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126 lines
3.9 KiB
126 lines
3.9 KiB
#pragma once
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#include <array>
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#include <atomic>
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#include <deque>
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#include <unordered_map>
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#include <QColor>
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#include <QHash>
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#include "tools/cabana/dbc/dbcmanager.h"
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#include "tools/cabana/settings.h"
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#include "tools/cabana/util.h"
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#include "tools/replay/replay.h"
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struct CanData {
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void compute(const char *dat, const int size, double current_sec, double playback_speed, const std::vector<uint8_t> *mask, uint32_t in_freq = 0);
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double ts = 0.;
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uint32_t count = 0;
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double freq = 0;
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QByteArray dat;
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QVector<QColor> colors;
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std::vector<double> last_change_t;
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std::vector<std::array<uint32_t, 8>> bit_change_counts;
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std::vector<int> last_delta;
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std::vector<int> same_delta_counter;
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};
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struct CanEvent {
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uint8_t src;
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uint32_t address;
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uint64_t mono_time;
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uint8_t size;
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uint8_t dat[];
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};
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class AbstractStream : public QObject {
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Q_OBJECT
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public:
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AbstractStream(QObject *parent);
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virtual ~AbstractStream() {};
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virtual void start() = 0;
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inline bool liveStreaming() const { return route() == nullptr; }
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virtual void seekTo(double ts) {}
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virtual QString routeName() const = 0;
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virtual QString carFingerprint() const { return ""; }
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virtual double routeStartTime() const { return 0; }
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virtual double currentSec() const = 0;
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virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
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const CanData &lastMessage(const MessageId &id);
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virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
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virtual const Route *route() const { return nullptr; }
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virtual void setSpeed(float speed) {}
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virtual double getSpeed() { return 1; }
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virtual bool isPaused() const { return false; }
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virtual void pause(bool pause) {}
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const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
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const std::vector<const CanEvent *> &events(const MessageId &id) const;
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virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
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signals:
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void paused();
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void resume();
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void seekedTo(double sec);
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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<MessageId, CanData> *new_msgs, bool has_new_ids);
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void sourcesUpdated(const SourceSet &s);
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public:
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QHash<MessageId, CanData> last_msgs;
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SourceSet sources;
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protected:
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void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
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bool postEvents();
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uint64_t lastEventMonoTime() const { return lastest_event_ts; }
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void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
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void updateMessages(QHash<MessageId, CanData> *);
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void updateMasks();
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void updateLastMsgsTo(double sec);
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uint64_t lastest_event_ts = 0;
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std::atomic<bool> processing = false;
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std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
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QHash<MessageId, CanData> all_msgs;
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std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
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std::vector<const CanEvent *> all_events_;
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std::deque<std::unique_ptr<char[]>> memory_blocks;
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std::mutex mutex;
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std::unordered_map<MessageId, std::vector<uint8_t>> masks;
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};
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class AbstractOpenStreamWidget : public QWidget {
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public:
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AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
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virtual bool open() = 0;
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virtual QString title() = 0;
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protected:
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AbstractStream **stream = nullptr;
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};
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class DummyStream : public AbstractStream {
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Q_OBJECT
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public:
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DummyStream(QObject *parent) : AbstractStream(parent) {}
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QString routeName() const override { return tr("No Stream"); }
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void start() override { emit streamStarted(); }
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double currentSec() const override { return 0; }
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};
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class StreamNotifier : public QObject {
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Q_OBJECT
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public:
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StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
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static StreamNotifier* instance();
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signals:
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void streamStarted();
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void changingStream();
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};
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// A global pointer referring to the unique AbstractStream object
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extern AbstractStream *can;
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