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Merge remote-tracking branch 'origin/master' into nlp-driving

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pull/30209/head
Yassine 2 years ago
parent ace3a59dad e5eea7276f
commit dbea36698b
68 changed files with 1229 additions and 1209 deletions
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  1. 1
      .github/workflows/selfdrive_tests.yaml
  2. 2
      .pre-commit-config.yaml
  3. 4
      Jenkinsfile
  4. 4
      SConstruct
  5. 3
      common/prefix.py
  6. 5
      conftest.py
  7. 4
      docs/CARS.md
  8. 2
      panda
  9. 251
      poetry.lock
  10. 1
      pyproject.toml
  11. 16
      selfdrive/athena/athenad.py
  12. 30
      selfdrive/athena/tests/test_athenad.py
  13. 7
      selfdrive/car/honda/values.py
  14. 13
      selfdrive/modeld/modeld.py
  15. 10
      selfdrive/test/docker_common.sh
  16. 12
      selfdrive/test/process_replay/migration.py
  17. 21
      selfdrive/test/process_replay/process_replay.py
  18. 2
      selfdrive/test/process_replay/ref_commit
  19. 53
      selfdrive/test/process_replay/regen.py
  20. 2
      selfdrive/test/process_replay/regen_all.py
  21. 34
      selfdrive/test/process_replay/test_processes.py
  22. 11
      selfdrive/test/process_replay/test_regen.py
  23. 1
      selfdrive/ui/qt/network/networking.cc
  24. 8
      system/sensord/rawgps/rawgpsd.py
  25. 1
      tools/cabana/.gitignore
  26. 16
      tools/cabana/binaryview.cc
  27. 14
      tools/cabana/cabana.cc
  28. 90
      tools/cabana/chart/chart.cc
  29. 12
      tools/cabana/chart/chart.h
  30. 35
      tools/cabana/chart/chartswidget.cc
  31. 2
      tools/cabana/chart/chartswidget.h
  32. 6
      tools/cabana/chart/signalselector.cc
  33. 6
      tools/cabana/dbc/dbcfile.cc
  34. 9
      tools/cabana/dbc/dbcfile.h
  35. 11
      tools/cabana/dbc/dbcmanager.cc
  36. 10
      tools/cabana/dbc/dbcmanager.h
  37. 20
      tools/cabana/detailwidget.cc
  38. 6
      tools/cabana/detailwidget.h
  39. 22
      tools/cabana/historylog.cc
  40. 6
      tools/cabana/historylog.h
  41. 33
      tools/cabana/mainwin.cc
  42. 438
      tools/cabana/messageswidget.cc
  43. 51
      tools/cabana/messageswidget.h
  44. 126
      tools/cabana/settings.cc
  45. 16
      tools/cabana/settings.h
  46. 36
      tools/cabana/signalview.cc
  47. 6
      tools/cabana/signalview.h
  48. 284
      tools/cabana/streams/abstractstream.cc
  49. 91
      tools/cabana/streams/abstractstream.h
  50. 8
      tools/cabana/streams/devicestream.cc
  51. 34
      tools/cabana/streams/livestream.cc
  52. 17
      tools/cabana/streams/livestream.h
  53. 11
      tools/cabana/streams/pandastream.cc
  54. 1
      tools/cabana/streams/pandastream.h
  55. 55
      tools/cabana/streams/replaystream.cc
  56. 15
      tools/cabana/streams/replaystream.h
  57. 9
      tools/cabana/streams/socketcanstream.cc
  58. 4
      tools/cabana/streams/socketcanstream.h
  59. 1
      tools/cabana/streamselector.cc
  60. 12
      tools/cabana/tools/findsignal.cc
  61. 1
      tools/cabana/tools/findsignal.h
  62. 56
      tools/cabana/util.cc
  63. 20
      tools/cabana/util.h
  64. 286
      tools/cabana/videowidget.cc
  65. 42
      tools/cabana/videowidget.h
  66. 10
      tools/lib/url_file.py
  67. 10
      tools/replay/replay.cc
  68. 2
      tools/replay/replay.h

1
.github/workflows/selfdrive_tests.yaml
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@ -5,6 +5,7 @@ on:
branches:
- master
pull_request:
workflow_dispatch:
concurrency:
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}

2
.pre-commit-config.yaml
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@ -41,7 +41,7 @@ repos:
args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.1.0
rev: v0.1.1
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'

4
Jenkinsfile vendored
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@ -64,7 +64,9 @@ def deviceStage(String stageName, String deviceType, List env, def steps) {
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 20, unit: 'MINUTES') {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
retry (3) {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
}
steps.each { item ->
device(device_ip, item[0], item[1])
}

4
SConstruct
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@ -26,6 +26,10 @@ AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
AddOption('--coverage',
action='store_true',
help='build with test coverage options')
AddOption('--clazy',
action='store_true',
help='build with clazy')

3
common/prefix.py
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@ -14,6 +14,7 @@ class OpenpilotPrefix:
self.clean_dirs_on_exit = clean_dirs_on_exit
def __enter__(self):
self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
os.environ['OPENPILOT_PREFIX'] = self.prefix
try:
os.mkdir(self.msgq_path)
@ -28,6 +29,8 @@ class OpenpilotPrefix:
self.clean_dirs()
try:
del os.environ['OPENPILOT_PREFIX']
if self.original_prefix is not None:
os.environ['OPENPILOT_PREFIX'] = self.original_prefix
except KeyError:
pass
return False

5
conftest.py
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@ -10,8 +10,13 @@ def openpilot_function_fixture():
# setup a clean environment for each test
with OpenpilotPrefix():
prefix = os.environ["OPENPILOT_PREFIX"]
yield
# ensure the test doesn't change the prefix
assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
os.environ.clear()
os.environ.update(starting_env)

4
docs/CARS.md
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@ -55,9 +55,9 @@ A supported vehicle is one that just works when you install a comma device. All
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||

2
panda

@ -1 +1 @@
Subproject commit 549fa32fc7b0354ebbb48bae846bff380eab9446
Subproject commit f3bdfdd4354ccc3a512dc289dc038d5b30d1fec2

251
poetry.lock generated
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@ -314,13 +314,13 @@ files = [
[[package]]
name = "azure-core"
version = "1.29.4"
version = "1.29.5"
description = "Microsoft Azure Core Library for Python"
optional = false
python-versions = ">=3.7"
files = [
{file = "azure-core-1.29.4.tar.gz", hash = "sha256:500b3aa9bf2e90c5ccc88bb105d056114ca0ce7d0ce73afb8bc4d714b2fc7568"},
{file = "azure_core-1.29.4-py3-none-any.whl", hash = "sha256:b03261bcba22c0b9290faf9999cedd23e849ed2577feee90515694cea6bc74bf"},
{file = "azure-core-1.29.5.tar.gz", hash = "sha256:52983c89d394c6f881a121e5101c5fa67278ca3b1f339c8fb2ef39230c70e9ac"},
{file = "azure_core-1.29.5-py3-none-any.whl", hash = "sha256:0fa04b7b1f7d44a4fb8468c4093deb2ea01fdf4faddbf802ed9205615f99d68c"},
]
[package.dependencies]
@ -370,13 +370,13 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
[[package]]
name = "babel"
version = "2.13.0"
version = "2.13.1"
description = "Internationalization utilities"
optional = false
python-versions = ">=3.7"
files = [
{file = "Babel-2.13.0-py3-none-any.whl", hash = "sha256:fbfcae1575ff78e26c7449136f1abbefc3c13ce542eeb13d43d50d8b047216ec"},
{file = "Babel-2.13.0.tar.gz", hash = "sha256:04c3e2d28d2b7681644508f836be388ae49e0cfe91465095340395b60d00f210"},
{file = "Babel-2.13.1-py3-none-any.whl", hash = "sha256:7077a4984b02b6727ac10f1f7294484f737443d7e2e66c5e4380e41a3ae0b4ed"},
{file = "Babel-2.13.1.tar.gz", hash = "sha256:33e0952d7dd6374af8dbf6768cc4ddf3ccfefc244f9986d4074704f2fbd18900"},
]
[package.extras]
@ -554,101 +554,101 @@ files = [
[[package]]
name = "charset-normalizer"
version = "3.3.0"
version = "3.3.1"
description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
optional = false
python-versions = ">=3.7.0"
files = [
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{file = "ruff-0.1.1-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:620d4b34302538dbd8bbbe8fdb8e8f98d72d29bd47e972e2b59ce6c1e8862257"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2a909d3930afdbc2e9fd893b0034479e90e7981791879aab50ce3d9f55205bd6"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:3305d1cb4eb8ff6d3e63a48d1659d20aab43b49fe987b3ca4900528342367145"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c34ae501d0ec71acf19ee5d4d889e379863dcc4b796bf8ce2934a9357dc31db7"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:6aa7e63c3852cf8fe62698aef31e563e97143a4b801b57f920012d0e07049a8d"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2d68367d1379a6b47e61bc9de144a47bcdb1aad7903bbf256e4c3d31f11a87ae"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bc11955f6ce3398d2afe81ad7e49d0ebf0a581d8bcb27b8c300281737735e3a3"},
{file = "ruff-0.1.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbbd8eead88ea83a250499074e2a8e9d80975f0b324b1e2e679e4594da318c25"},
{file = "ruff-0.1.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f4780e2bb52f3863a565ec3f699319d3493b83ff95ebbb4993e59c62aaf6e75e"},
{file = "ruff-0.1.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:8f5b24daddf35b6c207619301170cae5d2699955829cda77b6ce1e5fc69340df"},
{file = "ruff-0.1.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:d3f9ac658ba29e07b95c80fa742b059a55aefffa8b1e078bc3c08768bdd4b11a"},
{file = "ruff-0.1.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:3521bf910104bf781e6753282282acc145cbe3eff79a1ce6b920404cd756075a"},
{file = "ruff-0.1.1-py3-none-win32.whl", hash = "sha256:ba3208543ab91d3e4032db2652dcb6c22a25787b85b8dc3aeff084afdc612e5c"},
{file = "ruff-0.1.1-py3-none-win_amd64.whl", hash = "sha256:3ff3006c97d9dc396b87fb46bb65818e614ad0181f059322df82bbfe6944e264"},
{file = "ruff-0.1.1-py3-none-win_arm64.whl", hash = "sha256:e140bd717c49164c8feb4f65c644046fe929c46f42493672853e3213d7bdbce2"},
{file = "ruff-0.1.1.tar.gz", hash = "sha256:c90461ae4abec261609e5ea436de4a4b5f2822921cf04c16d2cc9327182dbbcc"},
]
[[package]]
@ -5024,13 +5033,13 @@ zstd = ["zstandard (>=0.18.0)"]
[[package]]
name = "virtualenv"
version = "20.24.5"
version = "20.24.6"
description = "Virtual Python Environment builder"
optional = false
python-versions = ">=3.7"
files = [
{file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"},
{file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"},
{file = "virtualenv-20.24.6-py3-none-any.whl", hash = "sha256:520d056652454c5098a00c0f073611ccbea4c79089331f60bf9d7ba247bb7381"},
{file = "virtualenv-20.24.6.tar.gz", hash = "sha256:02ece4f56fbf939dbbc33c0715159951d6bf14aaf5457b092e4548e1382455af"},
]
[package.dependencies]
@ -5179,4 +5188,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata]
lock-version = "2.0"
python-versions = "~3.11"
content-hash = "acb0688e485872194c21e1313e20fc4a67084893b26e9b8cde1d66e3fdbb1282"
content-hash = "9538e574ca03437994b7b0a0b6cb41842256162a2f14abfd0da26587709f145a"

1
pyproject.toml
Unescape View File

@ -140,6 +140,7 @@ parameterized = "^0.8"
pprofile = "*"
pre-commit = "*"
pygame = "*"
pympler = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-cov = "*"

16
selfdrive/athena/athenad.py
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@ -20,7 +20,7 @@ from dataclasses import asdict, dataclass, replace
from datetime import datetime
from functools import partial
from queue import Queue
from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
from typing import Callable, Dict, List, Optional, Set, Union, cast
import requests
from jsonrpc import JSONRPCResponseManager, dispatcher
@ -290,19 +290,15 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
compress = True
with open(path, "rb") as f:
data: BinaryIO
content = f.read()
if compress:
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
compressed = bz2.compress(f.read())
size = len(compressed)
data = io.BytesIO(compressed)
else:
size = os.fstat(f.fileno()).st_size
data = f
content = bz2.compress(content)
with io.BytesIO(content) as data:
return requests.put(upload_item.url,
data=CallbackReader(data, callback, size) if callback else data,
headers={**upload_item.headers, 'Content-Length': str(size)},
data=CallbackReader(data, callback, len(content)) if callback else data,
headers={**upload_item.headers, 'Content-Length': str(len(content))},
timeout=30)

30
selfdrive/athena/tests/test_athenad.py
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@ -9,10 +9,11 @@ import queue
import unittest
from dataclasses import asdict, replace
from datetime import datetime, timedelta
from parameterized import parameterized
from typing import Optional
from multiprocessing import Process
from pathlib import Path
from pympler.tracker import SummaryTracker
from unittest import mock
from websocket import ABNF
from websocket._exceptions import WebSocketConnectionClosedException
@ -57,10 +58,11 @@ class TestAthenadMethods(unittest.TestCase):
break
@staticmethod
def _create_file(file: str, parent: Optional[str] = None) -> str:
def _create_file(file: str, parent: Optional[str] = None, data: bytes = b'') -> str:
fn = os.path.join(Paths.log_root() if parent is None else parent, file)
os.makedirs(os.path.dirname(fn), exist_ok=True)
Path(fn).touch()
with open(fn, 'wb') as f:
f.write(data)
return fn
@ -137,19 +139,31 @@ class TestAthenadMethods(unittest.TestCase):
if fn.endswith('.bz2'):
self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
@parameterized.expand([(True,), (False,)])
@with_http_server
def test_do_upload(self, host):
fn = self._create_file('qlog.bz2')
def test_do_upload(self, compress, host):
# random bytes to ensure rather large object post-compression
fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
# warm up object tracker
tracker = SummaryTracker()
for _ in range(5):
tracker.diff()
upload_fn = fn + ('.bz2' if compress else '')
item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
with self.assertRaises(requests.exceptions.ConnectionError):
athenad._do_upload(item)
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
resp = athenad._do_upload(item)
self.assertEqual(resp.status_code, 201)
# assert memory cleaned up
for _type, num_objects, total_size in tracker.diff():
with self.subTest(_type=_type):
self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file')
@with_http_server
def test_uploadFileToUrl(self, host):
fn = self._create_file('qlog.bz2')

7
selfdrive/car/honda/values.py
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@ -129,8 +129,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@ -1519,6 +1519,7 @@ FW_VERSIONS = {
b'77959-T47-A940\x00\x00',
b'77959-T47-A950\x00\x00',
b'77959-T20-M820\x00\x00',
b'77959-T20-A980\x00\x00',
],
(Ecu.combinationMeter, 0x18DA60F1, None): [
b'78108-T21-A220\x00\x00',
@ -1527,6 +1528,7 @@ FW_VERSIONS = {
b'78108-T21-A230\x00\x00',
b'78108-T22-A020\x00\x00',
b'78108-T21-MB10\x00\x00',
b'78108-T21-A740\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T20-A070\x00\x00',
@ -1554,6 +1556,7 @@ FW_VERSIONS = {
b'37805-64A-A540\x00\x00',
b'37805-64A-A620\x00\x00',
b'37805-64D-P510\x00\x00',
b'37805-64S-AA10\x00\x00',
],
},
}

13
selfdrive/modeld/modeld.py
Unescape View File

@ -1,5 +1,4 @@
#!/usr/bin/env python3
import sys
import os
import time
import pickle
@ -17,12 +16,14 @@ from openpilot.common.numpy_fast import interp
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive import sentry
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
PROCESS_NAME = "selfdrive.modeld.modeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PATHS = {
@ -113,8 +114,9 @@ class ModelState:
def main():
cloudlog.bind(daemon="selfdrive.modeld.modeld")
setproctitle("selfdrive.modeld.modeld")
sentry.set_tag("daemon", PROCESS_NAME)
cloudlog.bind(daemon=PROCESS_NAME)
setproctitle(PROCESS_NAME)
config_realtime_process(7, 54)
cl_context = CLContext()
@ -285,4 +287,7 @@ if __name__ == "__main__":
try:
main()
except KeyboardInterrupt:
sys.exit()
cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
except Exception:
sentry.capture_exception()
raise

10
selfdrive/test/docker_common.sh
Unescape View File

@ -1,17 +1,17 @@
if [ $1 = "base" ]; then
if [ "$1" = "base" ]; then
export DOCKER_IMAGE=openpilot-base
export DOCKER_FILE=Dockerfile.openpilot_base
elif [ $1 = "sim" ]; then
elif [ "$1" = "sim" ]; then
export DOCKER_IMAGE=openpilot-sim
export DOCKER_FILE=tools/sim/Dockerfile.sim
elif [ $1 = "prebuilt" ]; then
elif [ "$1" = "prebuilt" ]; then
export DOCKER_IMAGE=openpilot-prebuilt
export DOCKER_FILE=Dockerfile.openpilot
elif [ $1 = "cl" ]; then
elif [ "$1" = "cl" ]; then
export DOCKER_IMAGE=openpilot-base-cl
export DOCKER_FILE=Dockerfile.openpilot_base_cl
else
echo "Invalid docker build image $1"
echo "Invalid docker build image: '$1'"
exit 1
fi

