytes;
private: private:
QString filter_str; QString filter_str;
@ -39,18 +41,18 @@ class MessagesWidget : public QWidget {
public: public:
MessagesWidget(QWidget *parent); MessagesWidget(QWidget *parent);
void selectMessage(const QString &message_id); void selectMessage(const MessageId &message_id);
QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); } QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); }
bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); } bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); }
void updateSuppressedButtons(); void updateSuppressedButtons();
void reset(); void reset();
signals: signals:
void msgSelectionChanged(const QString &message_id); void msgSelectionChanged(const MessageId &message_id);
protected: protected:
QTableView *table_widget; QTableView *table_widget;
QString current_msg_id; std::optional<MessageId> current_msg_id;
QLineEdit *filter; QLineEdit *filter;
MessageListModel *model; MessageListModel *model;
QPushButton *suppress_add; QPushButton *suppress_add;

10
tools/cabana/signaledit.cc
Unescape View File

@ -31,7 +31,7 @@ void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Sign
} }
} }
void SignalModel::setMessage(const QString &id) { void SignalModel::setMessage(const MessageId &id) {
msg_id = id; msg_id = id;
filter_str = ""; filter_str = "";
refresh(); refresh();
@ -56,7 +56,7 @@ void SignalModel::refresh() {
endResetModel(); endResetModel();
} }
void SignalModel::updateState(const QHash<QString, CanData> *msgs) { void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
if (!msgs || (msgs->contains(msg_id))) { if (!msgs || (msgs->contains(msg_id))) {
auto &dat = can->lastMessage(msg_id).dat; auto &dat = can->lastMessage(msg_id).dat;
int row = 0; int row = 0;
@ -230,13 +230,13 @@ void SignalModel::removeSignal(const Signal *sig) {
} }
void SignalModel::handleMsgChanged(uint32_t address) { void SignalModel::handleMsgChanged(uint32_t address) {
if (address == DBCManager::parseId(msg_id).second) { if (address == msg_id.address) {
refresh(); refresh();
} }
} }
void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) {
if (address == DBCManager::parseId(msg_id).second) { if (address == msg_id.address) {
int i = 0; int i = 0;
for (; i < root->children.size(); ++i) { for (; i < root->children.size(); ++i) {
if (sig->start_bit < root->children[i]->sig->start_bit) break; if (sig->start_bit < root->children[i]->sig->start_bit) break;
@ -367,7 +367,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); }); QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); });
} }
void SignalView::setMessage(const QString &id) { void SignalView::setMessage(const MessageId &id) {
msg_id = id; msg_id = id;
filter_edit->clear(); filter_edit->clear();
model->setMessage(id); model->setMessage(id);

12
tools/cabana/signaledit.h
Unescape View File

@ -37,7 +37,7 @@ public:
QModelIndex parent(const QModelIndex &index) const override; QModelIndex parent(const QModelIndex &index) const override;
Qt::ItemFlags flags(const QModelIndex &index) const override; Qt::ItemFlags flags(const QModelIndex &index) const override;
bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override; bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
void setMessage(const QString &id); void setMessage(const MessageId &id);
void setFilter(const QString &txt); void setFilter(const QString &txt);
void addSignal(int start_bit, int size, bool little_endian); void addSignal(int start_bit, int size, bool little_endian);
bool saveSignal(const Signal *origin_s, Signal &s); bool saveSignal(const Signal *origin_s, Signal &s);
@ -54,9 +54,9 @@ private:
void handleSignalRemoved(const Signal *sig); void handleSignalRemoved(const Signal *sig);
void handleMsgChanged(uint32_t address); void handleMsgChanged(uint32_t address);
void refresh(); void refresh();
void updateState(const QHash<QString, CanData> *msgs); void updateState(const QHash<MessageId, CanData> *msgs);
QString msg_id; MessageId msg_id;
QString filter_str; QString filter_str;
std::unique_ptr<Item> root; std::unique_ptr<Item> root;
friend class SignalView; friend class SignalView;
@ -76,7 +76,7 @@ class SignalView : public QWidget {
public: public:
SignalView(ChartsWidget *charts, QWidget *parent); SignalView(ChartsWidget *charts, QWidget *parent);
void setMessage(const QString &id); void setMessage(const MessageId &id);
void signalHovered(const Signal *sig); void signalHovered(const Signal *sig);
void updateChartState(); void updateChartState();
void expandSignal(const Signal *sig); void expandSignal(const Signal *sig);
@ -85,13 +85,13 @@ public:
signals: signals:
void highlight(const Signal *sig); void highlight(const Signal *sig);
void showChart(const QString &name, const Signal *sig, bool show, bool merge); void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
private: private:
void rowsChanged(); void rowsChanged();
void leaveEvent(QEvent *event); void leaveEvent(QEvent *event);
QString msg_id; MessageId msg_id;
QTreeView *tree; QTreeView *tree;
QLineEdit *filter_edit; QLineEdit *filter_edit;
ChartsWidget *charts; ChartsWidget *charts;

