cabana: add button to suppress highlighted bytes (#27131)

tools/cabana/historylog.cc

@@ -17,7 +17,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
     }
     return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data);
   } else if (role == Qt::UserRole && index.column() == 1 && !show_signals) {
-    return HexColors::toVariantList(m.colors);
+    return ChangeTracker::toVariantList(m.colors);
   }
   return {};
 }
@@ -142,7 +142,8 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events->rend(), min_time);
     if (update_colors && min_time > 0) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+        hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+        it->colors = hex_colors.colors;
       }
     }
     return msgs;
@@ -152,7 +153,8 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events->end(), 0);
     if (update_colors) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+        hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+        it->colors = hex_colors.colors;
       }
     }
     return msgs;

tools/cabana/historylog.h

@@ -53,7 +53,7 @@ public:
   std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
 
   QString msg_id;
-  HexColors hex_colors;
+  ChangeTracker hex_colors;
   bool has_more_data = true;
   const int batch_size = 50;
   int filter_sig_idx = -1;

tools/cabana/messageswidget.cc

@@ -1,10 +1,12 @@
 #include "tools/cabana/messageswidget.h"
 
+#include <QApplication>
 #include <QFontDatabase>
+#include <QHBoxLayout>
 #include <QLineEdit>
-#include <QVBoxLayout>
 #include <QPainter>
-#include <QApplication>
+#include <QPushButton>
+#include <QVBoxLayout>
 
 #include "tools/cabana/dbcmanager.h"
 
@@ -28,9 +30,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   table_widget->sortByColumn(0, Qt::AscendingOrder);
   table_widget->horizontalHeader()->setStretchLastSection(true);
   table_widget->verticalHeader()->hide();
-
   main_layout->addWidget(table_widget);
 
+  // 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);
+  main_layout->addLayout(suppress_layout);
+
   // signals/slots
   QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
@@ -46,6 +55,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
       }
     }
   });
+  QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
+    model->suppress();
+    updateSuppressedButtons();
+  });
+  QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
+    model->clearSuppress();
+    updateSuppressedButtons();
+  });
+
+  updateSuppressedButtons();
 }
 
 void MessagesWidget::selectMessage(const QString &msg_id) {
@@ -54,6 +73,17 @@ void MessagesWidget::selectMessage(const QString &msg_id) {
   }
 }
 
+void MessagesWidget::updateSuppressedButtons() {
+  if (model->suppressed_bytes.empty()) {
+    suppress_clear->setEnabled(false);
+    suppress_clear->setText("Clear Suppressed");
+  } else {
+    suppress_clear->setEnabled(true);
+    suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
+  }
+}
+
+
 // MessageListModel
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
@@ -75,7 +105,16 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
       case 4: return toHex(can_data.dat);
     }
   } else if (role == Qt::UserRole && index.column() == 4) {
-    return HexColors::toVariantList(can_data.colors);
+    QList<QVariant> colors;
+    for (int i = 0; i < can_data.dat.size(); i++){
+      if (suppressed_bytes.contains({id, i})) {
+        colors.append(QColor(255, 255, 255, 0));
+      } else {
+        colors.append(can_data.colors[i]);
+      }
+    }
+    return colors;
+
   }
   return {};
 }
@@ -157,3 +196,21 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
     sortMessages();
   }
 }
+
+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();
+}

tools/cabana/messageswidget.h

@@ -2,8 +2,9 @@
 
 #include <QAbstractTableModel>
 #include <QHeaderView>
-#include <QTableView>
+#include <QSet>
 #include <QStyledItemDelegate>
+#include <QTableView>
 
 #include "tools/cabana/streams/abstractstream.h"
 
