openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#include "tools/cabana/messageswidget.h"
#include <QFontDatabase>
#include <QHeaderView>
#include <QLineEdit>
#include <QVBoxLayout>
#include "tools/cabana/dbcmanager.h"
MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
// message filter
QLineEdit *filter = new QLineEdit(this);
filter->setClearButtonEnabled(true);
filter->setPlaceholderText(tr("filter messages"));
main_layout->addWidget(filter);
// message table
table_widget = new QTableView(this);
model = new MessageListModel(this);
table_widget->setModel(model);
table_widget->setSelectionBehavior(QAbstractItemView::SelectRows);
table_widget->setSelectionMode(QAbstractItemView::SingleSelection);
table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
table_widget->setSortingEnabled(true);
table_widget->sortByColumn(0, Qt::AscendingOrder);
table_widget->setColumnWidth(0, 250);
table_widget->setColumnWidth(1, 80);
table_widget->setColumnWidth(2, 80);
table_widget->horizontalHeader()->setStretchLastSection(true);
table_widget->verticalHeader()->hide();
main_layout->addWidget(table_widget);
// signals/slots
QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString);
QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); });
QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { model->updateState(true); });
QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
if (current.isValid()) {
emit msgSelectionChanged(current.data(Qt::UserRole).toString());
}
});
}
// MessageListModel
QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section];
return {};
}
QVariant MessageListModel::data(const QModelIndex &index, int role) const {
if (role == Qt::DisplayRole) {
const auto &m = msgs[index.row()];
auto &can_data = can->lastMessage(m->id);
switch (index.column()) {
case 0: return m->name;
case 1: return m->id;
case 2: return can_data.freq;
case 3: return can_data.count;
case 4: return toHex(can_data.dat);
}
} else if (role == Qt::UserRole) {
return msgs[index.row()]->id;
} else if (role == Qt::FontRole) {
if (index.column() == columnCount() - 1) {
return QFontDatabase::systemFont(QFontDatabase::FixedFont);
}
}
return {};
}
void MessageListModel::setFilterString(const QString &string) {
filter_str = string;
updateState(true);
}
bool MessageListModel::updateMessages(bool sort) {
if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort)
return false;
// update message list
int i = 0;
bool search_id = filter_str.contains(':');
for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
const Msg *msg = dbc()->msg(it.key());
QString msg_name = msg ? msg->name.c_str() : "untitled";
if (!filter_str.isEmpty() && !(search_id ? it.key() : msg_name).contains(filter_str, Qt::CaseInsensitive))
continue;
auto &m = i < msgs.size() ? msgs[i] : msgs.emplace_back(new Message);
m->id = it.key();
m->name = msg_name;
++i;
}
msgs.resize(i);
if (sort_column == 0) {
std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
bool ret = l->name < r->name || (l->name == r->name && l->id < r->id);
return sort_order == Qt::AscendingOrder ? ret : !ret;
});
} else if (sort_column == 1) {
std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
return sort_order == Qt::AscendingOrder ? l->id < r->id : l->id > r->id;
});
} else if (sort_column == 2) {
// sort by frequency
std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
uint32_t lfreq = can->lastMessage(l->id).freq;
uint32_t rfreq = can->lastMessage(r->id).freq;
bool ret = lfreq < rfreq || (lfreq == rfreq && l->id < r->id);
return sort_order == Qt::AscendingOrder ? ret : !ret;
});
} else if (sort_column == 3) {
// sort by count
std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
uint32_t lcount = can->lastMessage(l->id).count;
uint32_t rcount = can->lastMessage(r->id).count;
bool ret = lcount < rcount || (lcount == rcount && l->id < r->id);
return sort_order == Qt::AscendingOrder ? ret : !ret;
});
}
return true;
}
void MessageListModel::updateState(bool sort) {
int prev_row_count = msgs.size();
auto prev_idx = persistentIndexList();
QString selected_msg_id = prev_idx.empty() ? "" : prev_idx[0].data(Qt::UserRole).toString();
bool msg_updated = updateMessages(sort);
int delta = msgs.size() - prev_row_count;
if (delta > 0) {
beginInsertRows({}, prev_row_count, msgs.size() - 1);
endInsertRows();
} else if (delta < 0) {
beginRemoveRows({}, msgs.size(), prev_row_count - 1);
endRemoveRows();
}
if (!msgs.empty()) {
if (msg_updated && !prev_idx.isEmpty()) {
// keep selection
auto it = std::find_if(msgs.begin(), msgs.end(), [&](auto &m) { return m->id == selected_msg_id; });
if (it != msgs.end()) {
for (auto &idx : prev_idx)
changePersistentIndex(idx, index(std::distance(msgs.begin(), it), idx.column()));
}
}
emit dataChanged(index(0, 0), index(msgs.size() - 1, columnCount() - 1), {Qt::DisplayRole});
}
}
void MessageListModel::sort(int column, Qt::SortOrder order) {
if (column != columnCount() - 1) {
sort_column = column;
sort_order = order;
updateState(true);
}
}