12
selfdrive/test/process_replay/migration.py
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@ -94,6 +94,8 @@ def migrate_peripheralState(lr):
def migrate_cameraStates(lr):
all_msgs = []
frame_to_encode_id = defaultdict(dict)
# just for encodeId fallback mechanism
min_frame_id = defaultdict(lambda: float('inf'))
for msg in lr:
if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
@ -111,10 +113,18 @@ def migrate_cameraStates(lr):
continue
camera_state = getattr(msg, msg.which())
min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId)
encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
if encode_id is None:
print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
continue
if len(frame_to_encode_id[msg.which()]) != 0:
continue
# fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
# try to fake encode_id by subtracting lowest frameId
encode_id = camera_state.frameId - min_frame_id[msg.which()]
print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
new_msg = messaging.new_message(msg.which())
new_camera_state = getattr(new_msg, new_msg.which())

21
selfdrive/test/process_replay/process_replay.py
Unescape View File

@ -27,6 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
from openpilot.selfdrive.test.process_replay.migration import migrate_all
from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
from openpilot.tools.lib.logreader import LogIterable
from openpilot.tools.lib.framereader import BaseFrameReader
# Numpy gives different results based on CPU features after version 19
NUMPY_TOLERANCE = 1e-7
@ -201,16 +202,15 @@ class ProcessContainer:
self.environ_config = environ_config
def _setup_vision_ipc(self, all_msgs):
def _setup_vision_ipc(self, all_msgs: LogIterable, frs: Dict[str, Any]):
assert len(self.cfg.vision_pubs) != 0
device_type = next(str(msg.initData.deviceType) for msg in all_msgs if msg.which() == "initData")
vipc_server = VisionIpcServer("camerad")
streams_metas = available_streams(all_msgs)
for meta in streams_metas:
if meta.camera_state in self.cfg.vision_pubs:
vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
vipc_server.start_listener()
self.vipc_server = vipc_server
@ -224,7 +224,7 @@ class ProcessContainer:
def start(
self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
all_msgs: LogIterable,
all_msgs: LogIterable, frs: Optional[Dict[str, BaseFrameReader]],
fingerprint: Optional[str], capture_output: bool
):
with self.prefix as p:
@ -241,7 +241,8 @@ class ProcessContainer:
self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
if len(self.cfg.vision_pubs) != 0:
self._setup_vision_ipc(all_msgs)
assert frs is not None
self._setup_vision_ipc(all_msgs, frs)
assert self.vipc_server is not None
if capture_output:
@ -265,7 +266,7 @@ class ProcessContainer:
self.prefix.clean_dirs()
self._clean_env()
def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, BaseFrameReader]]) -> List[capnp._DynamicStructReader]:
assert self.rc and self.pm and self.sockets and self.process.proc
output_msgs = []
@ -622,7 +623,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *
def replay_process(
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]] = None,
fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
) -> List[capnp._DynamicStructReader]:
@ -650,7 +651,7 @@ def replay_process(
def _replay_multi_process(
cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], fingerprint: Optional[str],
custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool
) -> List[capnp._DynamicStructReader]:
if fingerprint is not None:
@ -677,7 +678,7 @@ def _replay_multi_process(
for cfg in cfgs:
container = ProcessContainer(cfg)
containers.append(container)
container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
container.start(params_config, env_config, all_msgs, frs, fingerprint, captured_output_store is not None)
all_pubs = {pub for container in containers for pub in container.pubs}
all_subs = {sub for container in containers for sub in container.subs}

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
d05b67ec66630521e8cedb90981002d57d738f6d
6e27d5c97fe6554a86e9ee8bb9259e0cc6df5bb1

53
selfdrive/test/process_replay/regen.py
Unescape View File

@ -3,18 +3,42 @@ import os
import argparse
import time
import capnp
import numpy as np
from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
check_openpilot_enabled, get_custom_params_from_lr
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
from openpilot.selfdrive.test.update_ci_routes import upload_route
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
from openpilot.tools.lib.logreader import LogReader, LogIterable
from openpilot.tools.lib.helpers import save_log
class DummyFrameReader(BaseFrameReader):
def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
self.pix_val = pix_val
self.w, self.h = w, h
self.frame_count = frame_count
self.frame_type = FrameType.raw
def get(self, idx, count=1, pix_fmt="yuv420p"):
if pix_fmt == "rgb24":
shape = (self.h, self.w, 3)
elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
shape = (int((self.h * self.w) * 3 / 2),)
else:
raise NotImplementedError
return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
@staticmethod
def zero_dcamera():
return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
def regen_segment(
lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
@ -31,7 +55,8 @@ def regen_segment(
def setup_data_readers(
route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
route: str, sidx: int, use_route_meta: bool,
needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
) -> Tuple[LogReader, Dict[str, Any]]:
if use_route_meta:
r = Route(route)
@ -41,8 +66,13 @@ def setup_data_readers(
frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
else:
lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
frs = {}
@ -51,14 +81,19 @@ def setup_data_readers(
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
if needs_driver_cam:
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
else:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
return lr, frs
def regen_and_save(
route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
) -> str:
if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
raise ValueError("whitelist_proc must be a string or iterable")
@ -77,7 +112,8 @@ def regen_and_save(
all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
lr, frs = setup_data_readers(route, sidx, use_route_meta,
needs_driver_cam="driverCameraState" in all_vision_pubs,
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
dummy_driver_cam=dummy_driver_cam)
output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
@ -107,6 +143,7 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Generate new segments from old ones")
parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
@ -117,4 +154,4 @@ if __name__ == "__main__":
blacklist_set = set(args.blacklist_procs)
processes = [p for p in args.whitelist_procs if p not in blacklist_set]
regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)
regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)

2
selfdrive/test/process_replay/regen_all.py
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@ -18,7 +18,7 @@ def regen_job(segment, upload, disable_tqdm):
fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
try:
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
relr = '|'.join(relr.split('/')[-2:])
return f' ("{segment[0]}", "{relr}"), '
except Exception as e:

34
selfdrive/test/process_replay/test_processes.py
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@ -41,23 +41,23 @@ source_segments = [
]
segments = [
("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
("BODY", "regen7FE9F3C7CE3|2023-10-25--23-56-32--0"),
("HYUNDAI", "regen7519EF9EE71|2023-10-25--23-53-59--0"),
("HYUNDAI2", "regenF68B9F1B286|2023-10-25--23-56-31--0"),
("TOYOTA", "regen56DC072FA51|2023-10-25--23-53-51--0"),
("TOYOTA2", "regen78130056536|2023-10-25--23-53-58--0"),
("TOYOTA3", "regenC554B250909|2023-10-25--23-58-53--0"),
("HONDA", "regen3ED625586FB|2023-10-25--23-56-29--0"),
("HONDA2", "regen9F1A8F44FD5|2023-10-25--23-56-34--0"),
("CHRYSLER", "regen60CE93181EA|2023-10-25--23-59-01--0"),
("RAM", "regen9E2B62E8E9A|2023-10-26--00-00-41--0"),
("SUBARU", "regenEEBF379E0ED|2023-10-26--00-01-37--0"),
("GM", "regen0B0EE5D6E0D|2023-10-25--23-58-57--0"),
("GM2", "regen043B44E4FBD|2023-10-26--00-03-51--0"),
("NISSAN", "regen14F35E327BC|2023-10-26--00-01-22--0"),
("VOLKSWAGEN", "regen63A052AE7D7|2023-10-26--00-01-36--0"),
("MAZDA", "regenF9047685121|2023-10-26--00-05-02--0"),
("FORD", "regen5115F2AE4FE|2023-10-26--00-06-17--0"),
]
# dashcamOnly makes don't need to be tested until a full port is done

11
selfdrive/test/process_replay/test_regen.py
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@ -4,13 +4,12 @@ import unittest
from parameterized import parameterized
from openpilot.selfdrive.test.process_replay.regen import regen_segment
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled, CONFIGS
from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
from openpilot.selfdrive.test.openpilotci import get_url
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.framereader import FrameReader
EXCLUDED_PROCESSES = {"dmonitoringd", "dmonitoringmodeld"}
TESTED_SEGMENTS = [
("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
# Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
@ -21,9 +20,9 @@ TESTED_SEGMENTS = [
def ci_setup_data_readers(route, sidx):
lr = LogReader(get_url(route, sidx, "rlog"))
# dm disabled
frs = {
'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
'driverCameraState': DummyFrameReader.zero_dcamera()
}
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
@ -34,11 +33,9 @@ def ci_setup_data_readers(route, sidx):
class TestRegen(unittest.TestCase):
@parameterized.expand(TESTED_SEGMENTS)
def test_engaged(self, case_name, segment):
tested_procs = [p for p in CONFIGS if p.proc_name not in EXCLUDED_PROCESSES]
route, sidx = segment.rsplit("--", 1)
lr, frs = ci_setup_data_readers(route, sidx)
output_logs = regen_segment(lr, frs, processes=tested_procs, disable_tqdm=True)
output_logs = regen_segment(lr, frs, disable_tqdm=True)
engaged = check_openpilot_enabled(output_logs)
self.assertTrue(engaged, f"openpilot not engaged in {case_name}")

1
selfdrive/ui/qt/network/networking.cc
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@ -105,6 +105,7 @@ void Networking::showEvent(QShowEvent *event) {
}
void Networking::hideEvent(QHideEvent *event) {
main_layout->setCurrentWidget(wifiScreen);
wifi->stop();
}

8
system/sensord/rawgps/rawgpsd.py
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@ -190,7 +190,13 @@ def setup_quectel(diag: ModemDiag) -> bool:
if gps_enabled():
at_cmd("AT+QGPSEND")
#at_cmd("AT+QGPSDEL=0")
if "GPS_COLD_START" in os.environ:
# deletes all assistance
at_cmd("AT+QGPSDEL=0")
else:
# allow module to perform hot start
at_cmd("AT+QGPSDEL=1")
# disable DPO power savings for more accuracy
at_cmd("AT+QGPSCFG=\"dpoenable\",0")

1
tools/cabana/.gitignore vendored
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@ -2,6 +2,5 @@ moc_*
*.moc
cabana
settings
dbc/car_fingerprint_to_dbc.json
tests/test_cabana

16
tools/cabana/binaryview.cc
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@ -2,6 +2,7 @@
#include <algorithm>
#include <QDebug>
#include <QFontDatabase>
#include <QHeaderView>
#include <QMouseEvent>
@ -273,7 +274,7 @@ void BinaryViewModel::refresh() {
row_count = can->lastMessage(msg_id).dat.size();
items.resize(row_count * column_count);
}
int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
for (int i = 0; i < valid_rows * column_count; ++i) {
items[i].valid = true;
}
@ -311,7 +312,7 @@ void BinaryViewModel::updateState() {
int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
// Bit update frequency based highlighting
double offset = !item.sigs.empty() ? 50 : 0;
auto n = last_msg.bit_change_counts[i][7 - j];
auto n = last_msg.last_changes[i].bit_change_counts[j];
double min_f = n == 0 ? offset : offset + 25;
double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
auto color = item.bg_color;
@ -334,13 +335,8 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
}
QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
if (role == Qt::ToolTipRole) {
auto item = (const BinaryViewModel::Item *)index.internalPointer();
if (item && !item->sigs.empty()) {
return signalToolTip(item->sigs.back());
}
}
return {};
auto item = (const BinaryViewModel::Item *)index.internalPointer();
return role == Qt::ToolTipRole && item && !item->sigs.empty() ? signalToolTip(item->sigs.back()) : QVariant();
}
// BinaryItemDelegate
@ -388,7 +384,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
drawSignalCell(painter, option, index, s);
}
}
} else if (item->valid) {
} else if (item->valid && item->bg_color.alpha() > 0) {
painter->fillRect(option.rect, item->bg_color);
}
auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;

14
tools/cabana/cabana.cc
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@ -18,8 +18,6 @@ int main(int argc, char *argv[]) {
app.setWindowIcon(QIcon(":cabana-icon.png"));
UnixSignalHandler signalHandler;
settings.load();
utils::setTheme(settings.theme);
QCommandLineParser cmd_parser;
@ -28,6 +26,7 @@ int main(int argc, char *argv[]) {
cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
cmd_parser.addOption({"qcam", "load qcamera"});
cmd_parser.addOption({"ecam", "load wide road camera"});
cmd_parser.addOption({"dcam", "load driver camera"});
cmd_parser.addOption({"stream", "read can messages from live streaming"});
cmd_parser.addOption({"panda", "read can messages from panda"});
cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
@ -62,13 +61,10 @@ int main(int argc, char *argv[]) {
stream = new SocketCanStream(&app, config);
} else {
uint32_t replay_flags = REPLAY_FLAG_NONE;
if (cmd_parser.isSet("ecam")) {
replay_flags |= REPLAY_FLAG_ECAM;
} else if (cmd_parser.isSet("qcam")) {
replay_flags |= REPLAY_FLAG_QCAMERA;
} else if (cmd_parser.isSet("no-vipc")) {
replay_flags |= REPLAY_FLAG_NO_VIPC;
}
if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
const QStringList args = cmd_parser.positionalArguments();
QString route;

90
tools/cabana/chart/chart.cc
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@ -279,38 +279,50 @@ void ChartView::updateSeriesPoints() {
}
}
void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
std::vector<QPointF> &vals, std::vector<QPointF> &step_vals) {
vals.reserve(vals.size() + events.capacity());
step_vals.reserve(step_vals.size() + events.capacity() * 2);
double value = 0;
const uint64_t begin_mono_time = can->routeStartTime() * 1e9;
for (const CanEvent *e : events) {
if (sig->getValue(e->dat, e->size, &value)) {
const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9;
vals.emplace_back(ts, value);
if (!step_vals.empty())
step_vals.emplace_back(ts, step_vals.back().y());
step_vals.emplace_back(ts, value);
}
}
}
void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *msg_new_events) {
for (auto &s : sigs) {
if (!sig || s.sig == sig) {
if (clear) {
if (!msg_new_events) {
s.vals.clear();
s.step_vals.clear();
s.last_value_mono_time = 0;
}
auto events = msg_new_events ? msg_new_events : &can->eventsMap();
auto it = events->find(s.msg_id);
if (it == events->end() || it->second.empty()) continue;
const auto &msgs = can->events(s.msg_id);
s.vals.reserve(msgs.capacity());
s.step_vals.reserve(msgs.capacity() * 2);
auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, CompareCanEvent());
const double route_start_time = can->routeStartTime();
for (auto end = msgs.cend(); first != end; ++first) {
const CanEvent *e = *first;
double value = 0;
if (s.sig->getValue(e->dat, e->size, &value)) {
double ts = e->mono_time / 1e9 - route_start_time; // seconds
s.vals.append({ts, value});
if (!s.step_vals.empty()) {
s.step_vals.append({ts, s.step_vals.back().y()});
}
s.step_vals.append({ts, value});
s.last_value_mono_time = e->mono_time;
}
if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) {
appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
} else {
std::vector<QPointF> vals, step_vals;
appendCanEvents(s.sig, it->second, vals, step_vals);
s.vals.insert(std::lower_bound(s.vals.begin(), s.vals.end(), vals.front().x(), xLessThan),
vals.begin(), vals.end());
s.step_vals.insert(std::lower_bound(s.step_vals.begin(), s.step_vals.end(), step_vals.front().x(), xLessThan),
step_vals.begin(), step_vals.end());
}
if (!can->liveStreaming()) {
s.segment_tree.build(s.vals);
}
s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
s.series->replace(QVector<QPointF>::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals));
}
}
updateAxisY();
@ -320,7 +332,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
// auto zoom on yaxis
void ChartView::updateAxisY() {
if (sigs.isEmpty()) return;
if (sigs.empty()) return;
double min = std::numeric_limits<double>::max();
double max = std::numeric_limits<double>::lowest();
@ -344,9 +356,7 @@ void ChartView::updateAxisY() {
if (it->y() > s.max) s.max = it->y();
}
} else {
auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
s.min = min_y;
s.max = max_y;
std::tie(s.min, s.max) = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
}
min = std::min(min, s.min);
max = std::max(max, s.max);
@ -365,7 +375,7 @@ void ChartView::updateAxisY() {
axis_y->setRange(min_y, max_y);
axis_y->setTickCount(tick_count);
int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0);
int max_label_width = 0;
QFontMetrics fm(axis_y->labelsFont());
for (int i = 0; i < tick_count; i++) {
@ -453,7 +463,7 @@ static QPixmap getDropPixmap(const QPixmap &src) {
return px;
}
void ChartView::contextMenuEvent(QContextMenuEvent *event) {
void ChartView::contextMenuEvent(QContextMenuEvent *event) {
QMenu context_menu(this);
context_menu.addActions(menu->actions());
context_menu.addSeparator();
@ -492,13 +502,9 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
rubber->hide();
auto rect = rubber->geometry().normalized();
double min = chart()->mapToValue(rect.topLeft()).x();
double max = chart()->mapToValue(rect.bottomRight()).x();
// Prevent zooming/seeking past the end of the route
min = std::clamp(min, 0., can->totalSeconds());
max = std::clamp(max, 0., can->totalSeconds());
double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds());
double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds());
if (rubber->width() <= 0) {
// no rubber dragged, seek to mouse position
can->seekTo(min);
@ -623,7 +629,7 @@ void ChartView::dropEvent(QDropEvent *event) {
source_chart->chart()->removeSeries(s.series);
addSeries(s.series);
}
sigs.append(source_chart->sigs);
sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end()));
updateAxisY();
updateTitle();
startAnimation();
@ -763,13 +769,8 @@ void ChartView::drawSignalValue(QPainter *painter) {
painter->setPen(chart()->legend()->labelColor());
int i = 0;
for (auto &s : sigs) {
QString value = "--";
if (s.series->isVisible()) {
auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; });
if (it != s.vals.crend() && it->x() >= axis_x->min()) {
value = s.sig->formatValue(it->y());
}
}
auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; });
QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--";
QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
@ -841,9 +842,8 @@ void ChartView::setSeriesType(SeriesType type) {
s.series->deleteLater();
}
for (auto &s : sigs) {
auto series = createSeries(series_type, s.sig->color);
series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
s.series = series;
s.series = createSeries(series_type, s.sig->color);
s.series->replace(QVector<QPointF>::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals));
}
updateSeriesPoints();
updateTitle();

