Cabana: show frequency column in message table (#26189)

* show frequency column in message table

* add comments

tools/cabana/canmessages.cc

@@ -97,6 +97,12 @@ bool CANMessages::eventFilter(const Event *event) {
     }
 
     current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9;
+    if (counters_begin_sec > current_sec) {
+      // clear counters
+      counters.clear();
+      counters_begin_sec = current_sec;
+    }
+
     auto can_events = event->event.getCan();
     for (const auto &c : can_events) {
       QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16);
@@ -108,6 +114,12 @@ bool CANMessages::eventFilter(const Event *event) {
       data.ts = current_sec;
       data.bus_time = c.getBusTime();
       data.dat.append((char *)c.getDat().begin(), c.getDat().size());
+
+      auto &count = counters[id];
+      data.count = ++count;
+      if (double delta = (current_sec - counters_begin_sec); delta > 0) {
+        data.freq = count / delta;
+      }
     }
 
     if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) {

tools/cabana/canmessages.h

@@ -13,8 +13,10 @@
 #include "tools/replay/replay.h"
 
 struct CanData {
-  double ts;
-  uint16_t bus_time;
+  double ts = 0.;
+  uint32_t count = 0;
+  uint32_t freq = 0;
+  uint16_t bus_time = 0;
   QByteArray dat;
 };
 
@@ -57,7 +59,6 @@ signals:
 public:
   QMap<QString, std::deque<CanData>> can_msgs;
   std::unique_ptr<QHash<QString, std::deque<CanData>>> received_msgs = nullptr;
-  QHash<QString, uint32_t> counters;
 
 protected:
   void process(QHash<QString, std::deque<CanData>> *);
@@ -66,6 +67,7 @@ protected:
 
   std::atomic<double> current_sec = 0.;
   std::atomic<bool> seeking = false;
+
   double begin_sec = 0;
   double end_sec = 0;
   double event_begin_sec = 0;
@@ -73,6 +75,9 @@ protected:
   bool is_zoomed = false;
   QString routeName;
   Replay *replay = nullptr;
+
+  double counters_begin_sec = std::numeric_limits<double>::max();
+  QHash<QString, uint32_t> counters;
 };
 
 inline QString toHex(const QByteArray &dat) {

tools/cabana/messageswidget.cc

@@ -112,23 +112,25 @@ void MessagesWidget::loadDBCFromFingerprint() {
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
-    return (QString[]){"Name", "ID", "Count", "Bytes"}[section];
+    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->counters[m->id];
-      case 3: return toHex(can->lastMessage(m->id).dat);
+      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() == 3) {
+    if (index.column() == columnCount() - 1) {
       return QFontDatabase::systemFont(QFontDatabase::FixedFont);
     }
   }
@@ -164,8 +166,18 @@ bool MessageListModel::updateMessages(bool sort) {
       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 lcount = can->counters[l->id], rcount = can->counters[r->id];
+      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;
     });

tools/cabana/messageswidget.h

@@ -23,7 +23,7 @@ Q_OBJECT
 public:
   MessageListModel(QObject *parent) : QAbstractTableModel(parent) {}
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
-  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 4; }
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; }
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;