Cabana: add dialog to find and locate signal values (#26131)

* add dialog to find signals

* dont close dlg after goto

* limit number

* cleanup

* merge master
old-commit-hash: d1495a9090

tools/cabana/canmessages.cc

@@ -3,6 +3,8 @@
 #include <QDebug>
 #include <QSettings>
 
+#include "tools/cabana/dbcmanager.h"
+
 Q_DECLARE_METATYPE(std::vector<CanData>);
 
 Settings settings;
@@ -38,6 +40,33 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool
   return false;
 }
 
+QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) {
+  auto evts = events();
+  if (!evts) return {};
+
+  auto l = id.split(':');
+  int bus = l[0].toInt();
+  uint32_t address = l[1].toUInt(nullptr, 16);
+
+  QList<QPointF> ret;
+  ret.reserve(max_count);
+  for (auto &evt : *evts) {
+    if (evt->which != cereal::Event::Which::CAN) continue;
+
+    for (auto c : evt->event.getCan()) {
+      if (bus == c.getSrc() && address == c.getAddress()) {
+        double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
+        if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
+          ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
+        }
+        if (ret.size() >= max_count)
+          return ret;
+      }
+    }
+  }
+  return ret;
+}
+
 void CANMessages::process(QHash<QString, std::deque<CanData>> *messages) {
   for (auto it = messages->begin(); it != messages->end(); ++it) {
     ++counters[it.key()];

tools/cabana/canmessages.h

@@ -5,7 +5,9 @@
 #include <map>
 
 #include <QHash>
+#include <QList>
 
+#include "opendbc/can/common_dbc.h"
 #include "tools/replay/replay.h"
 
 class Settings : public QObject {
@@ -35,12 +37,14 @@ class CANMessages : public QObject {
   Q_OBJECT
 
 public:
+  enum FindFlags{ EQ, LT, GT };
   CANMessages(QObject *parent);
   ~CANMessages();
   bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
   void seekTo(double ts);
   void resetRange();
   void setRange(double min, double max);
+  QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
   bool eventFilter(const Event *event);
 
   inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }

tools/cabana/signaledit.cc

@@ -3,8 +3,12 @@
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QHBoxLayout>
+#include <QRadioButton>
+#include <QScrollArea>
 #include <QVBoxLayout>
 
+#include "selfdrive/ui/qt/util.h"
+
 // SignalForm
 
 SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) {
@@ -93,6 +97,12 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
   title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
   title_layout->addWidget(title, 1);
 
+  QPushButton *seek_btn = new QPushButton("⌕");
+  seek_btn->setStyleSheet("font-weight:bold;font-size:20px");
+  seek_btn->setToolTip(tr("Find signal values"));
+  seek_btn->setFixedSize(20, 20);
+  title_layout->addWidget(seek_btn);
+
   QPushButton *plot_btn = new QPushButton("📈");
   plot_btn->setToolTip(tr("Show Plot"));
   plot_btn->setFixedSize(20, 20);
@@ -124,13 +134,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
   main_layout->addWidget(hline);
 
   QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
+  QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
   QObject::connect(save_btn, &QPushButton::clicked, [=]() {
     QString new_name = form->getSignal().name.c_str();
     title->setText(QString("%1. %2").arg(index + 1).arg(new_name));
     emit save();
     sig_name = new_name;
   });
-  QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
+  QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() {
+    SignalFindDlg dlg(msg_id, s, this);
+    dlg.exec();
+  });
 }
 
 void SignalEdit::setFormVisible(bool visible) {
@@ -159,3 +173,66 @@ AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWi
   connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
   connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
 }
+
+SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Find signal values"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  QHBoxLayout *h = new QHBoxLayout();
+  h->addWidget(new QLabel(signal->name.c_str()));
+  QComboBox *comp_box = new QComboBox();
+  comp_box->addItems({">", "=", "<"});
+  h->addWidget(comp_box);
+  QLineEdit *value_edit = new QLineEdit("0", this);
+  value_edit->setValidator( new QDoubleValidator(-500000, 500000, 6, this) );
+  h->addWidget(value_edit, 1);
+  QPushButton *search_btn = new QPushButton(tr("Find"), this);
+  h->addWidget(search_btn);
+  main_layout->addLayout(h);
+
+  QWidget *container = new QWidget(this);
+  QVBoxLayout *signals_layout = new QVBoxLayout(container);
+  QScrollArea *scroll = new QScrollArea(this);
+  scroll->setWidget(container);
+  scroll->setWidgetResizable(true);
+  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  main_layout->addWidget(scroll);
+
+  QObject::connect(search_btn, &QPushButton::clicked, [=]() {
+    clearLayout(signals_layout);
+
+    CANMessages::FindFlags comp = CANMessages::EQ;
+    if (comp_box->currentIndex() == 0) {
+      comp = CANMessages::GT;
+    } else if (comp_box->currentIndex() == 2) {
+      comp = CANMessages::LT;
+    }
+    double value = value_edit->text().toDouble();
+
+    const int limit_results = 50;
+    auto values = can->findSignalValues(id, signal, value, comp, limit_results);
+    for (auto &v : values) {
+      QHBoxLayout *item_layout = new QHBoxLayout();
+      item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2)));
+      item_layout->addWidget(new QLabel(QString::number(v.y())));
+      item_layout->addStretch(1);
+
+      QPushButton *goto_btn = new QPushButton(tr("Goto"), this);
+      QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); });
+      item_layout->addWidget(goto_btn);
+      signals_layout->addLayout(item_layout);
+    }
+    if (values.size() == limit_results) {
+      QFrame *hline = new QFrame();
+      hline->setFrameShape(QFrame::HLine);
+      hline->setFrameShadow(QFrame::Sunken);
+      signals_layout->addWidget(hline);
+      QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results));
+      info->setAlignment(Qt::AlignCenter);
+      signals_layout->addWidget(info);
+    }
+    if (values.size() * 30 > container->height()) {
+      scroll->setFixedHeight(std::min(values.size() * 30, 300));
+    }
+  });
+}

tools/cabana/signaledit.h

@@ -51,3 +51,10 @@ public:
   AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent);
   SignalForm *form;
 };
+
+class SignalFindDlg : public QDialog {
+  Q_OBJECT
+
+public:
+  SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent);
+};