cabana: support suppress highlighted bits (commaai#30336)

* support suppress highlighted bits

d

* faster filtering and sorting

* improve livestream

* specify the context in the connections

* remove inline

tools/cabana/binaryview.cc

@@ -2,6 +2,7 @@
 
 #include <algorithm>
 
+#include <QDebug>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -273,7 +274,7 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
-  int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
+  int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
   for (int i = 0; i < valid_rows * column_count; ++i) {
     items[i].valid = true;
   }
@@ -311,7 +312,7 @@ void BinaryViewModel::updateState() {
       int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
       // Bit update frequency based highlighting
       double offset = !item.sigs.empty() ? 50 : 0;
-      auto n = last_msg.bit_change_counts[i][7 - j];
+      auto n = last_msg.last_changes[i].bit_change_counts[j];
       double min_f = n == 0 ? offset : offset + 25;
       double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
       auto color = item.bg_color;
@@ -334,13 +335,8 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
 }
 
 QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
-  if (role == Qt::ToolTipRole) {
-    auto item = (const BinaryViewModel::Item *)index.internalPointer();
-    if (item && !item->sigs.empty()) {
-      return signalToolTip(item->sigs.back());
-    }
-  }
-  return {};
+  auto item = (const BinaryViewModel::Item *)index.internalPointer();
+  return role == Qt::ToolTipRole && item && !item->sigs.empty() ? signalToolTip(item->sigs.back()) : QVariant();
 }
 
 // BinaryItemDelegate
@@ -388,7 +384,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
           drawSignalCell(painter, option, index, s);
         }
       }
-    } else if (item->valid) {
+    } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
     auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;

tools/cabana/chart/chartswidget.cc

@@ -100,7 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
-  QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -324,7 +324,7 @@ void ChartsWidget::updateLayout(bool force) {
       charts_layout->addWidget(current_charts[i], i / n, i % n);
       if (current_charts[i]->sigs.empty()) {
         // the chart will be resized after add signal. delay setVisible to reduce flicker.
-        QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
+        QTimer::singleShot(0, current_charts[i], [c = current_charts[i]]() { c->setVisible(true); });
       } else {
         current_charts[i]->setVisible(true);
       }

tools/cabana/chart/signalselector.cc

@@ -44,9 +44,9 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox, 3, 2);
 
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (auto m = dbc()->msg(it.key())) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
+  for (const auto &[id, _] : can->lastMessages()) {
+    if (auto m = dbc()->msg(id)) {
+      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);

tools/cabana/dbc/dbcfile.cc

@@ -4,10 +4,8 @@
 #include <QFileInfo>
 #include <QRegularExpression>
 #include <QTextStream>
-#include <numeric>
-#include <sstream>
 
-DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
+DBCFile::DBCFile(const QString &dbc_file_name) {
   QFile file(dbc_file_name);
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
@@ -22,7 +20,7 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent
   }
 }
 
-DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
+DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
   // Open from clipboard
   parse(content);
 }

tools/cabana/dbc/dbcfile.h

@@ -1,18 +1,15 @@
 #pragma once
 
 #include <map>
-#include <QObject>
 
 #include "tools/cabana/dbc/dbc.h"
 
 const QString AUTO_SAVE_EXTENSION = ".tmp";
 
-class DBCFile : public QObject {
-  Q_OBJECT
-
+class DBCFile {
 public:
-  DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
-  DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
+  DBCFile(const QString &dbc_file_name);
+  DBCFile(const QString &name, const QString &content);
   ~DBCFile() {}
 
   bool save();

tools/cabana/dbc/dbcmanager.cc

@@ -7,7 +7,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
-    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name, this);
+    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name);
     for (auto s : sources) {
       dbc_files[s] = file;
     }
@@ -22,7 +22,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
 
 bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
   try {
-    auto file = std::make_shared<DBCFile>(name, content, this);
+    auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
       dbc_files[s] = file;
     }
@@ -189,6 +189,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
+QString toString(const SourceSet &ss) {
+  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
+    if (!str.isEmpty()) str += ", ";
+    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
+  });
+}
+
 DBCManager *dbc() {
   static DBCManager dbc_manager(nullptr);
   return &dbc_manager;

tools/cabana/dbc/dbcmanager.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QObject>
 #include <memory>
 #include <map>
 #include <set>
@@ -66,15 +67,8 @@ class DBCManager : public QObject {
 
 DBCManager *dbc();
 
+QString toString(const SourceSet &ss);
 inline QString msgName(const MessageId &id) {
   auto msg = dbc()->msg(id);
   return msg ? msg->name : UNTITLED;
 }
-
-inline QString toString(const SourceSet &ss) {
-  QStringList ret;
-  for (auto s : ss) {
-    ret << (s == -1 ? QString("all") : QString::number(s));
-  }
-  return ret.join(", ");
-}

tools/cabana/detailwidget.cc

@@ -147,8 +147,8 @@ void DetailWidget::refresh() {
   warning_widget->setVisible(!warnings.isEmpty());
 }
 
