From a04c045cd79b04751ad378bb0a8e1c87c7c7ff21 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 Jul 2026 09:31:16 -0700 Subject: [PATCH] cabana: de-Qt, part 3 (#38360) --- openpilot/tools/cabana/.gitignore | 1 + openpilot/tools/cabana/SConscript | 40 +- openpilot/tools/cabana/assets/assets.qrc | 1 - openpilot/tools/cabana/binaryview.cc | 16 +- openpilot/tools/cabana/binaryview.h | 1 + openpilot/tools/cabana/cabana.cc | 3 +- openpilot/tools/cabana/cameraview.cc | 221 +---- openpilot/tools/cabana/cameraview.h | 33 +- openpilot/tools/cabana/chart/chart.cc | 764 +++++++++--------- openpilot/tools/cabana/chart/chart.h | 72 +- openpilot/tools/cabana/chart/chartswidget.cc | 180 +++-- openpilot/tools/cabana/chart/chartswidget.h | 29 +- openpilot/tools/cabana/commands.cc | 103 ++- openpilot/tools/cabana/commands.h | 80 +- openpilot/tools/cabana/deqt.md | 25 +- openpilot/tools/cabana/detailwidget.cc | 6 +- openpilot/tools/cabana/historylog.cc | 2 +- openpilot/tools/cabana/mainwin.cc | 102 ++- openpilot/tools/cabana/mainwin.h | 7 +- openpilot/tools/cabana/messageswidget.cc | 52 +- openpilot/tools/cabana/messageswidget.h | 19 +- openpilot/tools/cabana/settings.cc | 507 +++++++++++- openpilot/tools/cabana/settings.h | 14 +- openpilot/tools/cabana/signalview.cc | 4 +- openpilot/tools/cabana/signalview.h | 7 +- .../tools/cabana/streams/abstractstream.h | 2 +- .../tools/cabana/streams/devicestream.cc | 15 +- openpilot/tools/cabana/streams/livestream.cc | 70 +- openpilot/tools/cabana/streams/livestream.h | 17 +- openpilot/tools/cabana/streams/pandastream.cc | 9 +- .../tools/cabana/streams/replaystream.cc | 4 +- openpilot/tools/cabana/streams/routes.cc | 16 +- openpilot/tools/cabana/streams/routes.h | 4 + .../tools/cabana/streams/socketcanstream.cc | 20 +- openpilot/tools/cabana/streamselector.cc | 4 +- openpilot/tools/cabana/tools/findsignal.cc | 9 +- openpilot/tools/cabana/utils/util.cc | 142 ++-- openpilot/tools/cabana/utils/util.h | 24 +- openpilot/tools/cabana/videowidget.cc | 4 +- openpilot/tools/cabana/videowidget.h | 2 +- tools/setup_dependencies.sh | 2 +- 41 files changed, 1579 insertions(+), 1054 deletions(-) diff --git a/openpilot/tools/cabana/.gitignore b/openpilot/tools/cabana/.gitignore index e4212612df..7f9ac0fde0 100644 --- a/openpilot/tools/cabana/.gitignore +++ b/openpilot/tools/cabana/.gitignore @@ -3,6 +3,7 @@ moc_* *.generated.qrc assets.cc +bootstrap_icons.cc _cabana dbc/car_fingerprint_to_dbc.json diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript index e9c1a976bb..fcaa3b7930 100644 --- a/openpilot/tools/cabana/SConscript +++ b/openpilot/tools/cabana/SConscript @@ -30,7 +30,7 @@ if arch == "Darwin": ] qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules] qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")] - qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"] + qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin")) else: qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip() @@ -46,7 +46,7 @@ else: qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else [] qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] - qt_libs = [f"Qt5{m}" for m in qt_modules] + ["GL"] + qt_libs = [f"Qt5{m}" for m in qt_modules] qt_env['QT3DIR'] = qt_env['QTDIR'] qt_env.Tool('qt3') @@ -67,9 +67,7 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": - base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox'] -else: - base_libs.append('Qt5Charts') + base_frameworks += ['CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox'] cabana_env = qt_env.Clone() cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR] @@ -79,22 +77,26 @@ cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] -def write_assets_qrc(target, source, env): - with open(str(source[0])) as f: - qrc = f.read() - with open(str(target[0]), "w") as f: - f.write(qrc.replace("@BOOTSTRAP_ICONS_SVG@", str(bootstrap_icons.SVG_PATH))) +# embed the bootstrap icons SVG into the binary +def build_bootstrap_icons_src(target, source, env): + data = open(str(source[0]), 'rb').read() + with open(str(target[0]), 'w') as f: + f.write('#include \n') + f.write('extern const unsigned char bootstrap_icons_svg[];\n') + f.write('extern const size_t bootstrap_icons_svg_len;\n') + f.write('const unsigned char bootstrap_icons_svg[] = {\n') + for i in range(0, len(data), 32): + f.write(','.join(str(b) for b in data[i:i+32]) + ',\n') + f.write('};\n') + f.write('const size_t bootstrap_icons_svg_len = sizeof(bootstrap_icons_svg);\n') + return None + +bootstrap_icons_src = cabana_env.Command('assets/bootstrap_icons.cc', str(bootstrap_icons.SVG_PATH), build_bootstrap_icons_src) # build assets assets = "assets/assets.cc" -assets_src = cabana_env.Command( - "assets/assets.generated.qrc", - "assets/assets.qrc", - write_assets_qrc, -) -cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") -cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH)) -cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) +cabana_env.Command(assets, "assets/assets.qrc", f"rcc $SOURCES -o $TARGET") +cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, "assets/assets.o"])) cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc', @@ -104,7 +106,7 @@ cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc' 'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'] if arch != "Darwin": cabana_srcs += ['streams/socketcanstream.cc'] -cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs, LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs + [bootstrap_icons_src], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): diff --git a/openpilot/tools/cabana/assets/assets.qrc b/openpilot/tools/cabana/assets/assets.qrc index f5880e5580..009d63f008 100644 --- a/openpilot/tools/cabana/assets/assets.qrc +++ b/openpilot/tools/cabana/assets/assets.qrc @@ -1,6 +1,5 @@ - @BOOTSTRAP_ICONS_SVG@ cabana-icon.png diff --git a/openpilot/tools/cabana/binaryview.cc b/openpilot/tools/cabana/binaryview.cc index f396d1c13f..5e919dc6a3 100644 --- a/openpilot/tools/cabana/binaryview.cc +++ b/openpilot/tools/cabana/binaryview.cc @@ -37,7 +37,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &BinaryView::refresh); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh); + QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &BinaryView::refresh); addShortcuts(); setWhatsThis(R"( @@ -66,7 +66,7 @@ void BinaryView::addShortcuts() { QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated); QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig)); + UndoStack::instance()->push(new RemoveSigCommand(model->msg_id, hovered_sig)); hovered_sig = nullptr; } }); @@ -126,7 +126,7 @@ void BinaryView::highlight(const cabana::Signal *sig) { } void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) { - auto index = indexAt(viewport()->mapFromGlobal(QCursor::pos())); + auto index = indexAt(last_mouse_pos); if (!anchor_index.isValid() || !index.isValid()) return; @@ -141,7 +141,7 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF void BinaryView::mousePressEvent(QMouseEvent *event) { resize_sig = nullptr; - if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) { + if (auto index = indexAt(last_mouse_pos = event->pos()); index.isValid() && index.column() != 8) { anchor_index = index; auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); int bit_pos = get_bit_pos(anchor_index); @@ -158,7 +158,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { } void BinaryView::highlightPosition(const QPoint &pos) { - if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) { + if (auto index = indexAt(pos); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back(); highlight(sig); @@ -166,7 +166,7 @@ void BinaryView::highlightPosition(const QPoint &pos) { } void BinaryView::mouseMoveEvent(QMouseEvent *event) { - highlightPosition(event->globalPos()); + highlightPosition(last_mouse_pos = event->pos()); QTableView::mouseMoveEvent(event); } @@ -179,7 +179,7 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { auto sig = resize_sig ? *resize_sig : cabana::Signal{}; std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index); resize_sig ? emit editSignal(resize_sig, sig) - : UndoStack::push(new AddSigCommand(model->msg_id, sig)); + : UndoStack::instance()->push(new AddSigCommand(model->msg_id, sig)); } else { auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); if (item && item->sigs.size() > 0) @@ -208,7 +208,7 @@ void BinaryView::refresh() { resize_sig = nullptr; hovered_sig = nullptr; model->refresh(); - highlightPosition(QCursor::pos()); + if (underMouse()) highlightPosition(last_mouse_pos); } std::set BinaryView::getOverlappingSignals() const { diff --git a/openpilot/tools/cabana/binaryview.h b/openpilot/tools/cabana/binaryview.h index e568228b37..c49067a1a2 100644 --- a/openpilot/tools/cabana/binaryview.h +++ b/openpilot/tools/cabana/binaryview.h @@ -94,6 +94,7 @@ private: void highlightPosition(const QPoint &pt); QModelIndex anchor_index; + QPoint last_mouse_pos{-1, -1}; BinaryViewModel *model; BinaryItemDelegate *delegate; bool is_message_active = false; diff --git a/openpilot/tools/cabana/cabana.cc b/openpilot/tools/cabana/cabana.cc index 56b43361f8..d8e21815dc 100644 --- a/openpilot/tools/cabana/cabana.cc +++ b/openpilot/tools/cabana/cabana.cc @@ -129,11 +129,10 @@ int parseArgs(int argc, char *argv[], CabanaArgs &args, bool &ok) { int main(int argc, char *argv[]) { QCoreApplication::setApplicationName("Cabana"); - QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts); initApp(argc, argv, false); QApplication app(argc, argv); app.setApplicationDisplayName("Cabana"); - app.setWindowIcon(QIcon(":cabana-icon.png")); + //app.setWindowIcon(QIcon(":cabana-icon.png")); // TODO: do this in imgui UnixSignalHandler signalHandler; utils::setTheme(settings.theme); diff --git a/openpilot/tools/cabana/cameraview.cc b/openpilot/tools/cabana/cameraview.cc index 997bd19198..a8df373dc4 100644 --- a/openpilot/tools/cabana/cameraview.cc +++ b/openpilot/tools/cabana/cameraview.cc @@ -1,139 +1,40 @@ #include "tools/cabana/cameraview.h" -#ifdef __APPLE__ -#include -#else -#include -#endif - +#include +#include +#include #include #include +#include -namespace { - -const char frame_vertex_shader[] = -#ifdef __APPLE__ - "#version 330 core\n" -#else - "#version 300 es\n" -#endif - "layout(location = 0) in vec4 aPosition;\n" - "layout(location = 1) in vec2 aTexCoord;\n" - "uniform mat4 uTransform;\n" - "out vec2 vTexCoord;\n" - "void main() {\n" - " gl_Position = uTransform * aPosition;\n" - " vTexCoord = aTexCoord;\n" - "}\n"; - -const char frame_fragment_shader[] = -#ifdef __APPLE__ - "#version 330 core\n" -#else - "#version 300 es\n" - "precision mediump float;\n" -#endif - "uniform sampler2D uTextureY;\n" - "uniform sampler2D uTextureUV;\n" - "in vec2 vTexCoord;\n" - "out vec4 colorOut;\n" - "void main() {\n" - " float y = texture(uTextureY, vTexCoord).r;\n" - " vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n" - " float r = y + 1.402 * uv.y;\n" - " float g = y - 0.344 * uv.x - 0.714 * uv.y;\n" - " float b = y + 1.772 * uv.x;\n" - " colorOut = vec4(r, g, b, 1.0);\n" - "}\n"; - -} // namespace +#include "common/yuv.h" CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) : - stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) { + stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); qRegisterMetaType>("availableStreams"); - QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread); } CameraWidget::~CameraWidget() { - makeCurrent(); stopVipcThread(); - if (isValid()) { - glDeleteVertexArrays(1, &frame_vao); - glDeleteBuffers(1, &frame_vbo); - glDeleteBuffers(1, &frame_ibo); - glDeleteTextures(2, textures); - shader_program_.reset(); - } - doneCurrent(); -} - -void CameraWidget::initializeGL() { - initializeOpenGLFunctions(); - - shader_program_ = std::make_unique(context()); - shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader); - shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader); - shader_program_->link(); - - GLint frame_pos_loc = shader_program_->attributeLocation("aPosition"); - GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord"); - - auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); - const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; - const float frame_coords[4][4] = { - {-1.0, -1.0, x2, y1}, // bl - {-1.0, 1.0, x2, y2}, // tl - { 1.0, 1.0, x1, y2}, // tr - { 1.0, -1.0, x1, y1}, // br - }; - - glGenVertexArrays(1, &frame_vao); - glBindVertexArray(frame_vao); - glGenBuffers(1, &frame_vbo); - glBindBuffer(GL_ARRAY_BUFFER, frame_vbo); - glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW); - glEnableVertexAttribArray(frame_pos_loc); - glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE, - sizeof(frame_coords[0]), (const void *)0); - glEnableVertexAttribArray(frame_texcoord_loc); - glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE, - sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2)); - glGenBuffers(1, &frame_ibo); - glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo); - glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW); - glBindBuffer(GL_ARRAY_BUFFER, 0); - glBindVertexArray(0); - - glGenTextures(2, textures); - - shader_program_->bind(); - shader_program_->setUniformValue("uTextureY", 0); - shader_program_->setUniformValue("uTextureUV", 1); - shader_program_->release(); } void CameraWidget::showEvent(QShowEvent *event) { - if (!vipc_thread) { + if (!vipc_thread.joinable()) { clearFrames(); - vipc_thread = new QThread(); - connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); - connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); - vipc_thread->start(); + vipc_exit = false; + vipc_thread = std::thread(&CameraWidget::vipcThread, this); } } void CameraWidget::stopVipcThread() { - makeCurrent(); - if (vipc_thread) { - vipc_thread->requestInterruption(); - vipc_thread->quit(); - vipc_thread->wait(); - vipc_thread = nullptr; + vipc_exit = true; + if (vipc_thread.joinable()) { + vipc_thread.join(); } } @@ -141,74 +42,29 @@ void CameraWidget::availableStreamsUpdated(std::set streams) { available_streams = streams; } -void CameraWidget::paintGL() { - glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); - glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); +void CameraWidget::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.fillRect(rect(), bg); std::lock_guard lk(frame_lock); - if (!current_frame_) return; + if (rgb_frame.isNull()) return; // Scale for aspect ratio float widget_ratio = (float)width() / height(); - float frame_ratio = (float)stream_width / stream_height; - float scale_x = std::min(frame_ratio / widget_ratio, 1.0f); - float scale_y = std::min(widget_ratio / frame_ratio, 1.0f); + float frame_ratio = (float)rgb_frame.width() / rgb_frame.height(); + int w = std::lround(width() * std::min(frame_ratio / widget_ratio, 1.0f)); + int h = std::lround(height() * std::min(widget_ratio / frame_ratio, 1.0f)); + QRect video_rect((width() - w) / 2, (height() - h) / 2, w, h); - glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio()); - - shader_program_->bind(); - QMatrix4x4 transform; - transform.scale(scale_x, scale_y, 1.0f); - shader_program_->setUniformValue("uTransform", transform); - - glPixelStorei(GL_UNPACK_ALIGNMENT, 1); - - glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); - glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D, textures[0]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, current_frame_->y); - - glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); - glActiveTexture(GL_TEXTURE1); - glBindTexture(GL_TEXTURE_2D, textures[1]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv); - - glBindVertexArray(frame_vao); - glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr); - glBindVertexArray(0); - - // Reset both texture units - glActiveTexture(GL_TEXTURE1); - glBindTexture(GL_TEXTURE_2D, 0); - glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D, 0); - glPixelStorei(GL_UNPACK_ALIGNMENT, 4); - glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); - - shader_program_->release(); -} - -void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { - makeCurrent(); - stream_width = vipc_client->buffers[0].width; - stream_height = vipc_client->buffers[0].height; - stream_stride = vipc_client->buffers[0].stride; - - glBindTexture(GL_TEXTURE_2D, textures[0]); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); - glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr); - assert(glGetError() == GL_NO_ERROR); - - glBindTexture(GL_TEXTURE_2D, textures[1]); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); - glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr); - assert(glGetError() == GL_NO_ERROR); + p.setRenderHint(QPainter::SmoothPixmapTransform); + if (active_stream_type == VISION_STREAM_DRIVER) { + // mirror driver camera horizontally + const qreal cx = video_rect.x() + video_rect.width() / 2.0; + p.translate(cx, 0); + p.scale(-1, 1); + p.translate(-cx, 0); + } + p.drawImage(video_rect, rgb_frame); } void CameraWidget::vipcFrameReceived() { @@ -220,7 +76,7 @@ void CameraWidget::vipcThread() { std::unique_ptr vipc_client; VisionIpcBufExtra frame_meta = {}; - while (!QThread::currentThread()->isInterruptionRequested()) { + while (!vipc_exit) { if (!vipc_client || cur_stream != requested_stream_type) { clearFrames(); fprintf(stderr, "connecting to stream %d, was connected to %d\n", @@ -234,23 +90,27 @@ void CameraWidget::vipcThread() { clearFrames(); auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); if (streams.empty()) { - QThread::msleep(100); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); continue; } emit vipcAvailableStreamsUpdated(streams); if (!vipc_client->connect(false)) { - QThread::msleep(100); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); continue; } - emit vipcThreadConnected(vipc_client.get()); } if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) { + // NV12 -> RGBA once per frame on the receive thread; paint just draws the image + if (rgb_back.width() != (int)buf->width || rgb_back.height() != (int)buf->height) { + rgb_back = QImage(buf->width, buf->height, QImage::Format_RGBA8888); + } + yuv::nv12_to_rgba(buf->y, buf->stride, buf->uv, buf->stride, + rgb_back.bits(), rgb_back.bytesPerLine(), buf->width, buf->height); { std::lock_guard lk(frame_lock); - current_frame_ = buf; - frame_meta_ = frame_meta; + rgb_frame.swap(rgb_back); } emit vipcThreadFrameReceived(); } @@ -259,6 +119,7 @@ void CameraWidget::vipcThread() { void CameraWidget::clearFrames() { std::lock_guard lk(frame_lock); - current_frame_ = nullptr; + rgb_frame = QImage(); + rgb_back = QImage(); available_streams.clear(); } diff --git a/openpilot/tools/cabana/cameraview.h b/openpilot/tools/cabana/cameraview.h index 930b13d82c..40d3776005 100644 --- a/openpilot/tools/cabana/cameraview.h +++ b/openpilot/tools/cabana/cameraview.h @@ -1,23 +1,21 @@ #pragma once -#include +#include #include #include #include +#include #include -#include -#include -#include -#include +#include +#include #include "msgq/visionipc/visionipc_client.h" -class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { +class CameraWidget : public QWidget { Q_OBJECT public: - using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr); ~CameraWidget(); void setStreamType(VisionStreamType type) { requested_stream_type = type; } @@ -26,37 +24,30 @@ public: signals: void clicked(); - void vipcThreadConnected(VisionIpcClient *); void vipcThreadFrameReceived(); void vipcAvailableStreamsUpdated(std::set); protected: - void paintGL() override; - void initializeGL() override; + void paintEvent(QPaintEvent *event) override; void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override { stopVipcThread(); } void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } void vipcThread(); void clearFrames(); - GLuint frame_vao, frame_vbo, frame_ibo; - GLuint textures[2]; - std::unique_ptr shader_program_; QColor bg = Qt::black; + QImage rgb_frame; // written by vipc thread, drawn by GUI thread; guarded by frame_lock + QImage rgb_back; // vipc thread only std::string stream_name; - int stream_width = 0; - int stream_height = 0; - int stream_stride = 0; std::atomic active_stream_type; std::atomic requested_stream_type; std::set available_streams; - QThread *vipc_thread = nullptr; - std::recursive_mutex frame_lock; - VisionBuf* current_frame_ = nullptr; - VisionIpcBufExtra frame_meta_ = {}; + std::thread vipc_thread; + std::atomic vipc_exit = false; + std::mutex frame_lock; protected slots: - void vipcConnected(VisionIpcClient *vipc_client); void vipcFrameReceived(); void availableStreamsUpdated(std::set streams); }; diff --git a/openpilot/tools/cabana/chart/chart.cc b/openpilot/tools/cabana/chart/chart.cc index 0ce5d051b3..8496c26994 100644 --- a/openpilot/tools/cabana/chart/chart.cc +++ b/openpilot/tools/cabana/chart/chart.cc @@ -6,50 +6,37 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include #include "tools/cabana/chart/chartswidget.h" -// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) const int AXIS_X_TOP_MARGIN = 4; -const double MIN_ZOOM_SECONDS = 0.01; // 10ms +const int X_TICK_COUNT = 5; +const double MIN_ZOOM_SECONDS = 0.01; // 10ms // Define a small value of epsilon to compare double values const float EPSILON = 0.000001; static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); } +static QMargins layoutMargins(const QStyle *style) { + return { + style->pixelMetric(QStyle::PM_LayoutLeftMargin), + style->pixelMetric(QStyle::PM_LayoutTopMargin), + style->pixelMetric(QStyle::PM_LayoutRightMargin), + style->pixelMetric(QStyle::PM_LayoutBottomMargin), + }; +} + ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) - : charts_widget(parent), QChartView(parent) { + : x_min(x_range.first), x_max(x_range.second), charts_widget(parent), QWidget(parent) { series_type = (SeriesType)settings.chart_series_type; - chart()->setBackgroundVisible(false); - axis_x = new QValueAxis(this); - axis_y = new QValueAxis(this); - chart()->addAxis(axis_x, Qt::AlignBottom); - chart()->addAxis(axis_y, Qt::AlignLeft); - chart()->legend()->layout()->setContentsMargins(0, 0, 0, 0); - chart()->legend()->setShowToolTips(true); - chart()->setMargins({0, 0, 0, 0}); - - axis_x->setRange(x_range.first, x_range.second); - + align_to = 50; + setMouseTracking(true); tip_label = new TipLabel(this); createToolButtons(); - setRubberBand(QChartView::HorizontalRubberBand); - setMouseTracking(true); - setTheme(utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); signal_value_font.setPointSize(9); - QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache); - QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache); - QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache); - QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &ChartView::signalUpdated); QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &ChartView::msgRemoved); @@ -57,13 +44,7 @@ ChartView::ChartView(const std::pair &x_range, ChartsWidget *par } void ChartView::createToolButtons() { - move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart()); - move_icon->setToolTip(tr("Drag and drop to move chart")); - - QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart")); - close_btn_proxy = new QGraphicsProxyWidget(chart()); - close_btn_proxy->setWidget(remove_btn); - close_btn_proxy->setZValue(chart()->zValue() + 11); + close_btn = new ToolButton("x", tr("Remove Chart"), this); menu = new QMenu(this); // series types @@ -81,17 +62,14 @@ void ChartView::createToolButtons() { menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals); split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); }); - QToolButton *manage_btn = new ToolButton("list", ""); + manage_btn = new ToolButton("list", "", this); manage_btn->setMenu(menu); manage_btn->setPopupMode(QToolButton::InstantPopup); manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }"); - manage_btn_proxy = new QGraphicsProxyWidget(chart()); - manage_btn_proxy->setWidget(manage_btn); - manage_btn_proxy->setZValue(chart()->zValue() + 11); close_act = new QAction(tr("Close"), this); QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); }); - QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered); + QObject::connect(close_btn, &QToolButton::clicked, close_act, &QAction::triggered); QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { setSeriesType((SeriesType)action->data().toInt()); }); @@ -101,29 +79,11 @@ QSize ChartView::sizeHint() const { return {CHART_MIN_WIDTH, settings.chart_height}; } -void ChartView::setTheme(QChart::ChartTheme theme) { - chart()->setTheme(theme); - if (theme == QChart::ChartThemeDark) { - axis_x->setTitleBrush(palette().text()); - axis_x->setLabelsBrush(palette().text()); - axis_y->setTitleBrush(palette().text()); - axis_y->setLabelsBrush(palette().text()); - chart()->legend()->setLabelColor(palette().color(QPalette::Text)); - } - axis_x->setLineVisible(false); - axis_y->setLineVisible(false); - for (auto &s : sigs) { - s.series->setColor(toQColor(s.sig->color)); - } -} - void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSignal(msg_id, sig)) return; - QXYSeries *series = createSeries(series_type, toQColor(sig->color)); - sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); + sigs.push_back({.msg_id = msg_id, .sig = sig, .color = uniqueColor(toQColor(sig->color))}); updateSeries(sig); - updateSeriesPoints(); updateTitle(); emit charts_widget->seriesChanged(); } @@ -134,29 +94,21 @@ bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) co void ChartView::removeIf(std::function predicate) { int prev_size = sigs.size(); - for (auto it = sigs.begin(); it != sigs.end(); /**/) { - if (predicate(*it)) { - chart()->removeSeries(it->series); - it->series->deleteLater(); - it = sigs.erase(it); - } else { - ++it; - } - } + sigs.erase(std::remove_if(sigs.begin(), sigs.end(), predicate), sigs.end()); if (sigs.empty()) { charts_widget->removeChart(this); } else if (sigs.size() != prev_size) { emit charts_widget->seriesChanged(); updateAxisY(); - resetChartCache(); + updateTitle(); } } void ChartView::signalUpdated(const cabana::Signal *sig) { auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; }); if (it != sigs.end()) { - if (it->series->color() != toQColor(sig->color)) { - setSeriesColor(it->series, toQColor(sig->color)); + if (it->color != toQColor(sig->color)) { + it->color = uniqueColor(toQColor(sig->color), sig); } updateTitle(); updateSeries(sig); @@ -186,98 +138,75 @@ void ChartView::manageSignals() { } void ChartView::resizeEvent(QResizeEvent *event) { - qreal left, top, right, bottom; - chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); - move_icon->setPos(left, top); - close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top); - int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); - manage_btn_proxy->setPos(x, top); - if (align_to > 0) { - updatePlotArea(align_to, true); - } - QChartView::resizeEvent(event); + QWidget::resizeEvent(event); + const auto margins = layoutMargins(style()); + QPixmap grip = utils::icon("grip-horizontal"); + move_icon_rect = QRect(QPoint(margins.left(), margins.top()), grip.size() / grip.devicePixelRatio()); + close_btn->resize(close_btn->sizeHint()); + manage_btn->resize(manage_btn->sizeHint()); + close_btn->move(rect().right() - margins.right() - close_btn->width(), margins.top()); + manage_btn->move(close_btn->x() - manage_btn->width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), margins.top()); + updatePlotArea(align_to, true); } void ChartView::updatePlotArea(int left_pos, bool force) { if (align_to != left_pos || force) { align_to = left_pos; - qreal left, top, right, bottom; - chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); - QSizeF legend_size = chart()->legend()->layout()->minimumSize(); - legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right()); - chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size}); + const auto margins = layoutMargins(style()); + QFont bold_font = font(); + bold_font.setBold(true); + QFontMetrics fm(font()), bfm(bold_font); + const int marker_size = fm.height() - 4; + const int row_height = std::max(marker_size, fm.height()) + QFontMetrics(signal_value_font).height() + 3; + const int legend_left = move_icon_rect.right() + margins.left(); + const int legend_right = std::max(manage_btn->x() - margins.right(), legend_left + 10); - // add top space for signal value - int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3; - adjust_top = std::max(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin)); + // layout legend entries left-to-right, wrapping between the move icon and the buttons + legend_rects.clear(); + int x = legend_left, y = margins.top(); + for (auto &s : sigs) { + int w = marker_size + 5 + bfm.horizontalAdvance(QString::fromStdString(s.sig->name)) + + fm.horizontalAdvance(QString::fromStdString(" " + msgName(s.msg_id) + " " + s.msg_id.toString())); + w = std::min(w, legend_right - legend_left); // keep oversized entries clear of the header buttons + if (x + w > legend_right && x > legend_left) { + x = legend_left; + y += row_height; + } + legend_rects.emplace_back(x, y, w, std::max(marker_size, fm.height())); + x += w + 12; + } + + // add top space for the legend and signal values + int adjust_top = (y + row_height) - margins.top(); + adjust_top = std::max(adjust_top, manage_btn->geometry().bottom() + style()->pixelMetric(QStyle::PM_LayoutTopMargin)); // add right space for x-axis label - QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); - x_label_size += QSizeF{5, 5}; - chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); - chart()->layout()->invalidate(); + QSizeF x_label_size = fm.size(Qt::TextSingleLine, QString::number(x_max, 'f', xAxisPrecision())) + QSizeF{5, 5}; + plot_area = rect().adjusted(align_to + margins.left(), adjust_top + margins.top(), + -x_label_size.width() / 2 - margins.right(), + -x_label_size.height() - margins.bottom()); resetChartCache(); } } void ChartView::updateTitle() { - for (QLegendMarker *marker : chart()->legend()->markers()) { - QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); - } - - // Use CSS to draw titles in the WindowText color - auto tmp = palette().color(QPalette::WindowText); - auto titleColorCss = tmp.name(QColor::HexArgb); - // Draw message details in similar color, but slightly fade it to the background - tmp.setAlpha(180); - auto msgColorCss = tmp.name(QColor::HexArgb); - - for (auto &s : sigs) { - auto decoration = s.series->isVisible() ? "none" : "line-through"; - s.series->setName(QString("%3 %5 %6") - .arg(decoration, titleColorCss, QString::fromStdString(s.sig->name), - msgColorCss, QString::fromStdString(msgName(s.msg_id)), QString::fromStdString(s.msg_id.toString()))); - } split_chart_act->setEnabled(sigs.size() > 1); - resetChartCache(); + updatePlotArea(align_to, true); } void ChartView::updatePlot(double cur, double min, double max) { cur_sec = cur; - if (min != axis_x->min() || max != axis_x->max()) { - axis_x->setRange(min, max); + if (min != x_min || max != x_max) { + x_min = min; + x_max = max; updateAxisY(); - updateSeriesPoints(); // update tooltip if (tooltip_x >= 0) { - showTip(chart()->mapToValue({tooltip_x, 0}).x()); + showTip(secondsAtPoint({tooltip_x, 0})); } resetChartCache(); } - viewport()->update(); -} - -void ChartView::updateSeriesPoints() { - // Show points when zoomed in enough - for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); - auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan); - if (begin != end) { - int num_points = std::max((end - begin), 1); - QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end; - double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points; - - if (series_type == SeriesType::Scatter) { - qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0); - if (s.series->useOpenGL()) { - size *= devicePixelRatioF(); - } - ((QScatterSeries *)s.series)->setMarkerSize(size); - } else { - s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20); - } - } - } + update(); } void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector &events, @@ -322,8 +251,6 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap * if (!can->liveStreaming()) { s.segment_tree.build(s.vals); } - const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals; - s.series->replace(QVector(points.cbegin(), points.cend())); } } updateAxisY(); @@ -340,15 +267,15 @@ void ChartView::updateAxisY() { QString unit = QString::fromStdString(sigs[0].sig->unit); for (auto &s : sigs) { - if (!s.series->isVisible()) continue; + if (!s.visible) continue; // Only show unit when all signals have the same unit if (unit != QString::fromStdString(s.sig->unit)) { unit.clear(); } - auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); - auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), x_min, xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), x_max, xLessThan); s.min = std::numeric_limits::max(); s.max = std::numeric_limits::lowest(); if (can->liveStreaming()) { @@ -365,28 +292,28 @@ void ChartView::updateAxisY() { if (min == std::numeric_limits::max()) min = 0; if (max == std::numeric_limits::lowest()) max = 0; - if (axis_y->titleText() != unit) { - axis_y->setTitleText(unit); + if (y_unit != unit) { + y_unit = unit; y_label_width = 0; // recalc width } double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3); - if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) { - axis_y->setRange(min_y, max_y); - axis_y->setTickCount(tick_count); + if (min_y != y_min || max_y != y_max || y_label_width == 0) { + y_min = min_y; + y_max = max_y; + y_tick_count = tick_count; + y_precision = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0); - int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0); + QFontMetrics fm(font()); int max_label_width = 0; - QFontMetrics fm(axis_y->labelsFont()); for (int i = 0; i < tick_count; i++) { qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1)); - max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', n))); + max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', y_precision))); } - int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height(); + int title_spacing = y_unit.isEmpty() ? 0 : fm.size(Qt::TextSingleLine, y_unit).height(); y_label_width = title_spacing + max_label_width + 15; - axis_y->setLabelFormat(QString("%.%1f").arg(n)); emit axisYLabelWidthChanged(y_label_width); } } @@ -400,6 +327,10 @@ std::tuple ChartView::getNiceAxisNumbers(qreal min, qreal m return {min * step, max * step, tick_count}; } +int ChartView::xAxisPrecision() const { + return std::max(int(-std::floor(std::log10((x_max - x_min) / (X_TICK_COUNT - 1)))), 2); +} + // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n qreal ChartView::niceNumber(qreal x, bool ceiling) { qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x @@ -430,344 +361,394 @@ void ChartView::contextMenuEvent(QContextMenuEvent *event) { } void ChartView::mousePressEvent(QMouseEvent *event) { - if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { - QMimeData *mimeData = new QMimeData; - mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this)); - QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation); - charts_widget->stopAutoScroll(); - QDrag *drag = new QDrag(this); - drag->setMimeData(mimeData); - drag->setPixmap(px); - drag->setHotSpot(-QPoint(5, 5)); - drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); - } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + press_pos = event->pos(); + if (event->button() == Qt::LeftButton && move_icon_rect.contains(event->pos())) { + charts_widget->startChartDrag(this, event->globalPos()); + } else if (event->button() == Qt::LeftButton && event->modifiers().testFlag(Qt::ShiftModifier)) { // Save current playback state when scrubbing resume_after_scrub = !can->isPaused(); if (resume_after_scrub) { can->pause(true); } - is_scrubbing = true; + mouse_mode = MouseMode::Scrub; + } else if (event->button() == Qt::LeftButton && plot_area.contains(event->pos())) { + mouse_mode = MouseMode::Rubber; + rubber_rect = QRect(); } else { - QChartView::mousePressEvent(event); - } -} - -void ChartView::mouseReleaseEvent(QMouseEvent *event) { - auto rubber = findChild(); - if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { - rubber->hide(); - auto rect = rubber->geometry().normalized(); - // Prevent zooming/seeking past the end of the route - double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds()); - double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds()); - if (rubber->width() <= 0) { - // no rubber dragged, seek to mouse position - can->seekTo(min); - } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) { - charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max})); - } else { - viewport()->update(); - } - event->accept(); - } else if (event->button() == Qt::RightButton) { - charts_widget->zoom_undo_stack->undo(); - event->accept(); - } else { - QGraphicsView::mouseReleaseEvent(event); - } - - // Resume playback if we were scrubbing - is_scrubbing = false; - if (resume_after_scrub) { - can->pause(false); - resume_after_scrub = false; + QWidget::mousePressEvent(event); } } void ChartView::mouseMoveEvent(QMouseEvent *ev) { - const auto plot_area = chart()->plotArea(); // Scrubbing - if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (mouse_mode == MouseMode::Scrub && ev->modifiers().testFlag(Qt::ShiftModifier)) { if (plot_area.contains(ev->pos())) { - can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds())); + can->seekTo(std::clamp(secondsAtPoint(ev->pos()), can->minSeconds(), can->maxSeconds())); } } - auto rubber = findChild(); - bool is_zooming = rubber && rubber->isVisible(); - clearTrackPoints(); + if (mouse_mode == MouseMode::Rubber) { + // horizontal selection, clamped to the plot area + int left = std::clamp(std::min(press_pos.x(), ev->pos().x()), plot_area.left(), plot_area.right()); + int right = std::clamp(std::max(press_pos.x(), ev->pos().x()), plot_area.left(), plot_area.right()); + rubber_rect = QRect(left, plot_area.top(), right - left, plot_area.height()); + update(); + } - if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) { + clearTrackPoints(); + if (mouse_mode != MouseMode::Rubber && plot_area.contains(ev->pos()) && isActiveWindow()) { charts_widget->showValueTip(secondsAtPoint(ev->pos())); } else if (tip_label->isVisible()) { charts_widget->showValueTip(-1); } + QWidget::mouseMoveEvent(ev); +} - QChartView::mouseMoveEvent(ev); - if (is_zooming) { - QRect rubber_rect = rubber->geometry(); - rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left())); - rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right())); - if (rubber_rect != rubber->geometry()) { - rubber->setGeometry(rubber_rect); +void ChartView::mouseReleaseEvent(QMouseEvent *event) { + if (event->button() == Qt::LeftButton && mouse_mode == MouseMode::Rubber) { + mouse_mode = MouseMode::None; + // Prevent zooming/seeking past the end of the route + double min = std::clamp(secondsAtPoint(rubber_rect.topLeft()), can->minSeconds(), can->maxSeconds()); + double max = std::clamp(secondsAtPoint(rubber_rect.bottomRight()), can->minSeconds(), can->maxSeconds()); + if (rubber_rect.width() <= 0) { + // no rubber dragged, seek to mouse position + can->seekTo(std::clamp(secondsAtPoint(press_pos), can->minSeconds(), can->maxSeconds())); + } else if (rubber_rect.width() > 10 && (max - min) > MIN_ZOOM_SECONDS) { + charts_widget->zoom_undo_stack.push(new ZoomCommand({min, max})); + } + rubber_rect = QRect(); + update(); + } else if (event->button() == Qt::LeftButton && mouse_mode == MouseMode::None && sigs.size() > 1) { + // toggle series visibility by clicking its legend entry + for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) { + if (legend_rects[i].contains(press_pos) && legend_rects[i].contains(event->pos())) { + sigs[i].visible = !sigs[i].visible; + updateAxisY(); + updateTitle(); + break; + } + } + } else if (event->button() == Qt::RightButton) { + charts_widget->zoom_undo_stack.undo(); + } else { + QWidget::mouseReleaseEvent(event); + } + + // Resume playback if we were scrubbing + if (mouse_mode == MouseMode::Scrub) { + mouse_mode = MouseMode::None; + if (resume_after_scrub) { + can->pause(false); + resume_after_scrub = false; } - viewport()->update(); } } +void ChartView::takeSignalsFrom(ChartView *source) { + for (auto &s : source->sigs) { + sigs.push_back(std::move(s)); + sigs.back().color = uniqueColor(sigs.back().color, sigs.back().sig); + } + source->sigs.clear(); + updateAxisY(); + updateTitle(); + charts_widget->removeChart(source); +} + void ChartView::showTip(double sec) { - QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height()); + QRect tip_area(0, plot_area.top(), rect().width(), plot_area.height()); QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area); if (visible_rect.isEmpty()) { tip_label->hide(); return; } - tooltip_x = chart()->mapToPosition({sec, 0}).x(); + tooltip_x = xPos(sec); qreal x = -1; QStringList text_list; for (auto &s : sigs) { - if (s.series->isVisible()) { + if (s.visible) { QString value = "--"; // use reverse iterator to find last item <= sec. auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; }); - if (it != s.vals.crend() && it->x() >= axis_x->min()) { + if (it != s.vals.crend() && it->x() >= x_min) { value = QString::fromStdString(s.sig->formatValue(it->y(), false)); s.track_pt = *it; - x = std::max(x, chart()->mapToPosition(*it).x()); + x = std::max(x, xPos(it->x())); } QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : ""; QString min = s.min == std::numeric_limits::max() ? "--" : QString::number(s.min); QString max = s.max == std::numeric_limits::lowest() ? "--" : QString::number(s.max); text_list << QString("■ %2%3 (%4, %5)") - .arg(s.series->color().name(), name, value, min, max); + .arg(s.color.name(), name, value, min, max); } } if (x < 0) { x = tooltip_x; } - QPoint pt(x, chart()->plotArea().top()); - text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); + QPoint pt(x, plot_area.top()); + text_list.push_front(QString::number(secondsAtPoint({x, 0}), 'f', 3)); QString text = "

" % text_list.join("
") % "

"; tip_label->showText(pt, text, this, visible_rect); - viewport()->update(); + update(); } void ChartView::hideTip() { clearTrackPoints(); tooltip_x = -1; tip_label->hide(); - viewport()->update(); -} - -void ChartView::dragEnterEvent(QDragEnterEvent *event) { - if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { - drawDropIndicator(event->source() != this); - event->acceptProposedAction(); - } -} - -void ChartView::dragMoveEvent(QDragMoveEvent *event) { - if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { - event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction); - event->accept(); - } - charts_widget->startAutoScroll(); -} - -void ChartView::dropEvent(QDropEvent *event) { - if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { - if (event->source() != this) { - ChartView *source_chart = (ChartView *)event->source(); - for (auto &s : source_chart->sigs) { - source_chart->chart()->removeSeries(s.series); - addSeries(s.series); - } - sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end())); - updateAxisY(); - updateTitle(); - - source_chart->sigs.clear(); - charts_widget->removeChart(source_chart); - event->acceptProposedAction(); - } - can_drop = false; - } + update(); } void ChartView::resetChartCache() { chart_pixmap = QPixmap(); - viewport()->update(); + update(); } void ChartView::paintEvent(QPaintEvent *event) { - if (!can->liveStreaming()) { - if (chart_pixmap.isNull()) { - const qreal dpr = viewport()->devicePixelRatioF(); - chart_pixmap = QPixmap(viewport()->size() * dpr); - chart_pixmap.setDevicePixelRatio(dpr); - QPainter p(&chart_pixmap); - p.setRenderHints(QPainter::Antialiasing); - drawBackground(&p, viewport()->rect()); - scene()->setSceneRect(viewport()->rect()); - scene()->render(&p, viewport()->rect()); - } + QPainter painter(this); + painter.setRenderHints(QPainter::Antialiasing); - QPainter painter(viewport()); - painter.setRenderHints(QPainter::Antialiasing); - painter.drawPixmap(QPoint(), chart_pixmap); - if (can_drop) { - painter.setPen(QPen(palette().color(QPalette::Highlight), 4)); - painter.drawRect(viewport()->rect()); - } - QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect(); - drawForeground(&painter, exposed_rect); - } else { - QChartView::paintEvent(event); + // the static layer is invalidated on x-range change and data merge, so cache it in live mode too + const qreal dpr = devicePixelRatioF(); + if (chart_pixmap.isNull() || chart_pixmap.size() != size() * dpr) { + chart_pixmap = QPixmap(size() * dpr); + chart_pixmap.setDevicePixelRatio(dpr); + QPainter p(&chart_pixmap); + p.setRenderHints(QPainter::Antialiasing); + p.setFont(font()); + drawStaticLayer(&p); + } + painter.drawPixmap(QPoint(), chart_pixmap); + + if (can_drop) { + painter.setPen(QPen(palette().color(QPalette::Highlight), 4)); + painter.drawRect(rect()); + } + drawForeground(&painter); +} + +void ChartView::drawStaticLayer(QPainter *painter) { + painter->fillRect(rect(), palette().color(QPalette::Base)); + painter->drawPixmap(move_icon_rect.topLeft(), utils::icon("grip-horizontal")); + drawAxes(painter); + drawLegend(painter); + drawSeries(painter); +} + +void ChartView::drawAxes(QPainter *painter) { + const QColor text_color = palette().color(QPalette::Text); + QColor grid_color = text_color; + grid_color.setAlpha(50); + QFontMetrics fm(font()); + painter->setFont(font()); + + // y grid lines and tick labels + for (int i = 0; i < y_tick_count; ++i) { + double value = y_min + i * (y_max - y_min) / (y_tick_count - 1); + qreal y = yPos(value); + painter->setPen(grid_color); + painter->drawLine(QPointF(plot_area.left(), y), QPointF(plot_area.right(), y)); + painter->setPen(text_color); + QRectF label_rect(0, y - fm.height() / 2.0, plot_area.left() - 6, fm.height()); + painter->drawText(label_rect, Qt::AlignRight | Qt::AlignVCenter, QString::number(value, 'f', y_precision)); + } + + // rotated y axis title (unit) + if (!y_unit.isEmpty()) { + painter->save(); + painter->translate(plot_area.left() - y_label_width + fm.height() / 2.0, plot_area.center().y()); + painter->rotate(-90); + painter->drawText(QRectF(-plot_area.height() / 2.0, -fm.height() / 2.0, plot_area.height(), fm.height()), + Qt::AlignCenter, y_unit); + painter->restore(); + } + + // x grid lines and tick labels + const int x_precision = xAxisPrecision(); + for (int i = 0; i < X_TICK_COUNT; ++i) { + double sec = x_min + i * (x_max - x_min) / (X_TICK_COUNT - 1); + qreal x = xPos(sec); + painter->setPen(grid_color); + painter->drawLine(QPointF(x, plot_area.top()), QPointF(x, plot_area.bottom())); + painter->setPen(text_color); + QString label = QString::number(sec, 'f', x_precision); + QRectF label_rect(x - 100, plot_area.bottom() + AXIS_X_TOP_MARGIN, 200, fm.height()); + painter->drawText(label_rect, Qt::AlignHCenter | Qt::AlignTop, label); } } -void ChartView::drawBackground(QPainter *painter, const QRectF &rect) { - painter->fillRect(rect, palette().color(QPalette::Base)); +void ChartView::drawLegend(QPainter *painter) { + QColor title_color = palette().color(QPalette::WindowText); + // Draw message details in similar color, but slightly fade it to the background + QColor msg_color = title_color; + msg_color.setAlpha(180); + QFont bold_font = font(); + bold_font.setBold(true); + const int marker_size = QFontMetrics(font()).height() - 4; + + for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) { + const auto &s = sigs[i]; + const QRect &r = legend_rects[i]; + painter->setPen(Qt::NoPen); + painter->setBrush(s.color); + QRectF marker_rect(r.left(), r.center().y() - marker_size / 2.0, marker_size, marker_size); + series_type == SeriesType::Scatter ? painter->drawEllipse(marker_rect) : painter->drawRect(marker_rect); + + bold_font.setStrikeOut(!s.visible); + QFont normal_font = font(); + normal_font.setStrikeOut(!s.visible); + + qreal x = r.left() + marker_size + 5; + painter->setFont(bold_font); + painter->setPen(title_color); + QString name = QFontMetrics(bold_font).elidedText(QString::fromStdString(s.sig->name), Qt::ElideRight, r.right() - x); + painter->drawText(QRectF(x, r.top(), r.right() - x, r.height()), Qt::AlignLeft | Qt::AlignVCenter, name); + x += QFontMetrics(bold_font).horizontalAdvance(name); + painter->setFont(normal_font); + painter->setPen(msg_color); + QString msg = QFontMetrics(normal_font).elidedText(QString::fromStdString(" " + msgName(s.msg_id) + " " + s.msg_id.toString()), + Qt::ElideRight, r.right() - x); + painter->drawText(QRectF(x, r.top(), r.right() - x, r.height()), Qt::AlignLeft | Qt::AlignVCenter, msg); + } } -void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { +void ChartView::drawSeries(QPainter *painter) { + painter->save(); + painter->setClipRect(plot_area); + for (auto &s : sigs) { + if (!s.visible) continue; + + // visible points in vals to compute point density + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), x_min, xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), x_max, xLessThan); + int num_points = std::max(last - first, 1); + double pixels_per_point = 0; + if (first != last) { + const QPointF &right_pt = last == s.vals.cend() ? s.vals.back() : *last; + pixels_per_point = (xPos(right_pt.x()) - xPos(first->x())) / num_points; + } + + if (series_type == SeriesType::Scatter) { + qreal radius = std::clamp(pixels_per_point / 2.0, 2.0, 8.0) / 2.0; + painter->setPen(Qt::NoPen); + painter->setBrush(s.color); + for (auto it = first; it != last; ++it) { + painter->drawEllipse(QPointF(xPos(it->x()), yPos(it->y())), radius, radius); + } + } else { + const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals; + auto begin = std::lower_bound(points.cbegin(), points.cend(), x_min, xLessThan); + if (begin != points.cbegin()) --begin; + auto end = std::lower_bound(begin, points.cend(), x_max, xLessThan); + if (end != points.cend()) ++end; + if (begin == end) continue; + + std::vector polyline; + polyline.reserve(end - begin); + for (auto it = begin; it != end; ++it) { + polyline.emplace_back(xPos(it->x()), yPos(it->y())); + } + painter->setPen(QPen(s.color, 2)); + painter->setBrush(Qt::NoBrush); + painter->drawPolyline(polyline.data(), polyline.size()); + + // show points when zoomed in enough + if (num_points == 1 || pixels_per_point > 20) { + painter->setPen(Qt::NoPen); + painter->setBrush(s.color); + for (auto it = first; it != last; ++it) { + painter->drawEllipse(QPointF(xPos(it->x()), yPos(it->y())), 4, 4); + } + } + } + } + painter->restore(); +} + +void ChartView::drawForeground(QPainter *painter) { drawTimeline(painter); drawSignalValue(painter); // draw track points painter->setPen(Qt::NoPen); qreal track_line_x = -1; for (auto &s : sigs) { - if (!s.track_pt.isNull() && s.series->isVisible()) { - painter->setBrush(s.series->color().darker(125)); - QPointF pos = chart()->mapToPosition(s.track_pt); + if (!s.track_pt.isNull() && s.visible) { + painter->setBrush(s.color.darker(125)); + QPointF pos(xPos(s.track_pt.x()), yPos(s.track_pt.y())); painter->drawEllipse(pos, 5.5, 5.5); track_line_x = std::max(track_line_x, pos.x()); } } if (track_line_x > 0) { - auto plot_area = chart()->plotArea(); painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()}); - } - - // paint points. OpenGL mode lacks certain features (such as showing points) - painter->setPen(Qt::NoPen); - for (auto &s : sigs) { - if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { - auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); - auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); - painter->setBrush(s.series->color()); - for (auto it = first; it != last; ++it) { - painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); - } - } + painter->drawLine(QPointF{track_line_x, (qreal)plot_area.top()}, QPointF{track_line_x, (qreal)plot_area.bottom()}); } drawRubberBandTimeRange(painter); } void ChartView::drawRubberBandTimeRange(QPainter *painter) { - auto rubber = findChild(); - if (rubber && rubber->isVisible() && rubber->width() > 1) { - painter->setPen(Qt::white); - auto rubber_rect = rubber->geometry().normalized(); - for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { - QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2); - auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN); - pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); - painter->fillRect(r, Qt::gray); - painter->drawText(r, Qt::AlignCenter, sec); - } + if (rubber_rect.width() <= 1) return; + + // selection rect + QColor highlight = palette().color(QPalette::Highlight); + QColor fill = highlight; + fill.setAlpha(50); + painter->fillRect(rubber_rect, fill); + painter->setPen(highlight); + painter->setBrush(Qt::NoBrush); + painter->drawRect(rubber_rect); + + // time labels at the bottom corners + painter->setPen(Qt::white); + painter->setFont(font()); + for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { + QString sec = QString::number(secondsAtPoint(pt), 'f', 2); + auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN); + pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); + painter->fillRect(r, Qt::gray); + painter->drawText(r, Qt::AlignCenter, sec); } } void ChartView::drawTimeline(QPainter *painter) { - const auto plot_area = chart()->plotArea(); // draw