cabana: add dialog to open route from remote or local (#27183)

* add OpenRouteDialog

* cleanup

* failed_to_load

* fix load

* clear message list and stream after open new route

* show message

* remove all tabs and charts after open

* use textEdited

* check route format

* cleanup loadRoute

tools/cabana/SConscript

@@ -21,7 +21,7 @@ cabana_env = qt_env.Clone()
 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
-                                               'commands.cc', 'messageswidget.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                                               'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if arch == "Darwin":

tools/cabana/cabana.cc

@@ -4,6 +4,7 @@
 #include "common/prefix.h"
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
+#include "tools/cabana/route.h"
 #include "tools/cabana/streams/livestream.h"
 #include "tools/cabana/streams/replaystream.h"
 
@@ -26,10 +27,6 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"no-vipc", "do not output video"});
   cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
-  const QStringList args = cmd_parser.positionalArguments();
-  if (args.empty() && !cmd_parser.isSet("demo") && !cmd_parser.isSet("stream")) {
-    cmd_parser.showHelp();
-  }
 
   std::unique_ptr<OpenpilotPrefix> op_prefix;
   std::unique_ptr<AbstractStream> stream;
@@ -41,7 +38,6 @@ int main(int argc, char *argv[]) {
 #ifndef __APPLE__
     op_prefix.reset(new OpenpilotPrefix());
 #endif
-    const QString route = args.empty() ? DEMO_ROUTE : args.first();
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) {
       replay_flags |= REPLAY_FLAG_ECAM;
@@ -50,9 +46,22 @@ int main(int argc, char *argv[]) {
     } else if (cmd_parser.isSet("no-vipc")) {
       replay_flags |= REPLAY_FLAG_NO_VIPC;
     }
-    auto replay_stream = new ReplayStream(&app);
+
+    const QStringList args = cmd_parser.positionalArguments();
+    QString route;
+    if (args.size() > 0) {
+      route = args.first();
+    } else if (cmd_parser.isSet("demo")) {
+      route = DEMO_ROUTE;
+    }
+
+    auto replay_stream = new ReplayStream(replay_flags, &app);
     stream.reset(replay_stream);
-    if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
+    if (route.isEmpty()) {
+      if (OpenRouteDialog dlg(nullptr); !dlg.exec()) {
+        return 0;
+      }
+    } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) {
       return 0;
     }
   }

tools/cabana/chartswidget.cc

@@ -137,7 +137,7 @@ void ChartsWidget::updateState() {
   if (!is_zoomed) {
     double pos = (cur_sec - display_range.first) / max_chart_range;
     if (pos < 0 || pos > 0.8) {
-      const double min_event_sec = (can->events()->front()->mono_time / (double)1e9) - can->routeStartTime();
+      const double min_event_sec = can->events()->empty() ? 0 : (can->events()->front()->mono_time / (double)1e9 - can->routeStartTime());
       display_range.first = std::floor(std::max(min_event_sec, cur_sec - max_chart_range * 0.2));
     }
     display_range.second = std::floor(display_range.first + max_chart_range);
@@ -157,7 +157,7 @@ void ChartsWidget::updateState() {
 void ChartsWidget::setMaxChartRange(int value) {
   max_chart_range = settings.chart_range = value;
   double current_sec = can->currentSec();
-  const double min_event_sec = (can->events()->front()->mono_time / (double)1e9) - can->routeStartTime();
+  const double min_event_sec = can->events()->empty() ? 0 : (can->events()->front()->mono_time / (double)1e9 - can->routeStartTime());
   // keep current_sec's pos
   double pos = (current_sec - display_range.first) / (display_range.second - display_range.first);
   display_range.first = std::floor(std::max(min_event_sec, current_sec - max_chart_range * (1.0 - pos)));

tools/cabana/chartswidget.h

@@ -97,6 +97,7 @@ public:
 
 public slots:
   void setColumnCount(int n);
+  void removeAll();
 
 signals:
   void dock(bool floating);
@@ -114,7 +115,6 @@ private:
   void zoomIn(double min, double max);
   void zoomReset();
   void updateToolBar();
-  void removeAll();
   void setMaxChartRange(int value);
   void updateLayout();
   void settingChanged();

tools/cabana/detailwidget.cc

@@ -104,6 +104,16 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   }
 }
 
+void DetailWidget::removeAll() {
+  msg_id = "";
+  tabbar->blockSignals(true);
+  while (tabbar->count() > 0) {
+    tabbar->removeTab(0);
+  }
+  tabbar->blockSignals(false);
+  stacked_layout->setCurrentIndex(0);
+}
+
 void DetailWidget::setMessage(const QString &message_id) {
   msg_id = message_id;
   int index = tabbar->count() - 1;

tools/cabana/detailwidget.h

@@ -30,6 +30,7 @@ public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const QString &message_id);
   void refresh();
+  void removeAll();
   QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); }
 
 private:

tools/cabana/mainwin.cc

@@ -15,6 +15,7 @@
 #include <QWidgetAction>
 
 #include "tools/cabana/commands.h"
+#include "tools/cabana/route.h"
 