12
tools/cabana/chart/chart.h
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@ -2,6 +2,7 @@
#include <tuple>
#include <utility>
#include <vector>
#include <QMenu>
#include <QGraphicsPixmapItem>
@ -31,7 +32,7 @@ public:
ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
void addSignal(const MessageId &msg_id, const cabana::Signal *sig);
bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const;
void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true);
void updateSeries(const cabana::Signal *sig = nullptr, const MessageEventsMap *msg_new_events = nullptr);
void updatePlot(double cur, double min, double max);
void setSeriesType(SeriesType type);
void updatePlotArea(int left, bool force = false);
@ -43,9 +44,8 @@ public:
MessageId msg_id;
const cabana::Signal *sig = nullptr;
QXYSeries *series = nullptr;
QVector<QPointF> vals;
QVector<QPointF> step_vals;
uint64_t last_value_mono_time = 0;
std::vector<QPointF> vals;
std::vector<QPointF> step_vals;
QPointF track_pt{};
SegmentTree segment_tree;
double min = 0;
@ -64,6 +64,8 @@ private slots:
void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
private:
void appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
std::vector<QPointF> &vals, std::vector<QPointF> &step_vals);
void createToolButtons();
void addSeries(QXYSeries *series);
void contextMenuEvent(QContextMenuEvent *event) override;
@ -107,7 +109,7 @@ private:
QGraphicsProxyWidget *close_btn_proxy;
QGraphicsProxyWidget *manage_btn_proxy;
TipLabel tip_label;
QList<SigItem> sigs;
std::vector<SigItem> sigs;
double cur_sec = 0;
SeriesType series_type = SeriesType::Line;
bool is_scrubbing = false;

35
tools/cabana/chart/chartswidget.cc
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@ -12,7 +12,7 @@
#include "tools/cabana/chart/chart.h"
const int MAX_COLUMN_COUNT = 4;
const int CHART_SPACING = 10;
const int CHART_SPACING = 4;
ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
@ -78,8 +78,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
// charts
charts_container = new ChartsContainer(this);
charts_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
charts_scroll = new QScrollArea(this);
charts_scroll->viewport()->setBackgroundRole(QPalette::Base);
charts_scroll->setFrameStyle(QFrame::NoFrame);
charts_scroll->setWidgetResizable(true);
charts_scroll->setWidget(charts_container);
@ -99,7 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@ -149,11 +150,10 @@ void ChartsWidget::updateTabBar() {
}
}
void ChartsWidget::eventsMerged() {
void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
QFutureSynchronizer<void> future_synchronizer;
bool clear = !can->liveStreaming();
for (auto c : charts) {
future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear));
future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events));
}
}
@ -190,7 +190,7 @@ void ChartsWidget::updateState() {
if (pos < 0 || pos > 0.8) {
display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
}
double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds());
double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
display_range.first = std::max(0.0, max_sec - max_chart_range);
display_range.second = display_range.first + max_chart_range;
} else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
@ -282,7 +282,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
it->series->setColor(it->sig->color);
c->addSeries(it->series);
c->sigs.push_back(*it);
c->sigs.emplace_back(std::move(*it));
c->updateAxisY();
c->updateTitle();
it = src_chart->sigs.erase(it);
@ -322,9 +322,9 @@ void ChartsWidget::updateLayout(bool force) {
}
for (int i = 0; i < current_charts.size(); ++i) {
charts_layout->addWidget(current_charts[i], i / n, i % n);
if (current_charts[i]->sigs.isEmpty()) {
if (current_charts[i]->sigs.empty()) {
// the chart will be resized after add signal. delay setVisible to reduce flicker.
QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
QTimer::singleShot(0, current_charts[i], [c = current_charts[i]]() { c->setVisible(true); });
} else {
current_charts[i]->setVisible(true);
}
@ -474,8 +474,9 @@ bool ChartsWidget::event(QEvent *event) {
ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
setAcceptDrops(true);
setBackgroundRole(QPalette::Window);
QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
charts_main_layout->setContentsMargins(0, 10, 0, 0);
charts_main_layout->setContentsMargins(0, CHART_SPACING, 0, CHART_SPACING);
charts_layout = new QGridLayout();
charts_layout->setSpacing(CHART_SPACING);
charts_main_layout->addLayout(charts_layout);
@ -519,15 +520,11 @@ void ChartsContainer::paintEvent(QPaintEvent *ev) {
r.setHeight(CHART_SPACING);
}
const int margin = (CHART_SPACING - 2) / 2;
QPainterPath path;
path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
QPainter p(this);
p.setRenderHint(QPainter::Antialiasing);
p.fillPath(path, palette().highlight());
p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
p.setPen(QPen(palette().highlight(), 2));
p.drawLine(r.topLeft() + QPoint(1, 0), r.bottomLeft() + QPoint(1, 0));
p.drawLine(r.topLeft() + QPoint(0, r.height() / 2), r.topRight() + QPoint(0, r.height() / 2));
p.drawLine(r.topRight(), r.bottomRight());
}
}

2
tools/cabana/chart/chartswidget.h
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@ -63,7 +63,7 @@ private:
void removeChart(ChartView *chart);
void splitChart(ChartView *chart);
QRect chartVisibleRect(ChartView *chart);
void eventsMerged();
void eventsMerged(const MessageEventsMap &new_events);
void updateState();
void zoomReset();
void startAutoScroll();

6
tools/cabana/chart/signalselector.cc
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@ -44,9 +44,9 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
main_layout->addWidget(buttonBox, 3, 2);
for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
if (auto m = dbc()->msg(it.key())) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
for (const auto &[id, _] : can->lastMessages()) {
if (auto m = dbc()->msg(id)) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
}
}
msgs_combo->model()->sort(0);

6
tools/cabana/dbc/dbcfile.cc
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@ -4,10 +4,8 @@
#include <QFileInfo>
#include <QRegularExpression>
#include <QTextStream>
#include <numeric>
#include <sstream>
DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
DBCFile::DBCFile(const QString &dbc_file_name) {
QFile file(dbc_file_name);
if (file.open(QIODevice::ReadOnly)) {
name_ = QFileInfo(dbc_file_name).baseName();
@ -22,7 +20,7 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent
}
}
DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
// Open from clipboard
parse(content);
}

9
tools/cabana/dbc/dbcfile.h
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@ -1,18 +1,15 @@
#pragma once
#include <map>
#include <QObject>
#include "tools/cabana/dbc/dbc.h"
const QString AUTO_SAVE_EXTENSION = ".tmp";
class DBCFile : public QObject {
Q_OBJECT
class DBCFile {
public:
DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
DBCFile(const QString &dbc_file_name);
DBCFile(const QString &name, const QString &content);
~DBCFile() {}
bool save();

11
tools/cabana/dbc/dbcmanager.cc
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@ -7,7 +7,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
try {
auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
[&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name, this);
auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name);
for (auto s : sources) {
dbc_files[s] = file;
}
@ -22,7 +22,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
try {
auto file = std::make_shared<DBCFile>(name, content, this);
auto file = std::make_shared<DBCFile>(name, content);
for (auto s : sources) {
dbc_files[s] = file;
}
@ -189,6 +189,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
return sources;
}
QString toString(const SourceSet &ss) {
return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
if (!str.isEmpty()) str += ", ";
return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
});
}
DBCManager *dbc() {
static DBCManager dbc_manager(nullptr);
return &dbc_manager;

10
tools/cabana/dbc/dbcmanager.h
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@ -1,5 +1,6 @@
#pragma once
#include <QObject>
#include <memory>
#include <map>
#include <set>
@ -66,15 +67,8 @@ private:
DBCManager *dbc();
QString toString(const SourceSet &ss);
inline QString msgName(const MessageId &id) {
auto msg = dbc()->msg(id);
return msg ? msg->name : UNTITLED;
}
inline QString toString(const SourceSet &ss) {
QStringList ret;
for (auto s : ss) {
ret << (s == -1 ? QString("all") : QString::number(s));
}
return ret.join(", ");
}

20
tools/cabana/detailwidget.cc
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@ -2,6 +2,7 @@
#include <QFormLayout>
#include <QMenu>
#include <QSpacerItem>
#include "tools/cabana/commands.h"
#include "tools/cabana/mainwin.h"
@ -22,19 +23,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
// message title
QHBoxLayout *title_layout = new QHBoxLayout();
title_layout->setContentsMargins(3, 6, 3, 0);
time_label = new QLabel(this);
time_label->setToolTip(tr("Current time"));
time_label->setStyleSheet("QLabel{font-weight:bold;}");
title_layout->addWidget(time_label);
name_label = new ElidedLabel(this);
auto spacer = new QSpacerItem(0, 1);
title_layout->addItem(spacer);
title_layout->addWidget(name_label = new ElidedLabel(this), 1);
name_label->setStyleSheet("QLabel{font-weight:bold;}");
name_label->setAlignment(Qt::AlignCenter);
name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
title_layout->addWidget(name_label);
auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
title_layout->addWidget(edit_btn);
remove_btn = new ToolButton("x-lg", tr("Remove Message"));
title_layout->addWidget(remove_btn);
title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message")));
spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1);
main_layout->addLayout(title_layout);
// warning
@ -150,9 +147,8 @@ void DetailWidget::refresh() {
warning_widget->setVisible(!warnings.isEmpty());
}
void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
time_label->setText(QString::number(can->currentSec(), 'f', 3));
if ((msgs && !msgs->contains(msg_id)))
void DetailWidget::updateState(const std::set<MessageId> *msgs) {
if ((msgs && !msgs->count(msg_id)))
return;
if (tab_widget->currentIndex() == 0)

6
tools/cabana/detailwidget.h
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@ -4,6 +4,7 @@
#include <QSplitter>
#include <QTabWidget>
#include <QTextEdit>
#include <set>
#include "selfdrive/ui/qt/widgets/controls.h"
#include "tools/cabana/binaryview.h"
@ -11,7 +12,6 @@
#include "tools/cabana/historylog.h"
#include "tools/cabana/signalview.h"
class MainWindow;
class EditMessageDialog : public QDialog {
public:
EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
@ -39,10 +39,10 @@ private:
void showTabBarContextMenu(const QPoint &pt);
void editMsg();
void removeMsg();
void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
void updateState(const std::set<MessageId> *msgs = nullptr);
MessageId msg_id;
QLabel *time_label, *warning_icon, *warning_label;
QLabel *warning_icon, *warning_label;
ElidedLabel *name_label;
QWidget *warning_widget;
TabBar *tabbar;

22
tools/cabana/historylog.cc
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@ -7,7 +7,6 @@
#include <QVBoxLayout>
#include "tools/cabana/commands.h"
// HistoryLogModel
QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
const bool show_signals = display_signals_mode && sigs.size() > 0;
@ -17,11 +16,11 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
}
int i = index.column() - 1;
return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : QString();
} else if (role == ColorsRole) {
return QVariant::fromValue(m.colors);
return QVariant::fromValue((void *)(&m.colors));
} else if (role == BytesRole) {
return m.data;
return QVariant::fromValue((void *)(&m.data));
} else if (role == Qt::TextAlignmentRole) {
return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
}
@ -123,7 +122,7 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
template <class InputIt>
std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
std::deque<HistoryLogModel::Message> msgs;
QVector<double> values(sigs.size());
std::vector<double> values(sigs.size());
for (; first != last && (*first)->mono_time > min_time; ++first) {
const CanEvent *e = *first;
for (int i = 0; i < sigs.size(); ++i) {
@ -132,7 +131,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
auto &m = msgs.emplace_back();
m.mono_time = e->mono_time;
m.data = QByteArray((const char *)e->dat, e->size);
m.data.assign(e->dat, e->dat + e->size);
m.sig_values = values;
if (msgs.size() >= batch_size && min_time == 0) {
return msgs;
@ -146,7 +145,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
const auto &events = can->events(msg_id);
const auto freq = can->lastMessage(msg_id).freq;
const bool update_colors = !display_signals_mode || sigs.empty();
const std::vector<uint8_t> no_mask;
const auto speed = can->getSpeed();
if (dynamic_mode) {
auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
@ -155,7 +154,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
auto msgs = fetchData(first, events.rend(), min_time);
if (update_colors && (min_time > 0 || messages.empty())) {
for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
it->colors = hex_colors.colors;
}
}
@ -166,7 +165,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
auto msgs = fetchData(first, events.cend(), 0);
if (update_colors) {
for (auto it = msgs.begin(); it != msgs.end(); ++it) {
hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
it->colors = hex_colors.colors;
}
}
@ -177,7 +176,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
// HeaderView
QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
static const QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
if (logicalIndex == 0) {
return time_col_size;
} else {
@ -237,10 +236,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
main_layout->addWidget(logs = new QTableView(this));
logs->setModel(model = new HistoryLogModel(this));
delegate = new MessageBytesDelegate(this);
logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
logs->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
logs->verticalHeader()->setDefaultSectionSize(delegate->sizeForBytes(8).height());
logs->verticalHeader()->setVisible(false);
logs->setFrameShape(QFrame::NoFrame);

6
tools/cabana/historylog.h
Unescape View File

@ -46,9 +46,9 @@ public slots:
public:
struct Message {
uint64_t mono_time = 0;
QVector<double> sig_values;
QByteArray data;
QVector<QColor> colors;
std::vector<double> sig_values;
std::vector<uint8_t> data;
std::vector<QColor> colors;
};
template <class InputIt>

33
tools/cabana/mainwin.cc
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@ -21,6 +21,7 @@
#include "tools/cabana/commands.h"
#include "tools/cabana/streamselector.h"
#include "tools/cabana/tools/findsignal.h"
#include "tools/replay/replay.h"
MainWindow::MainWindow() : QMainWindow() {
createDockWindows();
@ -84,8 +85,8 @@ void MainWindow::createActions() {
close_stream_act->setEnabled(false);
file_menu->addSeparator();
file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New);
file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
@ -111,19 +112,15 @@ void MainWindow::createActions() {
file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
file_menu->addSeparator();
save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
save_dbc->setShortcuts(QKeySequence::Save);
save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
save_dbc_as->setShortcuts(QKeySequence::SaveAs);
save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save, QKeySequence::Save);
save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs, QKeySequence::SaveAs);
copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard);
file_menu->addSeparator();
file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption, QKeySequence::Preferences);
file_menu->addSeparator();
file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows, QKeySequence::Quit);
// Edit Menu
QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
@ -157,7 +154,7 @@ void MainWindow::createActions() {
// Help Menu
QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp, QKeySequence::HelpContents);
help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
}
@ -374,7 +371,7 @@ void MainWindow::eventsMerged() {
auto dbc_name = fingerprint_to_dbc[car_fingerprint];
if (dbc_name != QJsonValue::Undefined) {
// Prevent dialog that load autosaved file from blocking replay->start().
QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
}
}
}
@ -471,11 +468,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
void MainWindow::updateLoadSaveMenus() {
int cnt = dbc()->nonEmptyDBCCount();
if (cnt > 1) {
save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
} else {
save_dbc->setText(tr("Save DBC..."));
}
save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
save_dbc->setEnabled(cnt > 0);
save_dbc_as->setEnabled(cnt == 1);
@ -608,12 +601,6 @@ void MainWindow::closeEvent(QCloseEvent *event) {
}
settings.message_header_state = messages_widget->saveHeaderState();
auto status = settings.save();
if (status == QSettings::AccessError) {
QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath());
qDebug() << error;
QMessageBox::warning(this, tr("Failed to write settings"), error);
}
QWidget::closeEvent(event);
}