@@ -20,7 +21,10 @@ public:
   void setFilterString(const QString &string);
   void msgsReceived(const QHash<QString, CanData> *new_msgs = nullptr);
   void sortMessages();
+  void suppress();
+  void clearSuppress();
   QStringList msgs;
+  QSet<std::pair<QString, int>> suppressed_bytes;
 
 private:
   QString filter_str;
@@ -36,6 +40,7 @@ public:
   void selectMessage(const QString &message_id);
   QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); }
   bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); }
+  void updateSuppressedButtons();
 
 signals:
   void msgSelectionChanged(const QString &message_id);
@@ -44,4 +49,7 @@ protected:
   QTableView *table_widget;
   QString current_msg_id;
   MessageListModel *model;
+  QPushButton *suppress_add;
+  QPushButton *suppress_clear;
+
 };

tools/cabana/streams/abstractstream.cc

@@ -19,7 +19,7 @@ void AbstractStream::process(QHash<QString, CanData> *messages) {
 
 bool AbstractStream::updateEvent(const Event *event) {
   static std::unique_ptr new_msgs = std::make_unique<QHash<QString, CanData>>();
-  static QHash<QString, HexColors> hex_colors;
+  static QHash<QString, ChangeTracker> change_trackers;
   static double prev_update_ts = 0;
 
   if (event->which == cereal::Event::Which::CAN) {
@@ -42,7 +42,9 @@ bool AbstractStream::updateEvent(const Event *event) {
       if (double delta = (current_sec - counters_begin_sec); delta > 0) {
         data.freq = data.count / delta;
       }
-      data.colors = hex_colors[id].compute(data.dat, data.ts, data.freq);
+      change_trackers[id].compute(data.dat, data.ts, data.freq);
+      data.colors = change_trackers[id].colors;
+      data.last_change_t = change_trackers[id].last_change_t;
     }
 
     double ts = millis_since_boot();

tools/cabana/streams/abstractstream.h

@@ -17,6 +17,7 @@ struct CanData {
   uint32_t freq = 0;
   QByteArray dat;
   QVector<QColor> colors;
+  QVector<double> last_change_t;
 };
 
 class AbstractStream : public QObject {

tools/cabana/util.cc

@@ -10,7 +10,7 @@ static QColor blend(QColor a, QColor b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
-const QVector<QColor> &HexColors::compute(const QByteArray &dat, double ts, uint32_t freq) {
+void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
   if (prev_dat.size() != dat.size()) {
     colors.resize(dat.size());
     last_change_t.resize(dat.size());
@@ -45,16 +45,15 @@ const QVector<QColor> &HexColors::compute(const QByteArray &dat, double ts, uint
   }
 
   prev_dat = dat;
-  return colors;
 }
 
-void HexColors::clear() {
+void ChangeTracker::clear() {
   prev_dat.clear();
   last_change_t.clear();
   colors.clear();
 }
 
-QList<QVariant> HexColors::toVariantList(const QVector<QColor> &colors) {
+QList<QVariant> ChangeTracker::toVariantList(const QVector<QColor> &colors) {
   QList<QVariant> ret;
   ret.reserve(colors.size());
   for (auto &c : colors) ret.append(c);

tools/cabana/util.h

@@ -7,19 +7,20 @@
 #include <QStyledItemDelegate>
 #include <QVector>
 
-class HexColors {
+class ChangeTracker {
 public:
- const QVector<QColor> &compute(const QByteArray &dat, double ts, uint32_t freq);
+  void compute(const QByteArray &dat, double ts, uint32_t freq);
- static QList<QVariant> toVariantList(const QVector<QColor> &colors);
+  static QList<QVariant> toVariantList(const QVector<QColor> &colors);
- void clear();
+  void clear();
+
+  QVector<double> last_change_t;
+  QVector<QColor> colors;
 
 private:
   const int periodic_threshold = 10;
   const int start_alpha = 128;
   const float fade_time = 2.0;
   QByteArray prev_dat;
-  QVector<double> last_change_t;
-  QVector<QColor> colors;
 };
 
 class MessageBytesDelegate : public QStyledItemDelegate {