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
@@ -66,6 +67,11 @@ MainWindow::MainWindow() : QMainWindow() {
 
 void MainWindow::createActions() {
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
+  if (!can->liveStreaming()) {
+    file_menu->addAction(tr("Open Route..."), this, &MainWindow::openRoute);
+    file_menu->addSeparator();
+  }
+
   file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New);
   file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open);
 
@@ -185,6 +191,17 @@ void MainWindow::DBCFileChanged() {
   setWindowFilePath(QString("%1").arg(dbc()->name()));
 }
 
+void MainWindow::openRoute() {
+  OpenRouteDialog dlg(this);
+  if (dlg.exec()) {
+    detail_widget->removeAll();
+    charts_widget->removeAll();
+    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
+  } else if (dlg.failedToLoad()) {
+    close();
+  }
+}
+
 void MainWindow::newFile() {
   remindSaveChanges();
   dbc()->open("untitled.dbc", "");

tools/cabana/mainwin.h

@@ -23,6 +23,7 @@ public:
   void loadFile(const QString &fn);
 
 public slots:
+  void openRoute();
   void newFile();
   void openFile();
   void openRecentFile();

tools/cabana/messageswidget.cc

@@ -3,7 +3,6 @@
 #include <QApplication>
 #include <QFontDatabase>
 #include <QHBoxLayout>
-#include <QLineEdit>
 #include <QPainter>
 #include <QPushButton>
 #include <QVBoxLayout>
@@ -14,7 +13,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
   // message filter
-  QLineEdit *filter = new QLineEdit(this);
+  filter = new QLineEdit(this);
   filter->setClearButtonEnabled(true);
   filter->setPlaceholderText(tr("filter messages"));
   main_layout->addWidget(filter);
@@ -41,8 +40,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(suppress_layout);
 
   // signals/slots
-  QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString);
+  QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
+  QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
   QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
   QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
@@ -83,6 +83,13 @@ void MessagesWidget::updateSuppressedButtons() {
   }
 }
 
+void MessagesWidget::reset() {
+  model->reset();
+  filter->clear();
+  current_msg_id = "";
+  updateSuppressedButtons();
+}
+
 
 // MessageListModel
 
@@ -175,10 +182,11 @@ void MessageListModel::sortMessages() {
 
 void MessageListModel::msgsReceived(const QHash<QString, CanData> *new_msgs) {
   int prev_row_count = msgs.size();
-  if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) {
+  bool update_all = new_msgs->size() == can->can_msgs.size();
+  if (update_all || (filter_str.isEmpty() && msgs.size() != can->can_msgs.size())) {
     msgs = can->can_msgs.keys();
   }
-  if (msgs.size() != prev_row_count) {
+  if (update_all || msgs.size() != prev_row_count) {
     sortMessages();
     return;
   }
@@ -215,3 +223,11 @@ void MessageListModel::suppress() {
 void MessageListModel::clearSuppress() {
   suppressed_bytes.clear();
 }
+
+void MessageListModel::reset() {
+  beginResetModel();
+  filter_str = "";
+  msgs.clear();
+  clearSuppress();
+  endResetModel();
+}

tools/cabana/messageswidget.h

@@ -2,6 +2,7 @@
 
 #include <QAbstractTableModel>
 #include <QHeaderView>
+#include <QLineEdit>
 #include <QSet>
 #include <QStyledItemDelegate>
 #include <QTableView>
@@ -23,6 +24,7 @@ public:
   void sortMessages();
   void suppress();
   void clearSuppress();
+  void reset();
   QStringList msgs;
   QSet<std::pair<QString, int>> suppressed_bytes;
 
@@ -41,6 +43,7 @@ public:
   QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); }
   bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); }
   void updateSuppressedButtons();
+  void reset();
 
 signals:
   void msgSelectionChanged(const QString &message_id);
@@ -48,6 +51,7 @@ signals:
 protected:
   QTableView *table_widget;
   QString current_msg_id;
+  QLineEdit *filter;
   MessageListModel *model;
   QPushButton *suppress_add;
   QPushButton *suppress_clear;

