You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
98 lines
2.9 KiB
98 lines
2.9 KiB
#include "tools/cabana/parser.h"
|
|
|
|
#include <QDebug>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
|
|
Parser::Parser(QObject *parent) : QObject(parent) {
|
|
qRegisterMetaType<std::vector<CanData>>();
|
|
QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection);
|
|
|
|
thread = new QThread();
|
|
connect(thread, &QThread::started, [=]() { recvThread(); });
|
|
QObject::connect(thread, &QThread::finished, thread, &QThread::deleteLater);
|
|
thread->start();
|
|
}
|
|
|
|
Parser::~Parser() {
|
|
replay->stop();
|
|
exit = true;
|
|
thread->quit();
|
|
thread->wait();
|
|
}
|
|
|
|
bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
|
|
replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
|
|
if (!replay->load()) {
|
|
return false;
|
|
}
|
|
replay->start();
|
|
return true;
|
|
}
|
|
|
|
void Parser::openDBC(const QString &name) {
|
|
dbc_name = name;
|
|
dbc = const_cast<DBC *>(dbc_lookup(name.toStdString()));
|
|
msg_map.clear();
|
|
for (auto &msg : dbc->msgs) {
|
|
msg_map[msg.address] = &msg;
|
|
}
|
|
}
|
|
|
|
void Parser::process(std::vector<CanData> can) {
|
|
for (auto &data : can) {
|
|
++counters[data.id];
|
|
auto &list = can_msgs[data.id];
|
|
while (list.size() > DATA_LIST_SIZE) {
|
|
list.pop_front();
|
|
}
|
|
list.push_back(data);
|
|
}
|
|
emit updated();
|
|
}
|
|
|
|
void Parser::recvThread() {
|
|
AlignedBuffer aligned_buf;
|
|
std::unique_ptr<Context> context(Context::create());
|
|
std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "can"));
|
|
subscriber->setTimeout(100);
|
|
while (!exit) {
|
|
std::unique_ptr<Message> msg(subscriber->receive());
|
|
if (!msg) continue;
|
|
|
|
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
|
|
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
|
std::vector<CanData> can;
|
|
can.reserve(event.getCan().size());
|
|
for (const auto &c : event.getCan()) {
|
|
CanData &data = can.emplace_back();
|
|
data.address = c.getAddress();
|
|
data.bus_time = c.getBusTime();
|
|
data.source = c.getSrc();
|
|
data.dat.append((char *)c.getDat().begin(), c.getDat().size());
|
|
data.hex_dat = data.dat.toHex(' ').toUpper();
|
|
data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16);
|
|
data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e6;
|
|
}
|
|
emit received(can);
|
|
}
|
|
}
|
|
|
|
void Parser::addNewMsg(const Msg &msg) {
|
|
dbc->msgs.push_back(msg);
|
|
msg_map[dbc->msgs.back().address] = &dbc->msgs.back();
|
|
}
|
|
|
|
void Parser::removeSignal(const QString &id, const QString &sig_name) {
|
|
Msg *msg = const_cast<Msg *>(getMsg(id));
|
|
if (!msg) return;
|
|
|
|
auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
|
|
if (it != msg->sigs.end()) {
|
|
msg->sigs.erase(it);
|
|
}
|
|
}
|
|
|
|
uint32_t Parser::addressFromId(const QString &id) {
|
|
return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16);
|
|
}
|
|
|