438
tools/cabana/messageswidget.cc
Unescape View File

@ -1,10 +1,8 @@
#include "tools/cabana/messageswidget.h"
#include <algorithm>
#include <limits>
#include <utility>
#include <vector>
#include <QCheckBox>
#include <QHBoxLayout>
#include <QPainter>
#include <QPushButton>
@ -13,34 +11,17 @@
#include "tools/cabana/commands.h"
MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
QHBoxLayout *title_layout = new QHBoxLayout();
num_msg_label = new QLabel(this);
title_layout->addSpacing(10);
title_layout->addWidget(num_msg_label);
title_layout->addStretch();
title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this));
multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines"));
multiple_lines_bytes->setChecked(settings.multiple_lines_bytes);
QPushButton *clear_filters = new QPushButton(tr("&Clear Filters"));
clear_filters->setEnabled(false);
title_layout->addWidget(clear_filters);
main_layout->addLayout(title_layout);
main_layout->setSpacing(0);
// toolbar
main_layout->addWidget(createToolBar());
// message table
view = new MessageView(this);
model = new MessageListModel(this);
header = new MessageViewHeader(this);
auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
view->setItemDelegate(delegate);
view->setHeader(header);
view->setModel(model);
view->setHeader(header);
main_layout->addWidget(view = new MessageView(this));
view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_hex));
view->setModel(model = new MessageListModel(this));
view->setHeader(header = new MessageViewHeader(this));
view->setSortingEnabled(true);
view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
view->setAllColumnsShowFocus(true);
@ -48,49 +29,33 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
view->setItemsExpandable(false);
view->setIndentation(0);
view->setRootIsDecorated(false);
view->setUniformRowHeights(!settings.multiple_lines_hex);
// Must be called before setting any header parameters to avoid overriding
restoreHeaderState(settings.message_header_state);
view->header()->setSectionsMovable(true);
view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed);
view->header()->setStretchLastSection(true);
// Header context menu
view->header()->setContextMenuPolicy(Qt::CustomContextMenu);
QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent);
main_layout->addWidget(view);
header->setSectionsMovable(true);
header->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed);
header->setStretchLastSection(true);
header->setContextMenuPolicy(Qt::CustomContextMenu);
// suppress
QHBoxLayout *suppress_layout = new QHBoxLayout();
suppress_add = new QPushButton("Suppress Highlighted");
suppress_clear = new QPushButton();
suppress_layout->addWidget(suppress_add);
suppress_layout->addWidget(suppress_clear);
QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this);
suppress_layout->addWidget(suppress_add = new QPushButton("Suppress Highlighted"));
suppress_layout->addWidget(suppress_clear = new QPushButton());
suppress_clear->setToolTip(tr("Clear suppressed"));
suppress_layout->addStretch(1);
QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Signals"), this);
suppress_defined_signals->setToolTip(tr("Suppress defined signals"));
suppress_defined_signals->setChecked(settings.suppress_defined_signals);
suppress_layout->addWidget(suppress_defined_signals);
main_layout->addLayout(suppress_layout);
// signals/slots
QObject::connect(menu, &QMenu::aboutToShow, this, &MessagesWidget::menuAboutToShow);
QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap<int, QString> &filters) {
clear_filters->setEnabled(!filters.isEmpty());
});
QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters);
QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
settings.multiple_lines_bytes = (state == Qt::Checked);
delegate->setMultipleLines(settings.multiple_lines_bytes);
view->setUniformRowHeights(!settings.multiple_lines_bytes);
// Reset model to force recalculation of the width of the bytes column
model->forceResetModel();
});
QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
settings.suppress_defined_signals = (state == Qt::Checked);
emit settings.changed();
});
QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals);
QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified);
@ -101,24 +66,17 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
view->updateBytesSectionSize();
});
QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
if (current.isValid() && current.row() < model->msgs.size()) {
auto &id = model->msgs[current.row()];
if (current.isValid() && current.row() < model->items_.size()) {
const auto &id = model->items_[current.row()].id;
if (!current_msg_id || id != *current_msg_id) {
current_msg_id = id;
emit msgSelectionChanged(*current_msg_id);
}
}
});
QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
model->suppress();
updateSuppressedButtons();
});
QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
model->clearSuppress();
updateSuppressedButtons();
});
updateSuppressedButtons();
QObject::connect(suppress_add, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
QObject::connect(suppress_clear, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
suppressHighlighted();
setWhatsThis(tr(R"(
<b>Message View</b><br/>
@ -130,26 +88,73 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
)"));
}
QToolBar *MessagesWidget::createToolBar() {
QToolBar *toolbar = new QToolBar(this);
toolbar->setIconSize({12, 12});
toolbar->addWidget(num_msg_label = new QLabel(this));
num_msg_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
auto views_btn = toolbar->addAction(utils::icon("three-dots"), tr("View..."));
views_btn->setMenu(menu);
auto view_button = qobject_cast<QToolButton *>(toolbar->widgetForAction(views_btn));
view_button->setPopupMode(QToolButton::InstantPopup);
view_button->setToolButtonStyle(Qt::ToolButtonIconOnly);
view_button->setStyleSheet("QToolButton::menu-indicator { image: none; }");
return toolbar;
}
void MessagesWidget::dbcModified() {
num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount()));
model->dbcModified();
}
void MessagesWidget::selectMessage(const MessageId &msg_id) {
auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id);
if (it != model->msgs.cend()) {
view->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0));
auto it = std::find_if(model->items_.cbegin(), model->items_.cend(),
[&msg_id](auto &item) { return item.id == msg_id; });
if (it != model->items_.cend()) {
view->setCurrentIndex(model->index(std::distance(model->items_.cbegin(), it), 0));
}
}
void MessagesWidget::updateSuppressedButtons() {
if (model->suppressed_bytes.empty()) {
suppress_clear->setEnabled(false);
suppress_clear->setText("Clear Suppressed");
} else {
void MessagesWidget::suppressHighlighted() {
if (sender() == suppress_add) {
size_t n = can->suppressHighlighted();
suppress_clear->setText(tr("Clear (%1)").arg(n));
suppress_clear->setEnabled(true);
suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
} else {
can->clearSuppressed();
suppress_clear->setText(tr("Clear"));
suppress_clear->setEnabled(false);
}
}
void MessagesWidget::headerContextMenuEvent(const QPoint &pos) {
menu->exec(header->mapToGlobal(pos));
}
void MessagesWidget::menuAboutToShow() {
menu->clear();
for (int i = 0; i < header->count(); ++i) {
int logical_index = header->logicalIndex(i);
auto action = menu->addAction(model->headerData(logical_index, Qt::Horizontal).toString(),
[=](bool checked) { header->setSectionHidden(logical_index, !checked); });
action->setCheckable(true);
action->setChecked(!header->isSectionHidden(logical_index));
// Can't hide the name column
action->setEnabled(logical_index > 0);
}
menu->addSeparator();
auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
action->setCheckable(true);
action->setChecked(settings.multiple_lines_hex);
}
void MessagesWidget::setMultiLineBytes(bool multi) {
settings.multiple_lines_hex = multi;
delegate->setMultipleLines(multi);
view->setUniformRowHeights(!multi);
view->updateBytesSectionSize();
view->doItemsLayout();
}
// MessageListModel
@ -160,6 +165,7 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
case Column::NAME: return tr("Name");
case Column::SOURCE: return tr("Bus");
case Column::ADDRESS: return tr("ID");
case Column::NODE: return tr("Node");
case Column::FREQ: return tr("Freq");
case Column::COUNT: return tr("Count");
case Column::DATA: return tr("Bytes");
@ -169,43 +175,34 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
}
QVariant MessageListModel::data(const QModelIndex &index, int role) const {
if (!index.isValid() || index.row() >= msgs.size()) return {};
const auto &id = msgs[index.row()];
auto &can_data = can->lastMessage(id);
if (!index.isValid() || index.row() >= items_.size()) return {};
auto getFreq = [](const CanData &d) -> QString {
auto getFreq = [](const CanData &d) {
if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
return d.freq >= 0.95 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2);
} else {
return "--";
return QStringLiteral("--");
}
};
const auto &item = items_[index.row()];
if (role == Qt::DisplayRole) {
switch (index.column()) {
case Column::NAME: return msgName(id);
case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A";
case Column::ADDRESS: return QString::number(id.address, 16);
case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A";
case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A";
case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A";
case Column::NAME: return item.name;
case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : "N/A";
case Column::ADDRESS: return QString::number(item.id.address, 16);
case Column::NODE: return item.node;
case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(*item.data) : "N/A";
case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(item.data->count) : "N/A";
case Column::DATA: return item.id.source != INVALID_SOURCE ? "" : "N/A";
}
} else if (role == ColorsRole) {
QVector<QColor> colors = can_data.colors;
if (!suppressed_bytes.empty()) {
for (int i = 0; i < colors.size(); i++) {
if (suppressed_bytes.contains({id, i})) {
colors[i] = QColor(255, 255, 255, 0);
}
}
}
return QVariant::fromValue(colors);
} else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) {
return can_data.dat;
return QVariant::fromValue((void*)(&item.data->colors));
} else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
return QVariant::fromValue((void*)(&item.data->dat));
} else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
auto msg = dbc()->msg(id);
auto tooltip = msg ? msg->name : UNTITLED;
auto msg = dbc()->msg(item.id);
auto tooltip = item.name;
if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
return tooltip;
}
@ -213,49 +210,31 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
}
void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
filter_str = filters;
fetchData();
filters_ = filters;
filterAndSort();
}
void MessageListModel::dbcModified() {
dbc_address.clear();
dbc_messages_.clear();
for (const auto &[_, m] : dbc()->getMessages(-1)) {
dbc_address.insert(m.address);
dbc_messages_.insert(MessageId{.source = INVALID_SOURCE, .address = m.address});
}
fetchData();
filterAndSort(true);
}
void MessageListModel::sortMessages(std::vector<MessageId> &new_msgs) {
if (sort_column == Column::NAME) {
std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
auto ll = std::pair{msgName(l), l};
auto rr = std::pair{msgName(r), r};
return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
});
} else if (sort_column == Column::SOURCE) {
std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
auto ll = std::pair{l.source, l};
auto rr = std::pair{r.source, r};
return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
});
} else if (sort_column == Column::ADDRESS) {
std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
auto ll = std::pair{l.address, l};
auto rr = std::pair{r.address, r};
return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
});
} else if (sort_column == Column::FREQ) {
std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
auto ll = std::pair{can->lastMessage(l).freq, l};
auto rr = std::pair{can->lastMessage(r).freq, r};
return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
});
} else if (sort_column == Column::COUNT) {
std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
auto ll = std::pair{can->lastMessage(l).count, l};
auto rr = std::pair{can->lastMessage(r).count, r};
return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
void MessageListModel::sortItems(std::vector<MessageListModel::Item> &items) {
auto do_sort = [order = sort_order](std::vector<MessageListModel::Item> &m, auto proj) {
std::stable_sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
return order == Qt::AscendingOrder ? proj(l) < proj(r) : proj(l) > proj(r);
});
};
switch (sort_column) {
case Column::NAME: do_sort(items, [](auto &item) { return std::tie(item.name, item.id); }); break;
case Column::SOURCE: do_sort(items, [](auto &item) { return std::tie(item.id.source, item.id); }); break;
case Column::ADDRESS: do_sort(items, [](auto &item) { return std::tie(item.id.address, item.id);}); break;
case Column::NODE: do_sort(items, [](auto &item) { return std::tie(item.node, item.id);}); break;
case Column::FREQ: do_sort(items, [](auto &item) { return std::tie(item.data->freq, item.id); }); break;
case Column::COUNT: do_sort(items, [](auto &item) { return std::tie(item.data->count, item.id); }); break;
}
}
@ -274,80 +253,85 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
return ok && value >= min && value <= max;
}
bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters) {
bool MessageListModel::match(const MessageListModel::Item &item) {
if (filters_.isEmpty())
return true;
bool match = true;
for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) {
for (auto it = filters_.cbegin(); it != filters_.cend() && match; ++it) {
const QString &txt = it.value();
QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
switch (it.key()) {
case Column::NAME: {
const auto msg = dbc()->msg(id);
match = re.match(msg ? msg->name : UNTITLED).hasMatch();
match = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(),
[&re](const auto &s) { return re.match(s->name).hasMatch(); }));
match = item.name.contains(txt, Qt::CaseInsensitive);
if (!match) {
const auto m = dbc()->msg(item.id);
match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
[&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
}
break;
}
case Column::SOURCE:
match = parseRange(txt, id.source);
match = parseRange(txt, item.id.source);
break;
case Column::ADDRESS: {
match = re.match(QString::number(id.address, 16)).hasMatch();
match = match || parseRange(txt, id.address, 16);
case Column::ADDRESS:
match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
match = match || parseRange(txt, item.id.address, 16);
break;
case Column::NODE:
match = item.node.contains(txt, Qt::CaseInsensitive);
break;
}
case Column::FREQ:
// TODO: Hide stale messages?
match = parseRange(txt, data.freq);
match = parseRange(txt, item.data->freq);
break;
case Column::COUNT:
match = parseRange(txt, data.count);
match = parseRange(txt, item.data->count);
break;
case Column::DATA: {
match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive);
match = match || re.match(QString(data.dat.toHex())).hasMatch();
match = match || re.match(QString(data.dat.toHex(' '))).hasMatch();
case Column::DATA:
match = utils::toHex(item.data->dat).contains(txt, Qt::CaseInsensitive);
break;
}
}
}
return match;
}
void MessageListModel::fetchData() {
std::vector<MessageId> new_msgs;
new_msgs.reserve(can->last_msgs.size() + dbc_address.size());
auto address = dbc_address;
for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) {
new_msgs.push_back(it.key());
}
address.remove(it.key().address);
void MessageListModel::filterAndSort(bool force_reset) {
// merge CAN and DBC messages
std::vector<MessageId> all_messages;
all_messages.reserve(can->lastMessages().size() + dbc_messages_.size());
auto dbc_msgs = dbc_messages_;
for (const auto &[id, m] : can->lastMessages()) {
all_messages.push_back(id);
dbc_msgs.erase(MessageId{.source = INVALID_SOURCE, .address = id.address});
}
std::copy(dbc_msgs.begin(), dbc_msgs.end(), std::back_inserter(all_messages));
// merge all DBC messages
for (auto &addr : address) {
MessageId id{.source = INVALID_SOURCE, .address = addr};
if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) {
new_msgs.push_back(id);
}
// filter and sort
std::vector<Item> items;
for (const auto &id : all_messages) {
auto msg = dbc()->msg(id);
Item item = {.id = id,
.name = msg ? msg->name : UNTITLED,
.node = msg ? msg->transmitter : QString(),
.data = &can->lastMessage(id)};
if (match(item))
items.emplace_back(item);
}
sortItems(items);
sortMessages(new_msgs);
if (msgs != new_msgs) {
if (force_reset || items_ != items) {
beginResetModel();
msgs = std::move(new_msgs);
items_ = std::move(items);
endResetModel();
}
}
void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids) {
if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) {
fetchData();
void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids) {
if (has_new_ids || filters_.contains(Column::FREQ) || filters_.contains(Column::COUNT) || filters_.contains(Column::DATA)) {
filterAndSort();
}
for (int i = 0; i < msgs.size(); ++i) {
if (new_msgs->contains(msgs[i])) {
for (int i = 0; i < items_.size(); ++i) {
if (!new_msgs || new_msgs->count(items_[i].id)) {
for (int col = Column::FREQ; col < columnCount(); ++col)
emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
}
@ -355,36 +339,13 @@ void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, b
}
void MessageListModel::sort(int column, Qt::SortOrder order) {
if (column != columnCount() - 1) {
if (column != Column::DATA) {
sort_column = column;
sort_order = order;
fetchData();
filterAndSort();
}
}
void MessageListModel::suppress() {
const double cur_ts = can->currentSec();
for (auto &id : msgs) {
auto &can_data = can->lastMessage(id);
for (int i = 0; i < can_data.dat.size(); i++) {
const double dt = cur_ts - can_data.last_change_t[i];
if (dt < 2.0) {
suppressed_bytes.insert({id, i});
}
}
}
}
void MessageListModel::clearSuppress() {
suppressed_bytes.clear();
}
void MessageListModel::forceResetModel() {
beginResetModel();
endResetModel();
}
// MessageView
void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@ -415,45 +376,14 @@ void MessageView::updateBytesSectionSize() {
auto delegate = ((MessageBytesDelegate *)itemDelegate());
int max_bytes = 8;
if (!delegate->multipleLines()) {
for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) {
max_bytes = std::max(max_bytes, it.value().dat.size());
for (const auto &[_, m] : can->lastMessages()) {
max_bytes = std::max<int>(max_bytes, m.dat.size());
}
}
int width = delegate->widthForBytes(max_bytes);
if (header()->sectionSize(MessageListModel::Column::DATA) != width) {
header()->resizeSection(MessageListModel::Column::DATA, width);
}
header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
}
void MessageView::headerContextMenuEvent(const QPoint &pos) {
QMenu menu(this);
int cur_index = header()->logicalIndexAt(pos);
QAction *action;
for (int visual_index = 0; visual_index < header()->count(); visual_index++) {
int logical_index = header()->logicalIndex(visual_index);
QString column_name = model()->headerData(logical_index, Qt::Horizontal).toString();
// Hide show action
if (header()->isSectionHidden(logical_index)) {
action = menu.addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); });
} else {
action = menu.addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); });
}
// Can't hide the name column
action->setEnabled(logical_index > 0);
// Make current column bold
if (logical_index == cur_index) {
QFont font = action->font();
font.setBold(true);
action->setFont(font);
}
}
menu.exec(header()->mapToGlobal(pos));
}
// MessageViewHeader
MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions);
@ -463,29 +393,19 @@ MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizont
void MessageViewHeader::updateFilters() {
QMap<int, QString> filters;
for (int i = 0; i < count(); i++) {
if (editors[i]) {
QString filter = editors[i]->text();
if (!filter.isEmpty()) {
filters[i] = filter;
}
if (editors[i] && !editors[i]->text().isEmpty()) {
filters[i] = editors[i]->text();
}
}
emit filtersUpdated(filters);
}
void MessageViewHeader::clearFilters() {
for (QLineEdit *editor : editors) {
editor->clear();
}
}
void MessageViewHeader::updateHeaderPositions() {
QSize sz = QHeaderView::sizeHint();
for (int i = 0; i < count(); i++) {
if (editors[i]) {
int h = editors[i]->sizeHint().height();
editors[i]->move(sectionViewportPosition(i), sz.height());
editors[i]->resize(sectionSize(i), h);
editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
editors[i]->setHidden(isSectionHidden(i));
}
}
@ -508,11 +428,7 @@ void MessageViewHeader::updateGeometries() {
updateHeaderPositions();
}
QSize MessageViewHeader::sizeHint() const {
QSize sz = QHeaderView::sizeHint();
if (editors[0]) {
sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1);
}
return sz;
return editors[0] ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz;
}