tools/cabana/route.cc

@@ -0,0 +1,68 @@
+#include "tools/cabana/route.h"
+
+#include <QButtonGroup>
+#include <QFileDialog>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QMessageBox>
+#include <QPushButton>
+
+#include "tools/cabana/streams/replaystream.h"
+
+OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) {
+  // TODO: get route list from api.comma.ai
+  QHBoxLayout *edit_layout = new QHBoxLayout;
+  edit_layout->addWidget(new QLabel(tr("Route:")));
+  edit_layout->addWidget(route_edit = new QLineEdit(this));
+  route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
+  auto file_btn = new QPushButton(tr("Browse..."), this);
+  edit_layout->addWidget(file_btn);
+
+  btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
+  btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(0);
+  main_layout->addLayout(edit_layout);
+  main_layout->addStretch(0);
+  main_layout->addWidget(btn_box);
+  setMinimumSize({550, 120});
+
+  QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute);
+  QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(route_edit, &QLineEdit::textChanged, [this]() {
+    btn_box->button(QDialogButtonBox::Open)->setEnabled(!route_edit->text().isEmpty());
+  });
+  QObject::connect(file_btn, &QPushButton::clicked, [=]() {
+    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
+    if (!dir.isEmpty()) {
+      route_edit->setText(dir);
+      settings.last_route_dir = QFileInfo(dir).absolutePath();
+    }
+  });
+}
+
+void OpenRouteDialog::loadRoute() {
+  btn_box->setEnabled(false);
+
+  QString route = route_edit->text();
+  QString data_dir;
+  if (int idx = route.lastIndexOf('/'); idx != -1) {
+    data_dir = route.mid(0, idx + 1);
+    route = route.mid(idx + 1);
+  }
+
+  bool is_valid_format = Route::parseRoute(route).str.size() > 0;
+  if (!is_valid_format) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
+  } else {
+    failed_to_load = !dynamic_cast<ReplayStream *>(can)->loadRoute(route, data_dir);
+    if (failed_to_load) {
+      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
+    } else {
+      accept();
+    }
+  }
+
+  btn_box->setEnabled(true);
+}

tools/cabana/route.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <QDialogButtonBox>
+#include <QLineEdit>
+#include <QDialog>
+
+class OpenRouteDialog : public QDialog {
+  Q_OBJECT
+
+public:
+  OpenRouteDialog(QWidget *parent);
+  void loadRoute();
+  inline bool failedToLoad() const { return failed_to_load; }
+
+private:
+  QLineEdit *route_edit;
+  QDialogButtonBox *btn_box;
+  bool failed_to_load = false;
+};

tools/cabana/settings.cc

@@ -20,6 +20,7 @@ void Settings::save() {
   s.setValue("chart_range", chart_range);
   s.setValue("chart_column_count", chart_column_count);
   s.setValue("last_dir", last_dir);
+  s.setValue("last_route_dir", last_route_dir);
   s.setValue("window_state", window_state);
   s.setValue("geometry", geometry);
   s.setValue("video_splitter_state", video_splitter_state);
@@ -36,6 +37,7 @@ void Settings::load() {
   chart_range = s.value("chart_range", 3 * 60).toInt();
   chart_column_count = s.value("chart_column_count", 1).toInt();
   last_dir = s.value("last_dir", QDir::homePath()).toString();
+  last_route_dir = s.value("last_route_dir", QDir::homePath()).toString();
   window_state = s.value("window_state").toByteArray();
   geometry = s.value("geometry").toByteArray();
   video_splitter_state = s.value("video_splitter_state").toByteArray();

tools/cabana/settings.h

@@ -20,6 +20,7 @@ public:
   int chart_range = 3 * 60; // e minutes
   int chart_series_type = 0;
   QString last_dir;
+  QString last_route_dir;
   QByteArray geometry;
   QByteArray video_splitter_state;
   QByteArray window_state;

tools/cabana/streams/replaystream.cc

@@ -2,7 +2,7 @@
 
 #include "tools/cabana/dbcmanager.h"
 
-ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) {
+ReplayStream::ReplayStream(uint32_t replay_flags, QObject *parent) : replay_flags(replay_flags), AbstractStream(parent, false) {
   QObject::connect(&settings, &Settings::changed, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
   });
@@ -16,13 +16,13 @@ static bool event_filter(const Event *e, void *opaque) {
   return ((ReplayStream *)opaque)->eventFilter(e);
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
-  replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this);
+bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) {
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
-  QObject::connect(replay, &Replay::seekedTo, this, &AbstractStream::seekedTo);
-  QObject::connect(replay, &Replay::segmentsMerged, this, &AbstractStream::eventsMerged);
-  QObject::connect(replay, &Replay::streamStarted, this, &AbstractStream::streamStarted);
+  QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
+  QObject::connect(replay.get(), &Replay::segmentsMerged, this, &AbstractStream::eventsMerged);
+  QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted);
   if (replay->load()) {
     const auto &segments = replay->route()->segments();
     if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) {

tools/cabana/streams/replaystream.h

@@ -8,9 +8,9 @@ class ReplayStream : public AbstractStream {
   Q_OBJECT
 
 public:
-  ReplayStream(QObject *parent);
+  ReplayStream(uint32_t replay_flags, QObject *parent);
   ~ReplayStream();
-  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
+  bool loadRoute(const QString &route, const QString &data_dir);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); };
   inline QString routeName() const override { return replay->route()->name(); }
@@ -28,5 +28,6 @@ public:
   inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() override { return replay->getTimeline(); }
 
 private:
-  Replay *replay = nullptr;
+  std::unique_ptr<Replay> replay = nullptr;
+  uint32_t replay_flags = REPLAY_FLAG_NONE;
 };