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90 lines
2.7 KiB
90 lines
2.7 KiB
#pragma once
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#include <atomic>
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#include <deque>
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#include <mutex>
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#include <QColor>
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#include <QHash>
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#include <QList>
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#include "opendbc/can/common_dbc.h"
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#include "tools/cabana/settings.h"
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#include "tools/replay/replay.h"
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struct CanData {
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double ts = 0.;
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uint32_t count = 0;
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uint32_t freq = 0;
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uint16_t bus_time = 0;
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QByteArray dat;
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};
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class CANMessages : public QObject {
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Q_OBJECT
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public:
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enum FindFlags{ EQ, LT, GT };
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CANMessages(QObject *parent);
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~CANMessages();
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bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
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void seekTo(double ts);
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QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
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bool eventFilter(const Event *event);
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inline QString route() const { return replay->route()->name(); }
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inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
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inline double totalSeconds() const { return replay->totalSeconds(); }
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inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
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inline double currentSec() const { return replay->currentSeconds(); }
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const std::deque<CanData> messages(const QString &id);
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inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; }
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inline const std::vector<Event *> *events() const { return replay->events(); }
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inline void setSpeed(float speed) { replay->setSpeed(speed); }
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inline bool isPaused() const { return replay->isPaused(); }
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inline void pause(bool pause) { replay->pause(pause); }
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inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return replay->getTimeline(); }
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signals:
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void streamStarted();
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void eventsMerged();
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void updated();
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void msgsReceived(const QHash<QString, CanData> *);
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void received(QHash<QString, CanData> *);
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public:
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QMap<QString, CanData> can_msgs;
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protected:
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void process(QHash<QString, CanData> *);
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void settingChanged();
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Replay *replay = nullptr;
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std::mutex lock;
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std::atomic<double> counters_begin_sec = 0;
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QHash<QString, uint32_t> counters;
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QHash<QString, std::deque<CanData>> received_msgs;
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};
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inline QString toHex(const QByteArray &dat) {
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return dat.toHex(' ').toUpper();
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}
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inline char toHex(uint value) {
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return "0123456789ABCDEF"[value & 0xF];
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}
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inline const QString &getColor(int i) {
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// TODO: add more colors
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static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
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return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
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}
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inline QColor hoverColor(const QColor &color) {
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QColor c = color.convertTo(QColor::Hsv);
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c.setHsv(color.hue(), 180, 180);
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return c;
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}
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// A global pointer referring to the unique CANMessages object
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extern CANMessages *can;
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