-void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
-  if ((msgs && !msgs->contains(msg_id)))
+void DetailWidget::updateState(const std::set<MessageId> *msgs) {
+  if ((msgs && !msgs->count(msg_id)))
     return;
 
   if (tab_widget->currentIndex() == 0)

tools/cabana/detailwidget.h

@@ -4,14 +4,14 @@
 #include <QSplitter>
 #include <QTabWidget>
 #include <QTextEdit>
+#include <set>
 
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signalview.h"
 
-class MainWindow;
 class EditMessageDialog : public QDialog {
 public:
   EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
@@ -39,7 +39,7 @@ class DetailWidget : public QWidget {
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
-  void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
+  void updateState(const std::set<MessageId> *msgs = nullptr);
 
   MessageId msg_id;
   QLabel *warning_icon, *warning_label;

tools/cabana/historylog.cc

@@ -7,7 +7,6 @@
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
-// HistoryLogModel
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const bool show_signals = display_signals_mode && sigs.size() > 0;
@@ -17,11 +16,11 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
       return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
     }
     int i = index.column() - 1;
-    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
+    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : QString();
   } else if (role == ColorsRole) {
-    return QVariant::fromValue(m.colors);
+    return QVariant::fromValue((void *)(&m.colors));
   } else if (role == BytesRole) {
-    return m.data;
+    return QVariant::fromValue((void *)(&m.data));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -123,7 +122,7 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
 template <class InputIt>
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
   std::deque<HistoryLogModel::Message> msgs;
-  QVector<double> values(sigs.size());
+  std::vector<double> values(sigs.size());
   for (; first != last && (*first)->mono_time > min_time; ++first) {
     const CanEvent *e = *first;
     for (int i = 0; i < sigs.size(); ++i) {
@@ -132,7 +131,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
     if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
       auto &m = msgs.emplace_back();
       m.mono_time = e->mono_time;
-      m.data = QByteArray((const char *)e->dat, e->size);
+      m.data.assign(e->dat, e->dat + e->size);
       m.sig_values = values;
       if (msgs.size() >= batch_size && min_time == 0) {
         return msgs;
@@ -146,7 +145,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
   const auto &events = can->events(msg_id);
   const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
-
+  const std::vector<uint8_t> no_mask;
   const auto speed = can->getSpeed();
   if (dynamic_mode) {
     auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
@@ -155,7 +154,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -166,7 +165,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -177,7 +176,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
 // HeaderView
 
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
-  static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
+  static const QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
   if (logicalIndex == 0) {
     return time_col_size;
   } else {
@@ -237,10 +236,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->addWidget(logs = new QTableView(this));
   logs->setModel(model = new HistoryLogModel(this));
   delegate = new MessageBytesDelegate(this);
-  logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
   logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
   logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
   logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+  logs->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
+  logs->verticalHeader()->setDefaultSectionSize(delegate->sizeForBytes(8).height());
   logs->verticalHeader()->setVisible(false);
   logs->setFrameShape(QFrame::NoFrame);
 

tools/cabana/historylog.h

@@ -46,9 +46,9 @@ public slots:
 public:
   struct Message {
     uint64_t mono_time = 0;
-    QVector<double> sig_values;
-    QByteArray data;
-    QVector<QColor> colors;
+    std::vector<double> sig_values;
+    std::vector<uint8_t> data;
+    std::vector<QColor> colors;
   };
 
   template <class InputIt>

tools/cabana/mainwin.cc

@@ -21,6 +21,7 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
+#include "tools/replay/replay.h"
 
 MainWindow::MainWindow() : QMainWindow() {
   createDockWindows();
@@ -84,8 +85,8 @@ void MainWindow::createActions() {
   close_stream_act->setEnabled(false);
   file_menu->addSeparator();
 
-  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
-  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
+  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New);
+  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
 
@@ -111,19 +112,15 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
 
   file_menu->addSeparator();
-  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
-  save_dbc->setShortcuts(QKeySequence::Save);
-
-  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
-  save_dbc_as->setShortcuts(QKeySequence::SaveAs);
-
+  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save, QKeySequence::Save);
+  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs, QKeySequence::SaveAs);
   copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
+  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption, QKeySequence::Preferences);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
+  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows, QKeySequence::Quit);
 
   // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
@@ -157,7 +154,7 @@ void MainWindow::createActions() {
 
   // Help Menu
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
-  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
+  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp, QKeySequence::HelpContents);
   help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
 }
 
@@ -374,7 +371,7 @@ void MainWindow::eventsMerged() {
       auto dbc_name = fingerprint_to_dbc[car_fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
         // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
+        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
       }
     }
   }
@@ -471,11 +468,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 
 void MainWindow::updateLoadSaveMenus() {
   int cnt = dbc()->nonEmptyDBCCount();
-  if (cnt > 1) {
-    save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
-  } else {
-    save_dbc->setText(tr("Save DBC..."));
-  }
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
   save_dbc->setEnabled(cnt > 0);
   save_dbc_as->setEnabled(cnt == 1);