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96 lines
3.6 KiB
96 lines
3.6 KiB
#include "tools/cabana/streams/abstractstream.h"
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AbstractStream *can = nullptr;
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AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) {
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can = this;
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new_msgs = std::make_unique<QHash<MessageId, CanData>>();
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QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection);
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QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
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}
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void AbstractStream::process(QHash<MessageId, CanData> *messages) {
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for (auto it = messages->begin(); it != messages->end(); ++it) {
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can_msgs[it.key()] = it.value();
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}
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emit updated();
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emit msgsReceived(messages);
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delete messages;
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processing = false;
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}
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bool AbstractStream::updateEvent(const Event *event) {
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static double prev_update_ts = 0;
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if (event->which == cereal::Event::Which::CAN) {
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double current_sec = event->mono_time / 1e9 - routeStartTime();
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for (const auto &c : event->event.getCan()) {
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MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
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CanData &data = (*new_msgs)[id];
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data.ts = current_sec;
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data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
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data.count = ++counters[id];
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data.freq = data.count / std::max(1.0, current_sec);
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change_trackers[id].compute(data.dat, data.ts, data.freq);
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data.colors = change_trackers[id].colors;
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data.last_change_t = change_trackers[id].last_change_t;
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data.bit_change_counts = change_trackers[id].bit_change_counts;
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}
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double ts = millis_since_boot();
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if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) {
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// delay posting CAN message if UI thread is busy
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processing = true;
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prev_update_ts = ts;
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// use pointer to avoid data copy in queued connection.
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emit received(new_msgs.release());
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new_msgs.reset(new QHash<MessageId, CanData>);
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new_msgs->reserve(100);
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}
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}
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return true;
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}
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const CanData &AbstractStream::lastMessage(const MessageId &id) {
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static CanData empty_data;
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auto it = can_msgs.find(id);
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return it != can_msgs.end() ? it.value() : empty_data;
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}
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void AbstractStream::updateLastMsgsTo(double sec) {
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QHash<MessageId, CanData> last_msgs;
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last_msgs.reserve(can_msgs.size());
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double route_start_time = routeStartTime();
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uint64_t last_ts = (sec + route_start_time) * 1e9;
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auto evs = events();
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auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; });
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for (auto it = last; it != evs->rend(); ++it) {
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if ((*it)->which == cereal::Event::Which::CAN) {
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for (const auto &c : (*it)->event.getCan()) {
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auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}];
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if (++m.count == 1) {
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m.ts = ((*it)->mono_time / 1e9) - route_start_time;
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m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
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m.colors = QVector<QColor>(m.dat.size(), QColor(0, 0, 0, 0));
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m.last_change_t = QVector<double>(m.dat.size(), m.ts);
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m.bit_change_counts.resize(m.dat.size());
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} else {
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m.freq = m.count / std::max(1.0, m.ts);
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}
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}
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}
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}
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// it is thread safe to update data here.
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// updateEvent will not be called before replayStream::seekedTo return.
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new_msgs->clear();
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change_trackers.clear();
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counters.clear();
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can_msgs.clear();
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for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) {
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can_msgs[it.key()] = it.value();
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counters[it.key()] = it.value().count;
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}
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emit updated();
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emit msgsReceived(&can_msgs);
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}
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