51
tools/cabana/messageswidget.h
Unescape View File

@ -1,17 +1,16 @@
#pragma once
#include <algorithm>
#include <set>
#include <utility>
#include <vector>
#include <QAbstractTableModel>
#include <QCheckBox>
#include <QContextMenuEvent>
#include <QHeaderView>
#include <QLabel>
#include <QLineEdit>
#include <QMenu>
#include <QSet>
#include <QToolBar>
#include <QTreeView>
#include "tools/cabana/dbc/dbcmanager.h"
@ -21,11 +20,11 @@ class MessageListModel : public QAbstractTableModel {
Q_OBJECT
public:
enum Column {
NAME = 0,
SOURCE,
ADDRESS,
NODE,
FREQ,
COUNT,
DATA,
@ -35,24 +34,28 @@ public:
QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; }
QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
void setFilterStrings(const QMap<int, QString> &filters);
void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
void fetchData();
void suppress();
void clearSuppress();
void forceResetModel();
void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
void filterAndSort(bool force_reset = false);
void dbcModified();
std::vector<MessageId> msgs;
QSet<std::pair<MessageId, int>> suppressed_bytes;
struct Item {
MessageId id;
QString name;
QString node;
const CanData *data;
bool operator==(const Item &other) const { return id == other.id; }
};
std::vector<Item> items_;
private:
void sortMessages(std::vector<MessageId> &new_msgs);
bool matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters);
void sortItems(std::vector<MessageListModel::Item> &items);
bool match(const MessageListModel::Item &id);
QMap<int, QString> filter_str;
QSet<uint32_t> dbc_address;
QMap<int, QString> filters_;
std::set<MessageId> dbc_messages_;
int sort_column = 0;
Qt::SortOrder sort_order = Qt::AscendingOrder;
};
@ -65,23 +68,17 @@ public:
void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
void updateBytesSectionSize();
void headerContextMenuEvent(const QPoint &pos);
};
class MessageViewHeader : public QHeaderView {
// https://stackoverflow.com/a/44346317
Q_OBJECT
public:
MessageViewHeader(QWidget *parent);
void updateHeaderPositions();
void updateGeometries() override;
QSize sizeHint() const override;
public slots:
void clearFilters();
signals:
void filtersUpdated(const QMap<int, QString> &filters);
@ -99,7 +96,7 @@ public:
void selectMessage(const MessageId &message_id);
QByteArray saveHeaderState() const { return view->header()->saveState(); }
bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
void updateSuppressedButtons();
void suppressHighlighted();
public slots:
void dbcModified();
@ -108,12 +105,18 @@ signals:
void msgSelectionChanged(const MessageId &message_id);
protected:
QToolBar *createToolBar();
void headerContextMenuEvent(const QPoint &pos);
void menuAboutToShow();
void setMultiLineBytes(bool multi);
MessageView *view;
MessageViewHeader *header;
MessageBytesDelegate *delegate;
std::optional<MessageId> current_msg_id;
QCheckBox *multiple_lines_bytes;
MessageListModel *model;
QPushButton *suppress_add;
QPushButton *suppress_clear;
QLabel *num_msg_label;
QMenu *menu;
};

126
tools/cabana/settings.cc
Unescape View File

@ -6,63 +6,51 @@
#include <QFileDialog>
#include <QFormLayout>
#include <QPushButton>
#include <QSettings>
#include <QStandardPaths>
#include <type_traits>
#include "tools/cabana/util.h"
Settings settings;
QSettings::Status Settings::save() {
QSettings s(filePath(), QSettings::IniFormat);
s.setValue("fps", fps);
s.setValue("max_cached_minutes", max_cached_minutes);
s.setValue("chart_height", chart_height);
s.setValue("chart_range", chart_range);
s.setValue("chart_column_count", chart_column_count);
s.setValue("last_dir", last_dir);
s.setValue("last_route_dir", last_route_dir);
s.setValue("window_state", window_state);
s.setValue("geometry", geometry);
s.setValue("video_splitter_state", video_splitter_state);
s.setValue("recent_files", recent_files);
s.setValue("message_header_state_v3", message_header_state);
s.setValue("chart_series_type", chart_series_type);
s.setValue("theme", theme);
s.setValue("sparkline_range", sparkline_range);
s.setValue("multiple_lines_bytes", multiple_lines_bytes);
s.setValue("log_livestream", log_livestream);
s.setValue("log_path", log_path);
s.setValue("drag_direction", drag_direction);
s.setValue("suppress_defined_signals", suppress_defined_signals);
s.sync();
return s.status();
template <class SettingOperation>
void settings_op(SettingOperation op) {
QSettings s("cabana");
op(s, "absolute_time", settings.absolute_time);
op(s, "fps", settings.fps);
op(s, "max_cached_minutes", settings.max_cached_minutes);
op(s, "chart_height", settings.chart_height);
op(s, "chart_range", settings.chart_range);
op(s, "chart_column_count", settings.chart_column_count);
op(s, "last_dir", settings.last_dir);
op(s, "last_route_dir", settings.last_route_dir);
op(s, "window_state", settings.window_state);
op(s, "geometry", settings.geometry);
op(s, "video_splitter_state", settings.video_splitter_state);
op(s, "recent_files", settings.recent_files);
op(s, "message_header_state", settings.message_header_state);
op(s, "chart_series_type", settings.chart_series_type);
op(s, "theme", settings.theme);
op(s, "sparkline_range", settings.sparkline_range);
op(s, "multiple_lines_hex", settings.multiple_lines_hex);
op(s, "log_livestream", settings.log_livestream);
op(s, "log_path", settings.log_path);
op(s, "drag_direction", (int &)settings.drag_direction);
op(s, "suppress_defined_signals", settings.suppress_defined_signals);
}
void Settings::load() {
QSettings s(filePath(), QSettings::IniFormat);
fps = s.value("fps", 10).toInt();
max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
chart_height = s.value("chart_height", 200).toInt();
chart_range = s.value("chart_range", 3 * 60).toInt();
chart_column_count = s.value("chart_column_count", 1).toInt();
last_dir = s.value("last_dir", QDir::homePath()).toString();
last_route_dir = s.value("last_route_dir", QDir::homePath()).toString();
window_state = s.value("window_state").toByteArray();
geometry = s.value("geometry").toByteArray();
video_splitter_state = s.value("video_splitter_state").toByteArray();
recent_files = s.value("recent_files").toStringList();
message_header_state = s.value("message_header_state_v3").toByteArray();
chart_series_type = s.value("chart_series_type", 0).toInt();
theme = s.value("theme", 0).toInt();
sparkline_range = s.value("sparkline_range", 15).toInt();
multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
log_livestream = s.value("log_livestream", true).toBool();
log_path = s.value("log_path").toString();
drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt();
suppress_defined_signals = s.value("suppress_defined_signals", false).toBool();
if (log_path.isEmpty()) {
log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
}
Settings::Settings() {
last_dir = last_route_dir = QDir::homePath();
log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
settings_op([](QSettings &s, const QString &key, auto &value) {
if (auto v = s.value(key); v.canConvert<std::decay_t<decltype(value)>>())
value = v.value<std::decay_t<decltype(value)>>();
});
}
Settings::~Settings() {
settings_op([](QSettings &s, const QString &key, auto &v) { s.setValue(key, v); });
}
// SettingsDlg
@ -73,45 +61,39 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
QGroupBox *groupbox = new QGroupBox("General");
QFormLayout *form_layout = new QFormLayout(groupbox);
theme = new QComboBox(this);
form_layout->addRow(tr("Color Theme"), theme = new QComboBox(this));
theme->setToolTip(tr("You may need to restart cabana after changes theme"));
theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
theme->setCurrentIndex(settings.theme);
form_layout->addRow(tr("Color Theme"), theme);
fps = new QSpinBox(this);
form_layout->addRow("FPS", fps = new QSpinBox(this));
fps->setRange(10, 100);
fps->setSingleStep(10);
fps->setValue(settings.fps);
form_layout->addRow("FPS", fps);
cached_minutes = new QSpinBox(this);
form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
cached_minutes->setRange(5, 60);
cached_minutes->setSingleStep(1);
cached_minutes->setValue(settings.max_cached_minutes);
form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
main_layout->addWidget(groupbox);
groupbox = new QGroupBox("New Signal Settings");
form_layout = new QFormLayout(groupbox);
drag_direction = new QComboBox(this);
form_layout->addRow(tr("Drag Direction"), drag_direction = new QComboBox(this));
drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
drag_direction->setCurrentIndex(settings.drag_direction);
form_layout->addRow(tr("Drag Direction"), drag_direction);
main_layout->addWidget(groupbox);
groupbox = new QGroupBox("Chart");
form_layout = new QFormLayout(groupbox);
chart_series_type = new QComboBox(this);
form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
chart_series_type->setCurrentIndex(settings.chart_series_type);
form_layout->addRow(tr("Chart Default Series Type"), chart_series_type);
chart_height = new QSpinBox(this);
form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
chart_height->setRange(100, 500);
chart_height->setSingleStep(10);
chart_height->setValue(settings.chart_height);
form_layout->addRow(tr("Chart Height"), chart_height);
main_layout->addWidget(groupbox);
log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
@ -123,10 +105,9 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
path_layout->addWidget(browse_btn);
main_layout->addWidget(log_livestream);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
main_layout->addWidget(buttonBox);
main_layout->addStretch(1);
setFixedSize(400, sizeHint().height());
QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
QString fn = QFileDialog::getExistingDirectory(
@ -137,31 +118,22 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
log_path->setText(fn);
}
});
QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
auto role = buttonBox->buttonRole(button);
if (role == QDialogButtonBox::AcceptRole) {
save();
accept();
} else if (role == QDialogButtonBox::ApplyRole) {
save();
} else if (role == QDialogButtonBox::RejectRole) {
reject();
}
});
QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
}
void SettingsDlg::save() {
settings.fps = fps->value();
if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
// set theme before emit changed
utils::setTheme(settings.theme);
}
settings.fps = fps->value();
settings.max_cached_minutes = cached_minutes->value();
settings.chart_series_type = chart_series_type->currentIndex();
settings.chart_height = chart_height->value();
settings.log_livestream = log_livestream->isChecked();
settings.log_path = log_path->text();
settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
settings.save();
emit settings.changed();
QDialog::accept();
}

16
tools/cabana/settings.h
Unescape View File

@ -1,13 +1,10 @@
#pragma once
#include <QApplication>
#include <QByteArray>
#include <QCheckBox>
#include <QComboBox>
#include <QDialog>
#include <QGroupBox>
#include <QLineEdit>
#include <QSettings>
#include <QSpinBox>
#define LIGHT_THEME 1
@ -24,11 +21,10 @@ public:
AlwaysBE,
};
Settings() {}
QSettings::Status save();
void load();
inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; }
Settings();
~Settings();
bool absolute_time = false;
int fps = 10;
int max_cached_minutes = 30;
int chart_height = 200;
@ -37,7 +33,7 @@ public:
int chart_series_type = 0;
int theme = 0;
int sparkline_range = 15; // 15 seconds
bool multiple_lines_bytes = true;
bool multiple_lines_hex = false;
bool log_livestream = true;
bool suppress_defined_signals = false;
QString log_path;
@ -48,15 +44,13 @@ public:
QByteArray window_state;
QStringList recent_files;
QByteArray message_header_state;
DragDirection drag_direction;
DragDirection drag_direction = MsbFirst;
signals:
void changed();
};
class SettingsDlg : public QDialog {
Q_OBJECT
public:
SettingsDlg(QWidget *parent);
void save();

36
tools/cabana/signalview.cc
Unescape View File

@ -36,8 +36,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
parent_item->children.insert(pos, item);
QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
"Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
"Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
for (int i = 0; i < std::size(titles); ++i) {
item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
}
@ -68,10 +68,7 @@ void SignalModel::refresh() {
}
SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
SignalModel::Item *item = nullptr;
if (index.isValid()) {
item = (SignalModel::Item *)index.internalPointer();
}
auto item = index.isValid() ? (SignalModel::Item *)index.internalPointer() : nullptr;
return item ? item : root.get();
}
@ -369,8 +366,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
painter->setFont(label_font);
QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq);
QFontMetrics fm(label_font);
value_adjust = fm.width(freq) + 10;
value_adjust = QFontMetrics(label_font).width(freq) + 10;
}
// signal value
painter->setFont(option.font);
@ -447,7 +443,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
QRegularExpression re("\\S+");
filter_edit->setValidator(new QRegularExpressionValidator(re, this));
filter_edit->setClearButtonEnabled(true);
filter_edit->setPlaceholderText(tr("filter signals"));
filter_edit->setPlaceholderText(tr("Filter Signal"));
hl->addWidget(filter_edit);
hl->addStretch(1);
@ -502,6 +498,12 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
QObject::connect(tree->header(), &QHeaderView::sectionResized, [this](int logicalIndex, int oldSize, int newSize) {
if (logicalIndex == 1) {
value_column_width = newSize;
updateState();
}
});
setWhatsThis(tr(R"(
<b>Signal view</b><br />
@ -616,13 +618,13 @@ void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
}
}
void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
void SignalView::updateState(const std::set<MessageId> *msgs) {
const auto &last_msg = can->lastMessage(model->msg_id);
if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return;
if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
for (auto item : model->root->children) {
double value = 0;
if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) {
if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
item->sig_val = item->sig->formatValue(value);
}
max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
@ -638,11 +640,11 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
}
QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
int value_width = std::min<int>(max_value_width, size.width() * 0.35);
size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
int available_width = value_column_width - delegate->button_size.width();
int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
QSize size(available_width - value_width,
delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
QFutureSynchronizer<void> synchronizer;
for (int i = first_visible_row; i <= last_visible_row; ++i) {
auto item = model->getItem(model->index(i, 1));

6
tools/cabana/signalview.h
Unescape View File

@ -1,6 +1,7 @@
#pragma once
#include <memory>
#include <set>
#include <QAbstractItemModel>
#include <QLabel>
@ -82,7 +83,7 @@ class SignalItemDelegate : public QStyledItemDelegate {
public:
SignalItemDelegate(QObject *parent);
void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
@ -117,7 +118,7 @@ private:
void setSparklineRange(int value);
void handleSignalAdded(MessageId id, const cabana::Signal *sig);
void handleSignalUpdated(const cabana::Signal *sig);
void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
void updateState(const std::set<MessageId> *msgs = nullptr);
struct TreeView : public QTreeView {
TreeView(QWidget *parent) : QTreeView(parent) {}
@ -136,6 +137,7 @@ private:
}
};
int max_value_width = 0;
int value_column_width = 0;
TreeView *tree;
QLabel *sparkline_label;
QSlider *sparkline_range_slider;