19
tools/cabana/streams/abstractstream.cc
Unescape View File

@ -4,12 +4,12 @@ AbstractStream *can = nullptr;
AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) {
can = this; can = this;
new_msgs = std::make_unique<QHash<QString, CanData>>(); new_msgs = std::make_unique<QHash<MessageId, CanData>>();
QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection); QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection);
QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
} }
void AbstractStream::process(QHash<QString, CanData> *messages) { void AbstractStream::process(QHash<MessageId, CanData> *messages) {
for (auto it = messages->begin(); it != messages->end(); ++it) { for (auto it = messages->begin(); it != messages->end(); ++it) {
can_msgs[it.key()] = it.value(); can_msgs[it.key()] = it.value();
} }
@ -25,7 +25,7 @@ bool AbstractStream::updateEvent(const Event *event) {
if (event->which == cereal::Event::Which::CAN) { if (event->which == cereal::Event::Which::CAN) {
double current_sec = event->mono_time / 1e9 - routeStartTime(); double current_sec = event->mono_time / 1e9 - routeStartTime();
for (const auto &c : event->event.getCan()) { for (const auto &c : event->event.getCan()) {
QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
CanData &data = (*new_msgs)[id]; CanData &data = (*new_msgs)[id];
data.ts = current_sec; data.ts = current_sec;
data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
@ -44,21 +44,21 @@ bool AbstractStream::updateEvent(const Event *event) {
prev_update_ts = ts; prev_update_ts = ts;
// use pointer to avoid data copy in queued connection. // use pointer to avoid data copy in queued connection.
emit received(new_msgs.release()); emit received(new_msgs.release());
new_msgs.reset(new QHash<QString, CanData>); new_msgs.reset(new QHash<MessageId, CanData>);
new_msgs->reserve(100); new_msgs->reserve(100);
} }
} }
return true; return true;
} }
const CanData &AbstractStream::lastMessage(const QString &id) { const CanData &AbstractStream::lastMessage(const MessageId &id) {
static CanData empty_data; static CanData empty_data;
auto it = can_msgs.find(id); auto it = can_msgs.find(id);
return it != can_msgs.end() ? it.value() : empty_data; return it != can_msgs.end() ? it.value() : empty_data;
} }
void AbstractStream::updateLastMsgsTo(double sec) { void AbstractStream::updateLastMsgsTo(double sec) {
QHash<std::pair<uint8_t, uint32_t>, CanData> last_msgs; // Much faster than QHash<String, CanData> QHash<MessageId, CanData> last_msgs;
last_msgs.reserve(can_msgs.size()); last_msgs.reserve(can_msgs.size());
double route_start_time = routeStartTime(); double route_start_time = routeStartTime();
uint64_t last_ts = (sec + route_start_time) * 1e9; uint64_t last_ts = (sec + route_start_time) * 1e9;
@ -66,7 +66,7 @@ void AbstractStream::updateLastMsgsTo(double sec) {
for (auto it = last; it != events()->rend(); ++it) { for (auto it = last; it != events()->rend(); ++it) {
if ((*it)->which == cereal::Event::Which::CAN) { if ((*it)->which == cereal::Event::Which::CAN) {
for (const auto &c : (*it)->event.getCan()) { for (const auto &c : (*it)->event.getCan()) {
auto &m = last_msgs[{c.getSrc(), c.getAddress()}]; auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}];
if (++m.count == 1) { if (++m.count == 1) {
m.ts = ((*it)->mono_time / 1e9) - route_start_time; m.ts = ((*it)->mono_time / 1e9) - route_start_time;
m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
@ -87,9 +87,8 @@ void AbstractStream::updateLastMsgsTo(double sec) {
counters.clear(); counters.clear();
can_msgs.clear(); can_msgs.clear();
for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) { for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) {
QString msg_id = QString("%1:%2").arg(it.key().first).arg(it.key().second, 1, 16); can_msgs[it.key()] = it.value();
can_msgs[msg_id] = it.value(); counters[it.key()] = it.value().count;
counters[msg_id] = it.value().count;
} }
emit updated(); emit updated();
emit msgsReceived(&can_msgs); emit msgsReceived(&can_msgs);