284
tools/cabana/streams/abstractstream.cc
Unescape View File

@ -1,9 +1,10 @@
#include "tools/cabana/streams/abstractstream.h"
#include <algorithm>
#include <vector>
#include <utility>
#include <QTimer>
#include "common/timing.h"
#include "tools/cabana/settings.h"
static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB
@ -16,82 +17,97 @@ StreamNotifier *StreamNotifier::instance() {
AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
assert(parent != nullptr);
new_msgs = std::make_unique<QHash<MessageId, CanData>>();
event_buffer = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
QObject::connect(this, &AbstractStream::streamStarted, [this]() {
emit StreamNotifier::instance()->changingStream();
delete can;
can = this;
// TODO: add method stop() to class AbstractStream
QObject::connect(qApp, &QApplication::aboutToQuit, can, []() {
qDebug() << "stopping stream thread";
can->pause(true);
});
emit StreamNotifier::instance()->streamStarted();
});
}
void AbstractStream::updateMasks() {
std::lock_guard lk(mutex);
masks.clear();
if (settings.suppress_defined_signals) {
for (auto s : sources) {
if (auto f = dbc()->findDBCFile(s)) {
for (const auto &[address, m] : f->getMessages()) {
masks[{.source = (uint8_t)s, .address = address}] = m.mask;
}
std::lock_guard lk(mutex_);
masks_.clear();
if (!settings.suppress_defined_signals)
return;
for (const auto s : sources) {
for (const auto &[address, m] : dbc()->getMessages(s)) {
masks_[{.source = (uint8_t)s, .address = address}] = m.mask;
}
}
// clear bit change counts
for (auto &[id, m] : messages_) {
auto &mask = masks_[id];
const int size = std::min(mask.size(), m.last_changes.size());
for (int i = 0; i < size; ++i) {
for (int j = 0; j < 8; ++j) {
if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
}
}
}
}
void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
void AbstractStream::suppressDefinedSignals(bool suppress) {
settings.suppress_defined_signals = suppress;
updateMasks();
}
size_t AbstractStream::suppressHighlighted() {
std::lock_guard lk(mutex_);
size_t cnt = 0;
const double cur_ts = currentSec();
for (auto &[_, m] : messages_) {
for (auto &last_change : m.last_changes) {
const double dt = cur_ts - last_change.ts;
if (dt < 2.0) {
last_change.suppressed = true;
}
// clear bit change counts
last_change.bit_change_counts.fill(0);
cnt += last_change.suppressed;
}
}
return cnt;
}
void AbstractStream::clearSuppressed() {
std::lock_guard lk(mutex_);
for (auto &[_, m] : messages_) {
std::for_each(m.last_changes.begin(), m.last_changes.end(), [](auto &c) { c.suppressed = false; });
}
}
void AbstractStream::updateLastMessages() {
auto prev_src_size = sources.size();
auto prev_msg_size = last_msgs.size();
for (auto it = messages->begin(); it != messages->end(); ++it) {
const auto &id = it.key();
last_msgs[id] = it.value();
sources.insert(id.source);
std::set<MessageId> msgs;
{
std::lock_guard lk(mutex_);
for (const auto &id : new_msgs_) {
last_msgs[id] = messages_[id];
sources.insert(id.source);
}
msgs = std::move(new_msgs_);
}
if (sources.size() != prev_src_size) {
updateMasks();
emit sourcesUpdated(sources);
}
emit updated();
emit msgsReceived(messages, prev_msg_size != last_msgs.size());
delete messages;
processing = false;
emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
}
void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
std::lock_guard lk(mutex);
auto mask_it = masks.find(id);
std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
all_msgs[id].compute(id, (const char *)data, size, sec, getSpeed(), mask);
if (!new_msgs->contains(id)) {
new_msgs->insert(id, {});
}
}
bool AbstractStream::postEvents() {
// delay posting CAN message if UI thread is busy
if (processing == false) {
processing = true;
for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
it.value() = all_msgs[it.key()];
}
// use pointer to avoid data copy in queued connection.
QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection);
new_msgs.reset(new QHash<MessageId, CanData>);
new_msgs->reserve(100);
return true;
}
return false;
std::lock_guard lk(mutex_);
messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
new_msgs_.insert(id);
}
const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
@ -103,93 +119,81 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
const CanData &AbstractStream::lastMessage(const MessageId &id) {
static CanData empty_data = {};
auto it = last_msgs.find(id);
return it != last_msgs.end() ? it.value() : empty_data;
return it != last_msgs.end() ? it->second : empty_data;
}
// it is thread safe to update data in updateLastMsgsTo.
// updateLastMsgsTo is always called in UI thread.
void AbstractStream::updateLastMsgsTo(double sec) {
new_msgs.reset(new QHash<MessageId, CanData>);
all_msgs.clear();
last_msgs.clear();
new_msgs_.clear();
messages_.clear();
uint64_t last_ts = (sec + routeStartTime()) * 1e9;
for (auto &[id, ev] : events_) {
auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) {
return e->mono_time > ts;
});
auto mask_it = masks.find(id);
std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
if (it != ev.crend()) {
double ts = (*it)->mono_time / 1e9 - routeStartTime();
auto &m = all_msgs[id];
m.compute(id, (const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask);
m.count = std::distance(it, ev.crend());
for (const auto &[id, ev] : events_) {
auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
if (it != ev.begin()) {
auto prev = std::prev(it);
double ts = (*prev)->mono_time / 1e9 - routeStartTime();
auto &m = messages_[id];
m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
m.count = std::distance(ev.begin(), prev) + 1;
}
}
// deep copy all_msgs to last_msgs to avoid multi-threading issue.
last_msgs = all_msgs;
last_msgs.detach();
// use a timer to prevent recursive calls
QTimer::singleShot(0, [this]() {
emit updated();
emit msgsReceived(&last_msgs, true);
});
bool id_changed = messages_.size() != last_msgs.size() ||
std::any_of(messages_.cbegin(), messages_.cend(),
[this](const auto &m) { return !last_msgs.count(m.first); });
last_msgs = messages_;
emit msgsReceived(nullptr, id_changed);
}
void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
static std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events_map;
static std::vector<const CanEvent *> new_events;
new_events_map.clear();
new_events.clear();
for (auto it = first; it != last; ++it) {
if ((*it)->which == cereal::Event::Which::CAN) {
uint64_t ts = (*it)->mono_time;
for (const auto &c : (*it)->event.getCan()) {
auto dat = c.getDat();
CanEvent *e = (CanEvent *)event_buffer->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
e->src = c.getSrc();
e->address = c.getAddress();
e->mono_time = ts;
e->size = dat.size();
memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
new_events_map[{.source = e->src, .address = e->address}].push_back(e);
new_events.push_back(e);
}
}
}
const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
auto dat = c.getDat();
CanEvent *e = (CanEvent *)event_buffer_->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
e->src = c.getSrc();
e->address = c.getAddress();
e->mono_time = mono_time;
e->size = dat.size();
memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
return e;
}
for (auto &[id, new_e] : new_events_map) {
auto &e = events_[id];
auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
e.insert(insert_pos, new_e.cbegin(), new_e.cend());
void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
static MessageEventsMap msg_events;
std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
for (auto e : events) {
msg_events[{.source = e->src, .address = e->address}].push_back(e);
}
if (!new_events.empty()) {
auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
if (!events.empty()) {
for (const auto &[id, new_e] : msg_events) {
if (!new_e.empty()) {
auto &e = events_[id];
auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
e.insert(pos, new_e.cbegin(), new_e.cend());
}
}
auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), events.front()->mono_time, CompareCanEvent());
all_events_.insert(pos, events.cbegin(), events.cend());
emit eventsMerged(msg_events);
}
lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
emit eventsMerged();
}
// CanData
namespace {
constexpr int periodic_threshold = 10;
constexpr int start_alpha = 128;
constexpr float fade_time = 2.0;
const QColor CYAN = QColor(0, 187, 255, start_alpha);
const QColor RED = QColor(255, 0, 0, start_alpha);
const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
enum Color { GREYISH_BLUE, CYAN, RED};
QColor getColor(int c) {
constexpr int start_alpha = 128;
static const QColor colors[] = {
[GREYISH_BLUE] = QColor(102, 86, 169, start_alpha / 2),
[CYAN] = QColor(0, 187, 255, start_alpha),
[RED] = QColor(255, 0, 0, start_alpha),
};
return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
}
inline QColor blend(const QColor &a, const QColor &b) {
return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
@ -212,8 +216,8 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
} // namespace
void CanData::compute(const MessageId &msg_id, const char *can_data, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> *mask, double in_freq) {
void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> &mask, double in_freq) {
ts = current_sec;
++count;
@ -224,55 +228,53 @@ void CanData::compute(const MessageId &msg_id, const char *can_data, const int s
if (dat.size() != size) {
dat.resize(size);
bit_change_counts.resize(size);
colors = QVector(size, QColor(0, 0, 0, 0));
last_change_t.assign(size, ts);
last_delta.resize(size);
same_delta_counter.resize(size);
colors.assign(size, QColor(0, 0, 0, 0));
last_changes.resize(size);
std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
} else {
bool lighter = settings.theme == DARK_THEME;
const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
const QColor &red = !lighter ? RED : RED_LIGHTER;
const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
constexpr int periodic_threshold = 10;
constexpr float fade_time = 2.0;
const float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
for (int i = 0; i < size; ++i) {
const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff;
auto &last_change = last_changes[i];
uint8_t mask_byte = last_change.suppressed ? 0x00 : 0xFF;
if (i < mask.size()) mask_byte &= ~(mask[i]);
const uint8_t last = dat[i] & mask_byte;
const uint8_t cur = can_data[i] & mask_byte;
const int delta = cur - last;
if (last != cur) {
double delta_t = ts - last_change_t[i];
const int delta = cur - last;
// Keep track if signal is changing randomly, or mostly moving in the same direction
if (std::signbit(delta) == std::signbit(last_delta[i])) {
same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1);
if (std::signbit(delta) == std::signbit(last_change.delta)) {
last_change.same_delta_counter = std::min(16, last_change.same_delta_counter + 1);
} else {
same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4);
last_change.same_delta_counter = std::max(0, last_change.same_delta_counter - 4);
}
const double delta_t = ts - last_change.ts;
// Mostly moves in the same direction, color based on delta up/down
if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) {
if (delta_t * freq > periodic_threshold || last_change.same_delta_counter > 8) {
// Last change was while ago, choose color based on delta up or down
colors[i] = (cur > last) ? cyan : red;
colors[i] = getColor(cur > last ? CYAN : RED);
} else {
// Periodic changes
colors[i] = blend(colors[i], greyish_blue);
colors[i] = blend(colors[i], getColor(GREYISH_BLUE));
}
// Track bit level changes
const uint8_t tmp = (cur ^ last);
for (int bit = 0; bit < 8; bit++) {
if (tmp & (1 << bit)) {
bit_change_counts[i][bit] += 1;
if (tmp & (1 << (7 - bit))) {
last_change.bit_change_counts[bit] += 1;
}
}
last_change_t[i] = ts;
last_delta[i] = delta;
last_change.ts = ts;
last_change.delta = delta;
} else {
// Fade out
float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
}
}

91
tools/cabana/streams/abstractstream.h
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@ -1,35 +1,37 @@
#pragma once
#include <array>
#include <atomic>
#include <deque>
#include <memory>
#include <tuple>
#include <mutex>
#include <set>
#include <unordered_map>
#include <vector>
#include <QColor>
#include <QHash>
#include <QDateTime>
#include "common/timing.h"
#include "cereal/messaging/messaging.h"
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/settings.h"
#include "tools/cabana/util.h"
#include "tools/replay/replay.h"
struct CanData {
void compute(const MessageId &msg_id, const char *dat, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> *mask = nullptr, double in_freq = 0);
void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> &mask, double in_freq = 0);
double ts = 0.;
uint32_t count = 0;
double freq = 0;
QByteArray dat;
QVector<QColor> colors;
std::vector<double> last_change_t;
std::vector<std::array<uint32_t, 8>> bit_change_counts;
std::vector<int> last_delta;
std::vector<int> same_delta_counter;
std::vector<uint8_t> dat;
std::vector<QColor> colors;
struct ByteLastChange {
double ts;
int delta;
int same_delta_counter;
bool suppressed;
std::array<uint32_t, 8> bit_change_counts;
};
std::vector<ByteLastChange> last_changes;
double last_freq_update_ts = 0;
};
@ -52,6 +54,8 @@ struct BusConfig {
bool can_fd = false;
};
typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
class AbstractStream : public QObject {
Q_OBJECT
@ -59,56 +63,65 @@ public:
AbstractStream(QObject *parent);
virtual ~AbstractStream() {}
virtual void start() = 0;
inline bool liveStreaming() const { return route() == nullptr; }
virtual bool liveStreaming() const { return true; }
virtual void seekTo(double ts) {}
virtual QString routeName() const = 0;
virtual QString carFingerprint() const { return ""; }
virtual QDateTime beginDateTime() const { return {}; }
virtual double routeStartTime() const { return 0; }
virtual double currentSec() const = 0;
virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
const CanData &lastMessage(const MessageId &id);
virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
virtual const Route *route() const { return nullptr; }
virtual void setSpeed(float speed) {}
virtual double getSpeed() { return 1; }
virtual bool isPaused() const { return false; }
virtual void pause(bool pause) {}
const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
inline const MessageEventsMap &eventsMap() const { return events_; }
inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
const CanData &lastMessage(const MessageId &id);
const std::vector<const CanEvent *> &events(const MessageId &id) const;
virtual const std::vector<std::tuple<double, double, TimelineType>> getTimeline() { return {}; }
size_t suppressHighlighted();
void clearSuppressed();
void suppressDefinedSignals(bool suppress);
signals:
void paused();
void resume();
void seekedTo(double sec);
void streamStarted();
void eventsMerged();
void updated();
void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
void eventsMerged(const MessageEventsMap &events_map);
void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
void sourcesUpdated(const SourceSet &s);
void privateUpdateLastMsgsSignal();
public:
QHash<MessageId, CanData> last_msgs;
SourceSet sources;
protected:
void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
bool postEvents();
uint64_t lastEventMonoTime() const { return lastest_event_ts; }
void mergeEvents(const std::vector<const CanEvent *> &events);
const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
void updateMessages(QHash<MessageId, CanData> *);
void updateMasks();
void updateLastMsgsTo(double sec);
uint64_t lastEventMonoTime() const { return lastest_event_ts; }
uint64_t lastest_event_ts = 0;
std::atomic<bool> processing = false;
std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
QHash<MessageId, CanData> all_msgs;
std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
std::vector<const CanEvent *> all_events_;
std::unique_ptr<MonotonicBuffer> event_buffer;
std::mutex mutex;
std::unordered_map<MessageId, std::vector<uint8_t>> masks;
uint64_t lastest_event_ts = 0;
private:
void updateLastMessages();
void updateLastMsgsTo(double sec);
void updateMasks();
MessageEventsMap events_;
std::unordered_map<MessageId, CanData> last_msgs;
std::unique_ptr<MonotonicBuffer> event_buffer_;
// Members accessed in multiple threads. (mutex protected)
std::mutex mutex_;
std::set<MessageId> new_msgs_;
std::unordered_map<MessageId, CanData> messages_;
std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
};
class AbstractOpenStreamWidget : public QWidget {

8
tools/cabana/streams/devicestream.cc
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@ -8,6 +8,7 @@
#include <QRadioButton>
#include <QRegularExpression>
#include <QRegularExpressionValidator>
#include <QThread>
// DeviceStream
@ -21,17 +22,14 @@ void DeviceStream::streamThread() {
std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
assert(sock != NULL);
sock->setTimeout(50);
// run as fast as messages come in
while (!QThread::currentThread()->isInterruptionRequested()) {
Message *msg = sock->receive(true);
std::unique_ptr<Message> msg(sock->receive(true));
if (!msg) {
QThread::msleep(50);
continue;
}
handleEvent(msg->getData(), msg->getSize());
delete msg;
handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
}
}

34
tools/cabana/streams/livestream.cc
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@ -1,12 +1,17 @@
#include "tools/cabana/streams/livestream.h"
#include <QThread>
#include <algorithm>
#include <fstream>
#include <memory>
#include "common/timing.h"
#include "common/util.h"
struct LiveStream::Logger {
Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
void write(const char *data, const size_t size) {
void write(kj::ArrayPtr<capnp::word> data) {
int n = (seconds_since_epoch() - start_ts) / 60.0;
if (std::exchange(segment_num, n) != segment_num) {
QString dir = QString("%1/%2--%3")
@ -17,7 +22,8 @@ struct LiveStream::Logger {
fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
}
fs->write(data, size);
auto bytes = data.asBytes();
fs->write((const char*)bytes.begin(), bytes.size());
}
std::unique_ptr<std::ofstream> fs;
@ -46,6 +52,7 @@ void LiveStream::start() {
emit streamStarted();
stream_thread->start();
startUpdateTimer();
begin_date_time = QDateTime::currentDateTime();
}
LiveStream::~LiveStream() {
@ -56,14 +63,20 @@ LiveStream::~LiveStream() {
}
// called in streamThread
void LiveStream::handleEvent(const char *data, const size_t size) {
void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
if (logger) {
logger->write(data, size);
logger->write(data);
}
std::lock_guard lk(lock);
auto &msg = receivedMessages.emplace_back(data, size);
receivedEvents.push_back(msg.event);
capnp::FlatArrayMessageReader reader(data);
auto event = reader.getRoot<cereal::Event>();
if (event.which() == cereal::Event::Which::CAN) {
const uint64_t mono_time = event.getLogMonoTime();
std::lock_guard lk(lock);
for (const auto &c : event.getCan()) {
received_events_.push_back(newEvent(mono_time, c));
}
}
}
void LiveStream::timerEvent(QTimerEvent *event) {
@ -71,9 +84,8 @@ void LiveStream::timerEvent(QTimerEvent *event) {
{
// merge events received from live stream thread.
std::lock_guard lk(lock);
mergeEvents(receivedEvents.cbegin(), receivedEvents.cend());
receivedEvents.clear();
receivedMessages.clear();
mergeEvents(received_events_);
received_events_.clear();
}
if (!all_events_.empty()) {
begin_event_ts = all_events_.front()->mono_time;
@ -111,7 +123,7 @@ void LiveStream::updateEvents() {
updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
current_event_ts = e->mono_time;
}
postEvents();
emit privateUpdateLastMsgsSignal();
}
void LiveStream::seekTo(double sec) {

17
tools/cabana/streams/livestream.h
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@ -1,6 +1,5 @@
#pragma once
#include <deque>
#include <memory>
#include <vector>
@ -15,6 +14,7 @@ public:
LiveStream(QObject *parent);
virtual ~LiveStream();
void start() override;
inline QDateTime beginDateTime() const { return begin_date_time; }
inline double routeStartTime() const override { return begin_event_ts / 1e9; }
inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; }
void setSpeed(float speed) override { speed_ = speed; }
@ -25,30 +25,21 @@ public:
protected:
virtual void streamThread() = 0;
void handleEvent(const char *data, const size_t size);
void handleEvent(kj::ArrayPtr<capnp::word> event);
private:
void startUpdateTimer();
void timerEvent(QTimerEvent *event) override;
void updateEvents();
struct Msg {
Msg(const char *data, const size_t size) {
event = ::new Event(aligned_buf.align(data, size));
}
~Msg() { ::delete event; }
Event *event;
AlignedBuffer aligned_buf;
};
std::mutex lock;
QThread *stream_thread;
std::vector<Event *> receivedEvents;
std::deque<Msg> receivedMessages;
std::vector<const CanEvent *> received_events_;
int timer_id;
QBasicTimer update_timer;
QDateTime begin_date_time;
uint64_t begin_event_ts = 0;
uint64_t current_event_ts = 0;
uint64_t first_event_ts = 0;

11
tools/cabana/streams/pandastream.cc
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@ -1,14 +1,13 @@
#include "tools/cabana/streams/pandastream.h"
#include <vector>
#include <QDebug>
#include <QCheckBox>
#include <QLabel>
#include <QMessageBox>
#include <QPushButton>
#include <QThread>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/util.h"
// TODO: remove clearLayout
static void clearLayout(QLayout* layout) {
while (layout->count() > 0) {
@ -89,7 +88,6 @@ void PandaStream::streamThread() {
MessageBuilder msg;
auto evt = msg.initEvent();
auto canData = evt.initCan(raw_can_data.size());
for (uint i = 0; i<raw_can_data.size(); i++) {
canData[i].setAddress(raw_can_data[i].address);
canData[i].setBusTime(raw_can_data[i].busTime);
@ -97,8 +95,7 @@ void PandaStream::streamThread() {
canData[i].setSrc(raw_can_data[i].src);
}
auto bytes = msg.toBytes();
handleEvent((const char*)bytes.begin(), bytes.size());
handleEvent(capnp::messageToFlatArray(msg));
panda->send_heartbeat(false);
}

1
tools/cabana/streams/pandastream.h
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@ -5,7 +5,6 @@
#include <QComboBox>
#include <QFormLayout>
#include <QVBoxLayout>
#include "tools/cabana/streams/livestream.h"
#include "selfdrive/boardd/panda.h"

55
tools/cabana/streams/replaystream.cc
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@ -8,11 +8,14 @@
ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
unsetenv("ZMQ");
setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
// TODO: Remove when OpenpilotPrefix supports ZMQ
#ifndef __APPLE__
op_prefix = std::make_unique<OpenpilotPrefix>();
#endif
QObject::connect(&settings, &Settings::changed, [this]() {
QObject::connect(&settings, &Settings::changed, this, [this]() {
if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
});
}
@ -25,18 +28,30 @@ void ReplayStream::mergeSegments() {
for (auto &[n, seg] : replay->segments()) {
if (seg && seg->isLoaded() && !processed_segments.count(n)) {
processed_segments.insert(n);
const auto &events = seg->log->events;
mergeEvents(events.cbegin(), events.cend());
std::vector<const CanEvent *> new_events;
new_events.reserve(seg->log->events.size());
for (auto it = seg->log->events.cbegin(); it != seg->log->events.cend(); ++it) {
if ((*it)->which == cereal::Event::Which::CAN) {
const uint64_t ts = (*it)->mono_time;
for (const auto &c : (*it)->event.getCan()) {
new_events.push_back(newEvent(ts, c));
}
}
}
mergeEvents(new_events);
}
}
}
bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, {}, nullptr, replay_flags, data_dir, this));
replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
{}, {}, nullptr, replay_flags, data_dir, this));
replay->setSegmentCacheLimit(settings.max_cached_minutes);
replay->installEventFilter(event_filter, this);
QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
return replay->load();
}
@ -47,7 +62,6 @@ void ReplayStream::start() {
bool ReplayStream::eventFilter(const Event *event) {
static double prev_update_ts = 0;
// delay posting CAN message if UI thread is busy
if (event->which == cereal::Event::Which::CAN) {
double current_sec = event->mono_time / 1e9 - routeStartTime();
for (const auto &c : event->event.getCan()) {
@ -59,9 +73,8 @@ bool ReplayStream::eventFilter(const Event *event) {
double ts = millis_since_boot();
if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
if (postEvents()) {
prev_update_ts = ts;
}
emit privateUpdateLastMsgsSignal();
prev_update_ts = ts;
}
return true;
}
@ -80,25 +93,21 @@ AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
// TODO: get route list from api.comma.ai
QGridLayout *grid_layout = new QGridLayout();
QGridLayout *grid_layout = new QGridLayout(this);
grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
auto file_btn = new QPushButton(tr("Browse..."), this);
grid_layout->addWidget(file_btn, 0, 2);
grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
for (int i = 0; i < std::size(items); ++i) {
choose_video_cb->addItem(items[i]);
}
choose_video_cb->setCurrentIndex(1); // default is road camera;
grid_layout->addWidget(new QLabel(tr("Camera")), 1, 0);
QHBoxLayout *camera_layout = new QHBoxLayout();
for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")})
camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this)));
camera_layout->addStretch(1);
grid_layout->addItem(camera_layout, 1, 1);
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->addLayout(grid_layout);
setMinimumWidth(550);
QObject::connect(file_btn, &QPushButton::clicked, [=]() {
QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
if (!dir.isEmpty()) {
@ -120,9 +129,13 @@ bool OpenReplayWidget::open() {
if (!is_valid_format) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
} else {
uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
auto replay_stream = std::make_unique<ReplayStream>(qApp);
if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) {
uint32_t flags = REPLAY_FLAG_NONE;
if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
if (replay_stream->loadRoute(route, data_dir, flags)) {
*stream = replay_stream.release();
} else {
QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));

15
tools/cabana/streams/replaystream.h
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@ -1,13 +1,14 @@
#pragma once
#include <QCheckBox>
#include <algorithm>
#include <memory>
#include <set>
#include <tuple>
#include <vector>
#include "common/prefix.h"
#include "tools/cabana/streams/abstractstream.h"
#include "tools/replay/replay.h"
class ReplayStream : public AbstractStream {
Q_OBJECT
@ -18,20 +19,24 @@ public:
bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
bool eventFilter(const Event *event);
void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
bool liveStreaming() const override { return false; }
inline QString routeName() const override { return replay->route()->name(); }
inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
double totalSeconds() const override { return replay->totalSeconds(); }
inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
inline QDateTime beginDateTime() const { return replay->route()->datetime(); }
inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
inline double currentSec() const override { return replay->currentSeconds(); }
inline const Route *route() const override { return replay->route(); }
inline const Route *route() const { return replay->route(); }
inline void setSpeed(float speed) override { replay->setSpeed(speed); }
inline float getSpeed() const { return replay->getSpeed(); }
inline Replay *getReplay() const { return replay.get(); }
inline bool isPaused() const override { return replay->isPaused(); }
void pause(bool pause) override;
inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() override { return replay->getTimeline(); }
static AbstractOpenStreamWidget *widget(AbstractStream **stream);
signals:
void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
private:
void mergeSegments();
std::unique_ptr<Replay> replay = nullptr;
@ -49,5 +54,5 @@ public:
private:
QLineEdit *route_edit;
QComboBox *choose_video_cb;
std::vector<QCheckBox *> cameras;
};

9
tools/cabana/streams/socketcanstream.cc
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@ -1,8 +1,11 @@
#include "tools/cabana/streams/socketcanstream.h"
#include <QLabel>
#include <QDebug>
#include <QFormLayout>
#include <QHBoxLayout>
#include <QMessageBox>
#include <QPushButton>
#include <QThread>
SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
if (!available()) {
@ -49,7 +52,6 @@ void SocketCanStream::streamThread() {
auto evt = msg.initEvent();
auto canData = evt.initCan(frames.size());
for (uint i = 0; i < frames.size(); i++) {
if (!frames[i].isValid()) continue;
@ -60,8 +62,7 @@ void SocketCanStream::streamThread() {
canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
}
auto bytes = msg.toBytes();
handleEvent((const char*)bytes.begin(), bytes.size());
handleEvent(capnp::messageToFlatArray(msg));
}
}

4
tools/cabana/streams/socketcanstream.h
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@ -5,10 +5,7 @@
#include <QtSerialBus/QCanBus>
#include <QtSerialBus/QCanBusDevice>
#include <QtSerialBus/QCanBusDeviceInfo>
#include <QComboBox>
#include <QFormLayout>
#include <QVBoxLayout>
#include "tools/cabana/streams/livestream.h"
@ -21,7 +18,6 @@ class SocketCanStream : public LiveStream {
public:
SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
static AbstractOpenStreamWidget *widget(AbstractStream **stream);
static bool available();
inline QString routeName() const override {

1
tools/cabana/streamselector.cc
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@ -2,7 +2,6 @@
#include <QDialogButtonBox>
#include <QFileDialog>
#include <QFormLayout>
#include <QLabel>
#include <QPushButton>

12
tools/cabana/tools/findsignal.cc
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@ -192,7 +192,7 @@ void FindSignalDlg::search() {
search_btn->setEnabled(false);
stats_label->setVisible(false);
search_btn->setText("Finding ....");
QTimer::singleShot(0, [=]() { model->search(cmp); });
QTimer::singleShot(0, this, [=]() { model->search(cmp); });
}
void FindSignalDlg::setInitialSignals() {
@ -222,15 +222,15 @@ void FindSignalDlg::setInitialSignals() {
}
model->initial_signals.clear();
for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
const auto &events = can->events(it.key());
for (const auto &[id, m] : can->lastMessages()) {
if (buses.isEmpty() || buses.contains(id.source) && (addresses.isEmpty() || addresses.contains(id.address))) {
const auto &events = can->events(id);
auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
if (e != events.cend()) {
const int total_size = it.value().dat.size() * 8;
const int total_size = m.dat.size() * 8;
for (int size = min_size->value(); size <= max_size->value(); ++size) {
for (int start = 0; start <= total_size - size; ++start) {
FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
FindSignalModel::SearchSignal s{.id = id, .mono_time = first_time, .sig = sig};
s.sig.start_bit = start;
s.sig.size = size;
updateMsbLsb(s.sig);

1
tools/cabana/tools/findsignal.h
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@ -4,6 +4,7 @@
#include <limits>
#include <QAbstractTableModel>
#include <QCheckBox>
#include <QLabel>
#include <QPushButton>
#include <QTableView>

56
tools/cabana/util.cc
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@ -9,7 +9,7 @@
#include <unistd.h>
#include <QColor>
#include <QDebug>
#include <QDateTime>
#include <QFontDatabase>
#include <QLocale>
#include <QPainter>
@ -19,7 +19,7 @@
// SegmentTree
void SegmentTree::build(const QVector<QPointF> &arr) {
void SegmentTree::build(const std::vector<QPointF> &arr) {
size = arr.size();
tree.resize(4 * size); // size of the tree is 4 times the size of the array
if (size > 0) {
@ -27,7 +27,7 @@ void SegmentTree::build(const QVector<QPointF> &arr) {
}
}
void SegmentTree::build_tree(const QVector<QPointF> &arr, int n, int left, int right) {
void SegmentTree::build_tree(const std::vector<QPointF> &arr, int n, int left, int right) {
if (left == right) {
const double y = arr[left].y();
tree[n] = {y, y};
@ -59,23 +59,18 @@ MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
hex_text_table[i].prepare({}, fixed_font);
}
h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
}
int MessageBytesDelegate::widthForBytes(int n) const {
int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
return n * byte_size.width() + h_margin * 2;
QSize MessageBytesDelegate::sizeForBytes(int n) const {
int rows = multiple_lines ? std::max(1, n / 8) : 1;
return {(n / rows) * byte_size.width() + h_margin * 2, rows * byte_size.height() + v_margin * 2};
}
QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
auto data = index.data(BytesRole);
if (!data.isValid()) {
return {1, byte_size.height() + 2 * v_margin};
}
int n = data.toByteArray().size();
assert(n >= 0 && n <= 64);
return !multiple_lines ? QSize{widthForBytes(n), byte_size.height() + 2 * v_margin}
: QSize{widthForBytes(8), byte_size.height() * std::max(1, n / 8) + 2 * v_margin};
return sizeForBytes(data.isValid() ? static_cast<std::vector<uint8_t> *>(data.value<void *>())->size() : 0);
}
void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@ -84,20 +79,17 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
return QStyledItemDelegate::paint(painter, option, index);
}
auto byte_list = data.toByteArray();
auto colors = index.data(ColorsRole).value<QVector<QColor>>();
int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
QFont old_font = painter->font();
QPen old_pen = painter->pen();
if (option.state & QStyle::State_Selected) {
painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
}
const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
QFont old_font = painter->font();
QPen old_pen = painter->pen();
painter->setFont(fixed_font);
for (int i = 0; i < byte_list.size(); ++i) {
const auto &bytes = *static_cast<std::vector<uint8_t>*>(data.value<void*>());
const auto &colors = *static_cast<std::vector<QColor>*>(index.data(ColorsRole).value<void*>());
for (int i = 0; i < bytes.size(); ++i) {
int row = !multiple_lines ? 0 : i / 8;
int column = !multiple_lines ? i : i % 8;
QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
@ -110,7 +102,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
} else if (option.state & QStyle::State_Selected) {
painter->setPen(option.palette.color(QPalette::HighlightedText));
}
utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]);
utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
}
painter->setFont(old_font);
painter->setPen(old_pen);
@ -242,17 +234,15 @@ void setTheme(int theme) {
}
}
} // namespace utils
QString toHex(uint8_t byte) {
static std::array<QString, 256> hex = []() {
std::array<QString, 256> ret;
for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper();
return ret;
}();
return hex[byte];
QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss"
: (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss");
if (include_milliseconds) format += ".zzz";
return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format);
}
} // namespace utils
int num_decimals(double num) {
const QString string = QString::number(num);
auto dot_pos = string.indexOf('.');