17
tools/cabana/streams/abstractstream.h
Unescape View File

@ -5,6 +5,7 @@
#include <QColor> #include <QColor>
#include <QHash> #include <QHash>
#include "tools/cabana/dbcmanager.h"
#include "tools/cabana/settings.h" #include "tools/cabana/settings.h"
#include "tools/cabana/util.h" #include "tools/cabana/util.h"
#include "tools/replay/replay.h" #include "tools/replay/replay.h"
@ -33,7 +34,7 @@ public:
virtual double routeStartTime() const { return 0; } virtual double routeStartTime() const { return 0; }
virtual double currentSec() const = 0; virtual double currentSec() const = 0;
virtual QDateTime currentDateTime() const { return {}; } virtual QDateTime currentDateTime() const { return {}; }
virtual const CanData &lastMessage(const QString &id); virtual const CanData &lastMessage(const MessageId &id);
virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
virtual const Route *route() const { return nullptr; } virtual const Route *route() const { return nullptr; }
virtual const std::vector<Event *> *events() const = 0; virtual const std::vector<Event *> *events() const = 0;
@ -49,22 +50,22 @@ signals:
void streamStarted(); void streamStarted();
void eventsMerged(); void eventsMerged();
void updated(); void updated();
void msgsReceived(const QHash<QString, CanData> *); void msgsReceived(const QHash<MessageId, CanData> *);
void received(QHash<QString, CanData> *); void received(QHash<MessageId, CanData> *);
public: public:
QHash<QString, CanData> can_msgs; QHash<MessageId, CanData> can_msgs;
protected: protected:
void process(QHash<QString, CanData> *); void process(QHash<MessageId, CanData> *);
bool updateEvent(const Event *event); bool updateEvent(const Event *event);
void updateLastMsgsTo(double sec); void updateLastMsgsTo(double sec);
bool is_live_streaming = false; bool is_live_streaming = false;
std::atomic<bool> processing = false; std::atomic<bool> processing = false;
QHash<QString, uint32_t> counters; QHash<MessageId, uint32_t> counters;
std::unique_ptr<QHash<QString, CanData>> new_msgs; std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
QHash<QString, ChangeTracker> change_trackers; QHash<MessageId, ChangeTracker> change_trackers;
}; };
// A global pointer referring to the unique AbstractStream object // A global pointer referring to the unique AbstractStream object

8
tools/cabana/tools/findsimilarbits.cc
Unescape View File

@ -20,10 +20,10 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
bus_combo = new QComboBox(this); bus_combo = new QComboBox(this);
QSet<uint8_t> bus_set; QSet<uint8_t> bus_set;
for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
bus_set << DBCManager::parseId(it.key()).first; bus_set << it.key().source;
} }
for (uint8_t bus : bus_set) { for (uint8_t bus : bus_set) {
bus_combo->addItem(QString::number(bus)); bus_combo->addItem(QString::number(bus), bus);
} }
bus_combo->model()->sort(0); bus_combo->model()->sort(0);
bus_combo->setCurrentIndex(0); bus_combo->setCurrentIndex(0);
@ -69,9 +69,11 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
setMinimumSize({700, 500}); setMinimumSize({700, 500});
QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find); QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);
QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) { QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
if (index.isValid()) { if (index.isValid()) {
emit openMessage(bus_combo->currentText() + ":" + table->item(index.row(), 0)->text()); MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)};
emit openMessage(msg_id);
} }
}); });
} }

4
tools/cabana/tools/findsimilarbits.h
Unescape View File

@ -6,6 +6,8 @@
#include <QSpinBox> #include <QSpinBox>
#include <QTableWidget> #include <QTableWidget>
#include "tools/cabana/dbcmanager.h"
class FindSimilarBitsDlg : public QDialog { class FindSimilarBitsDlg : public QDialog {
Q_OBJECT Q_OBJECT
@ -13,7 +15,7 @@ public:
FindSimilarBitsDlg(QWidget *parent); FindSimilarBitsDlg(QWidget *parent);
signals: signals:
void openMessage(const QString &msg_id); void openMessage(const MessageId &msg_id);
private: private:
struct mismatched_struct { struct mismatched_struct {

Write Preview
Loading…
Cancel
Save