20
tools/cabana/util.h
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@ -8,7 +8,6 @@
#include <QApplication>
#include <QByteArray>
#include <QDateTime>
#include <QDoubleValidator>
#include <QFont>
#include <QPainter>
@ -18,7 +17,6 @@
#include <QStringBuilder>
#include <QStyledItemDelegate>
#include <QToolButton>
#include <QVector>
#include "tools/cabana/dbc/dbc.h"
#include "tools/cabana/settings.h"
@ -57,12 +55,12 @@ enum {
class SegmentTree {
public:
SegmentTree() = default;
void build(const QVector<QPointF> &arr);
void build(const std::vector<QPointF> &arr);
inline std::pair<double, double> minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); }
private:
std::pair<double, double> get_minmax(int n, int left, int right, int range_left, int range_right) const;
void build_tree(const QVector<QPointF> &arr, int n, int left, int right);
void build_tree(const std::vector<QPointF> &arr, int n, int left, int right);
std::vector<std::pair<double, double>> tree;
int size = 0;
};
@ -75,18 +73,16 @@ public:
QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
bool multipleLines() const { return multiple_lines; }
void setMultipleLines(bool v) { multiple_lines = v; }
int widthForBytes(int n) const;
QSize sizeForBytes(int n) const;
private:
std::array<QStaticText, 256> hex_text_table;
QFont fixed_font;
QSize byte_size = {};
bool multiple_lines = false;
int h_margin, v_margin;
};
inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
QString toHex(uint8_t byte);
class NameValidator : public QRegExpValidator {
Q_OBJECT
public:
@ -103,13 +99,15 @@ public:
namespace utils {
QPixmap icon(const QString &id);
void setTheme(int theme);
inline QString formatSeconds(int seconds) {
return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
}
QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
auto size = (r.size() - text.size()) / 2;
p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
}
inline QString toHex(const std::vector<uint8_t> &dat, char separator = '\0') {
return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper();
}
}
class ToolButton : public QToolButton {

286
tools/cabana/videowidget.cc
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@ -1,20 +1,21 @@
#include "tools/cabana/videowidget.h"
#include <algorithm>
#include <memory>
#include <string>
#include <utility>
#include <QButtonGroup>
#include <QHBoxLayout>
#include <QAction>
#include <QActionGroup>
#include <QMenu>
#include <QMouseEvent>
#include <QPainter>
#include <QStackedLayout>
#include <QStyleOptionSlider>
#include <QTimer>
#include <QVBoxLayout>
#include <QtConcurrent>
#include "tools/cabana/streams/replaystream.h"
#include "tools/cabana/util.h"
const int MIN_VIDEO_HEIGHT = 100;
const int THUMBNAIL_MARGIN = 3;
@ -30,50 +31,16 @@ static const QColor timeline_colors[] = {
VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
auto main_layout = new QVBoxLayout(this);
if (!can->liveStreaming()) {
if (!can->liveStreaming())
main_layout->addWidget(createCameraWidget());
}
// btn controls
QButtonGroup *group = new QButtonGroup(this);
group->setExclusive(true);
QHBoxLayout *control_layout = new QHBoxLayout();
play_btn = new QToolButton();
play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
control_layout->addWidget(play_btn);
if (can->liveStreaming()) {
control_layout->addWidget(skip_to_end_btn = new QToolButton(this));
skip_to_end_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
skip_to_end_btn->setIcon(utils::icon("skip-end-fill"));
skip_to_end_btn->setToolTip(tr("Skip to the end"));
QObject::connect(skip_to_end_btn, &QToolButton::clicked, [group]() {
// set speed to 1.0
group->buttons()[2]->click();
can->pause(false);
can->seekTo(can->totalSeconds() + 1);
});
}
main_layout->addLayout(createPlaybackController());
for (float speed : {0.1, 0.5, 1., 2.}) {
QToolButton *btn = new QToolButton(this);
btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
btn->setText(QString("%1x").arg(speed));
btn->setCheckable(true);
QObject::connect(btn, &QToolButton::clicked, [speed]() { can->setSpeed(speed); });
control_layout->addWidget(btn);
group->addButton(btn);
if (speed == 1.0) btn->setChecked(true);
}
main_layout->addLayout(control_layout);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
updatePlayBtnState();
QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
updatePlayBtnState();
setWhatsThis(tr(R"(
<b>Video</b><br />
<!-- TODO: add descprition here -->
@ -96,42 +63,138 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
timeline_colors[(int)TimelineType::AlertCritical].name()));
}
QHBoxLayout *VideoWidget::createPlaybackController() {
QHBoxLayout *layout = new QHBoxLayout();
layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward")));
layout->addWidget(play_btn = new ToolButton("play", tr("Play")));
layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward")));
if (can->liveStreaming()) {
layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this));
QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() {
// set speed to 1.0
speed_btn->menu()->actions()[7]->setChecked(true);
can->pause(false);
can->seekTo(can->totalSeconds() + 1);
});
}
layout->addWidget(time_btn = new QToolButton);
time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
time_btn->setAutoRaise(true);
layout->addStretch(0);
if (!can->liveStreaming()) {
layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback")));
QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked);
}
// speed selector
layout->addWidget(speed_btn = new QToolButton(this));
speed_btn->setAutoRaise(true);
speed_btn->setMenu(new QMenu(speed_btn));
speed_btn->setPopupMode(QToolButton::InstantPopup);
QActionGroup *speed_group = new QActionGroup(this);
speed_group->setExclusive(true);
int max_width = 0;
QFont font = speed_btn->font();
font.setBold(true);
speed_btn->setFont(font);
QFontMetrics fm(font);
for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) {
QString name = QString("%1x").arg(speed);
max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2);
QAction *act = new QAction(name, speed_group);
act->setCheckable(true);
QObject::connect(act, &QAction::toggled, [this, speed]() {
can->setSpeed(speed);
speed_btn->setText(QString("%1x ").arg(speed));
});
speed_btn->menu()->addAction(act);
if (speed == 1.0)act->setChecked(true);
}
speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); });
QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); });
QObject::connect(time_btn, &QToolButton::clicked, [this]() {
settings.absolute_time = !settings.absolute_time;
time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
updateState();
});
return layout;
}
QWidget *VideoWidget::createCameraWidget() {
QWidget *w = new QWidget(this);
QVBoxLayout *l = new QVBoxLayout(w);
l->setContentsMargins(0, 0, 0, 0);
l->setSpacing(0);
l->addWidget(camera_tab = new TabBar(w));
camera_tab->setAutoHide(true);
camera_tab->setExpanding(false);
QStackedLayout *stacked = new QStackedLayout();
stacked->setStackingMode(QStackedLayout::StackAll);
stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false));
stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
stacked->addWidget(alert_label = new InfoLabel(this));
l->addLayout(stacked);
// slider controls
auto slider_layout = new QHBoxLayout();
slider_layout->addWidget(time_label = new QLabel("00:00"));
slider = new Slider(this);
l->addWidget(slider = new Slider(w));
slider->setSingleStep(0);
slider_layout->addWidget(slider);
slider_layout->addWidget(end_time_label = new QLabel(this));
l->addLayout(slider_layout);
setMaximumTime(can->totalSeconds());
QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); });
QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
});
return w;
}
void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
static const QString stream_names[] = {
[VISION_STREAM_ROAD] = "Road camera",
[VISION_STREAM_WIDE_ROAD] = "Wide road camera",
[VISION_STREAM_DRIVER] = "Driver camera"};
for (int i = 0; i < streams.size(); ++i) {
if (camera_tab->count() <= i) {
camera_tab->addTab(QString());
}
int type = *std::next(streams.begin(), i);
camera_tab->setTabText(i, stream_names[type]);
camera_tab->setTabData(i, type);
}
while (camera_tab->count() > streams.size()) {
camera_tab->removeTab(camera_tab->count() - 1);
}
}
void VideoWidget::loopPlaybackClicked() {
auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
if (!replay) return;
if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
replay->removeFlag(REPLAY_FLAG_NO_LOOP);
loop_btn->setIcon("repeat");
} else {
replay->addFlag(REPLAY_FLAG_NO_LOOP);
loop_btn->setIcon("repeat-1");
}
}
void VideoWidget::setMaximumTime(double sec) {
maximum_time = sec;
end_time_label->setText(utils::formatSeconds(sec));
slider->setTimeRange(0, sec);
}
@ -140,24 +203,30 @@ void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
skip_to_end_btn->setEnabled(!is_zoomed);
return;
}
is_zoomed ? slider->setTimeRange(min, max)
: slider->setTimeRange(0, maximum_time);
}
if (!is_zoomed) {
min = 0;
max = maximum_time;
}
end_time_label->setText(utils::formatSeconds(max));
slider->setTimeRange(min, max);
QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
if (settings.absolute_time)
sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0;
return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time);
}
void VideoWidget::updateState() {
if (!slider->isSliderDown()) {
slider->setCurrentSecond(can->currentSec());
if (slider) {
if (!slider->isSliderDown())
slider->setCurrentSecond(can->currentSec());
alert_label->showAlert(slider->alertInfo(can->currentSec()));
time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
formatTime(slider->maximum() / slider->factor)));
} else {
time_btn->setText(formatTime(can->currentSec(), true));
}
alert_label->showAlert(slider->alertInfo(can->currentSec()));
}
void VideoWidget::updatePlayBtnState() {
play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
play_btn->setIcon(can->isPaused() ? "play" : "pause");
play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
}
@ -165,29 +234,9 @@ void VideoWidget::updatePlayBtnState() {
Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
setMouseTracking(true);
auto timer = new QTimer(this);
timer->callOnTimeout([this]() {
timeline = can->getTimeline();
std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
update();
});
timer->start(2000);
QObject::connect(can, &AbstractStream::eventsMerged, [this]() {
if (!qlog_future) {
qlog_future = std::make_unique<QFuture<void>>(QtConcurrent::run(this, &Slider::parseQLog));
}
});
QObject::connect(qApp, &QApplication::aboutToQuit, [this]() {
abort_parse_qlog = true;
if (qlog_future && qlog_future->isRunning()) {
qDebug() << "stopping thumbnail thread";
qlog_future->waitForFinished();
}
});
}
AlertInfo Slider::alertInfo(double seconds) {
std::lock_guard lk(thumbnail_lock);
uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
auto alert_it = alerts.lower_bound(mono_time);
bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
@ -195,7 +244,6 @@ AlertInfo Slider::alertInfo(double seconds) {
}
QPixmap Slider::thumbnail(double seconds) {
std::lock_guard lk(thumbnail_lock);
uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
auto it = thumbnails.lowerBound(mono_time);
return it != thumbnails.end() ? it.value() : QPixmap();
@ -206,36 +254,32 @@ void Slider::setTimeRange(double min, double max) {
setRange(min * factor, max * factor);
}
void Slider::parseQLog() {
const auto &segments = can->route()->segments();
for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) {
LogReader log;
std::string qlog = it->second.qlog.toStdString();
if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
if (it == segments.rbegin() && !log.events.empty()) {
double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime();
emit updateMaximumTime(max_time);
void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
emit updateMaximumTime(qlog->events.back()->mono_time / 1e9 - can->routeStartTime());
}
std::mutex mutex;
QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event *e) {
if (e->which == cereal::Event::Which::THUMBNAIL) {
auto thumb = e->event.getThumbnail();
auto data = thumb.getThumbnail();
if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
std::lock_guard lk(mutex);
thumbnails[thumb.getTimestampEof()] = scaled;
}
for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) {
if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
auto thumb = (*ev)->event.getThumbnail();
auto data = thumb.getThumbnail();
if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
std::lock_guard lk(thumbnail_lock);
thumbnails[thumb.getTimestampEof()] = pm;
}
} else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
auto cs = (*ev)->event.getControlsState();
if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
std::lock_guard lk(thumbnail_lock);
alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
}
}
} else if (e->which == cereal::Event::Which::CONTROLS_STATE) {
auto cs = e->event.getControlsState();
if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
std::lock_guard lk(mutex);
alerts.emplace(e->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
}
}
}
});
update();
}
void Slider::paintEvent(QPaintEvent *ev) {
@ -245,7 +289,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
double min = minimum() / factor;
double max = maximum() / factor;
for (auto [begin, end, type] : timeline) {
for (auto [begin, end, type] : qobject_cast<ReplayStream *>(can)->getReplay()->getTimeline()) {
if (begin > max || end < min)
continue;
r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
@ -265,8 +309,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
void Slider::mousePressEvent(QMouseEvent *e) {
QSlider::mousePressEvent(e);
if (e->button() == Qt::LeftButton && !isSliderDown()) {
int value = minimum() + ((maximum() - minimum()) * e->x()) / width();
setValue(value);
setValue(minimum() + ((maximum() - minimum()) * e->x()) / width());
emit sliderReleased();
}
}
@ -276,9 +319,9 @@ void Slider::mouseMoveEvent(QMouseEvent *e) {
double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
QPixmap thumb = thumbnail(seconds);
if (!thumb.isNull()) {
int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
int y = -thumb.height();
thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
int y = -thumb.height() - THUMBNAIL_MARGIN;
thumbnail_label.showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
} else {
thumbnail_label.hide();
}
@ -311,8 +354,7 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &
second = sec;
pixmap = pm;
alert_info = alert;
resize(pm.size());
move(pt);
setGeometry(QRect(pt, pm.size()));
setVisible(true);
update();
}

42
tools/cabana/videowidget.h
Unescape View File

@ -1,19 +1,18 @@
#pragma once
#include <atomic>
#include <map>
#include <memory>
#include <mutex>
#include <tuple>
#include <vector>
#include <set>
#include <QFuture>
#include <QLabel>
#include <QHBoxLayout>
#include <QFrame>
#include <QSlider>
#include <QTabBar>
#include <QToolButton>
#include "selfdrive/ui/qt/widgets/cameraview.h"
#include "tools/cabana/streams/abstractstream.h"
#include "tools/cabana/util.h"
#include "tools/replay/logreader.h"
struct AlertInfo {
cereal::ControlsState::AlertStatus status;
@ -42,6 +41,9 @@ public:
void setTimeRange(double min, double max);
AlertInfo alertInfo(double sec);
QPixmap thumbnail(double sec);
void parseQLog(int segnum, std::shared_ptr<LogReader> qlog);
const double factor = 1000.0;
signals:
void updateMaximumTime(double);
@ -51,15 +53,9 @@ private:
void mouseMoveEvent(QMouseEvent *e) override;
bool event(QEvent *event) override;
void paintEvent(QPaintEvent *ev) override;
void parseQLog();
const double factor = 1000.0;
std::vector<std::tuple<double, double, TimelineType>> timeline;
std::mutex thumbnail_lock;
std::atomic<bool> abort_parse_qlog = false;
QMap<uint64_t, QPixmap> thumbnails;
std::map<uint64_t, AlertInfo> alerts;
std::unique_ptr<QFuture<void>> qlog_future;
InfoLabel thumbnail_label;
};
@ -72,16 +68,24 @@ public:
void setMaximumTime(double sec);
protected:
QString formatTime(double sec, bool include_milliseconds = false);
void updateState();
void updatePlayBtnState();
QWidget *createCameraWidget();
QHBoxLayout *createPlaybackController();
void loopPlaybackClicked();
void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
CameraWidget *cam_widget;
double maximum_time = 0;
QLabel *end_time_label;
QLabel *time_label;
QToolButton *play_btn;
QToolButton *skip_to_end_btn = nullptr;
InfoLabel *alert_label;
Slider *slider;
QToolButton *time_btn = nullptr;
ToolButton *seek_backward_btn = nullptr;
ToolButton *play_btn = nullptr;
ToolButton *seek_forward_btn = nullptr;
ToolButton *loop_btn = nullptr;
QToolButton *speed_btn = nullptr;
ToolButton *skip_to_end_btn = nullptr;
InfoLabel *alert_label = nullptr;
Slider *slider = nullptr;
QTabBar *camera_tab = nullptr;
};

10
tools/lib/url_file.py
Unescape View File

@ -17,6 +17,10 @@ def hash_256(link):
return hsh
class URLFileException(Exception):
pass
class URLFile:
_tlocal = threading.local()
@ -158,11 +162,11 @@ class URLFile:
response_code = c.getinfo(pycurl.RESPONSE_CODE)
if response_code == 416: # Requested Range Not Satisfiable
raise Exception(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
if download_range and response_code != 206: # Partial Content
raise Exception(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
if (not download_range) and response_code != 200: # OK
raise Exception(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
ret = dats.getvalue()
self._pos += len(ret)

10
tools/replay/replay.cc
Unescape View File

@ -153,12 +153,10 @@ void Replay::buildTimeline() {
const auto &route_segments = route_->segments();
for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
LogReader log;
if (!log.load(it->second.qlog.toStdString(), &exit_,
{cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG},
!hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
std::shared_ptr<LogReader> log(new LogReader());
if (!log->load(it->second.qlog.toStdString(), &exit_, {}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
for (const Event *e : log.events) {
for (const Event *e : log->events) {
if (e->which == cereal::Event::Which::CONTROLS_STATE) {
auto cs = e->event.getControlsState();
@ -186,6 +184,8 @@ void Replay::buildTimeline() {
timeline.push_back({toSeconds(e->mono_time), toSeconds(e->mono_time), TimelineType::UserFlag});
}
}
std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
emit qLogLoaded(it->first, log);
}
}

2
tools/replay/replay.h
Unescape View File

@ -44,6 +44,7 @@ enum class FindFlag {
enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
typedef bool (*replayEventFilter)(const Event *, void *);
Q_DECLARE_METATYPE(std::shared_ptr<LogReader>);
class Replay : public QObject {
Q_OBJECT
@ -91,6 +92,7 @@ signals:
void streamStarted();
void segmentsMerged();
void seekedTo(double sec);
void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
protected slots:
void segmentLoadFinished(bool success);

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