vertical time line - qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right()); - painter->setPen(QPen(chart()->titleBrush().color(), 1)); - painter->drawLine(QPointF{x, plot_area.top() - 1}, QPointF{x, plot_area.bottom() + 1}); + qreal x = std::clamp(xPos(cur_sec), (qreal)plot_area.left(), (qreal)plot_area.right()); + painter->setPen(QPen(palette().color(QPalette::Text), 1)); + painter->drawLine(QPointF{x, plot_area.top() - 1.0}, QPointF{x, plot_area.bottom() + 1.0}); // draw current time under the axis-x QString time_str = QString::number(cur_sec, 'f', 2); - QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); + QSize time_str_size = QFontMetrics(font()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); QPainterPath path; path.addRoundedRect(time_str_rect, 3, 3); painter->fillPath(path, utils::isDarkTheme() ? Qt::darkGray : Qt::gray); painter->setPen(palette().color(QPalette::BrightText)); - painter->setFont(axis_x->labelsFont()); + painter->setFont(font()); painter->drawText(time_str_rect, Qt::AlignCenter, time_str); } void ChartView::drawSignalValue(QPainter *painter) { - auto item_group = qgraphicsitem_cast(chart()->legend()->childItems()[0]); - assert(item_group != nullptr); - auto legend_markers = item_group->childItems(); - assert(legend_markers.size() == sigs.size()); - painter->setFont(signal_value_font); - painter->setPen(chart()->legend()->labelColor()); - int i = 0; - for (auto &s : sigs) { + painter->setPen(palette().color(QPalette::Text)); + for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) { + const auto &s = sigs[i]; auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x + EPSILON; }); - QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--"; - QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); - QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); + QString value = (it != s.vals.crend() && it->x() >= x_min) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--"; + QRectF value_rect(legend_rects[i].bottomLeft() - QPoint(0, 1), legend_rects[i].size()); QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width()); painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val); } } -QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { - QXYSeries *series = nullptr; - if (type == SeriesType::Line) { - series = new QLineSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); - } else if (type == SeriesType::StepLine) { - series = new QLineSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); - } else { - series = new QScatterSeries(this); - static_cast(series)->setBorderColor(color); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); - } - series->setColor(color); - // TODO: Due to a bug in CameraWidget the camera frames - // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed -#ifndef __APPLE__ - series->setUseOpenGL(true); - // Qt doesn't properly apply device pixel ratio in OpenGL mode - QPen pen = series->pen(); - pen.setWidthF(2.0 * devicePixelRatioF()); - series->setPen(pen); -#endif - addSeries(series); - return series; -} - -void ChartView::addSeries(QXYSeries *series) { - setSeriesColor(series, series->color()); - chart()->addSeries(series); - series->attachAxis(axis_x); - series->attachAxis(axis_y); - - // disables the delivery of mouse events to the opengl widget. - // this enables the user to select the zoom area when the mouse press on the data point. - auto glwidget = findChild(); - if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) { - glwidget->setAttribute(Qt::WA_TransparentForMouseEvents); - } -} - -void ChartView::setSeriesColor(QXYSeries *series, QColor color) { - auto existing_series = chart()->series(); - for (auto s : existing_series) { - if (s != series && std::abs(color.hueF() - qobject_cast(s)->color().hueF()) < 0.1) { +QColor ChartView::uniqueColor(QColor color, const cabana::Signal *exclude) const { + for (auto &s : sigs) { + if (s.sig != exclude && std::abs(color.hueF() - s.color.hueF()) < 0.1) { // use different color to distinguish it from others. - auto last_color = qobject_cast(existing_series.back())->color(); + auto last_color = sigs.back().color; static thread_local std::mt19937 rng{std::random_device{}()}; std::uniform_int_distribution sat(35, 99); std::uniform_int_distribution val(85, 99); @@ -777,36 +758,13 @@ void ChartView::setSeriesColor(QXYSeries *series, QColor color) { break; } } - series->setColor(color); + return color; } void ChartView::setSeriesType(SeriesType type) { if (type != series_type) { series_type = type; - for (auto &s : sigs) { - chart()->removeSeries(s.series); - s.series->deleteLater(); - } - for (auto &s : sigs) { - s.series = createSeries(series_type, toQColor(s.sig->color)); - const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals; - s.series->replace(QVector(points.cbegin(), points.cend())); - } - updateSeriesPoints(); - updateTitle(); - menu->actions()[(int)type]->setChecked(true); - } -} - -void ChartView::handleMarkerClicked() { - auto marker = qobject_cast(sender()); - Q_ASSERT(marker); - if (sigs.size() > 1) { - auto series = marker->series(); - series->setVisible(!series->isVisible()); - marker->setVisible(true); - updateAxisY(); updateTitle(); } } diff --git a/openpilot/tools/cabana/chart/chart.h b/openpilot/tools/cabana/chart/chart.h index ae050269bf..b03623475a 100644 --- a/openpilot/tools/cabana/chart/chart.h +++ b/openpilot/tools/cabana/chart/chart.h @@ -1,18 +1,11 @@ #pragma once +#include #include #include #include #include -#include -#include -#include -#include -#include -#include -#include -using namespace QtCharts; #include "tools/cabana/chart/tiplabel.h" #include "tools/cabana/dbc/dbcmanager.h" @@ -25,7 +18,7 @@ enum class SeriesType { }; class ChartsWidget; -class ChartView : public QChartView { +class ChartView : public QWidget { Q_OBJECT public: @@ -38,12 +31,15 @@ public: void updatePlotArea(int left, bool force = false); void showTip(double sec); void hideTip(); - double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); } + double secondsAtPoint(const QPointF &pt) const { + return x_min + (pt.x() - plot_area.left()) * (x_max - x_min) / std::max(plot_area.width(), 1); + } struct SigItem { MessageId msg_id; const cabana::Signal *sig = nullptr; - QXYSeries *series = nullptr; + QColor color; + bool visible = true; std::vector vals; std::vector step_vals; QPointF track_pt{}; @@ -58,7 +54,6 @@ signals: private slots: void signalUpdated(const cabana::Signal *sig); void manageSignals(); - void handleMarkerClicked(); void msgUpdated(MessageId id); void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); } void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } @@ -67,52 +62,65 @@ private: void appendCanEvents(const cabana::Signal *sig, const std::vector &events, std::vector &vals, std::vector &step_vals); void createToolButtons(); - void addSeries(QXYSeries *series); void contextMenuEvent(QContextMenuEvent *event) override; void mousePressEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; - void mouseMoveEvent(QMouseEvent *ev) override; - void dragEnterEvent(QDragEnterEvent *event) override; - void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); } - void dragMoveEvent(QDragMoveEvent *event) override; - void dropEvent(QDropEvent *event) override; void resizeEvent(QResizeEvent *event) override; QSize sizeHint() const override; void updateAxisY(); void updateTitle(); void resetChartCache(); - void setTheme(QChart::ChartTheme theme); void paintEvent(QPaintEvent *event) override; - void drawForeground(QPainter *painter, const QRectF &rect) override; - void drawBackground(QPainter *painter, const QRectF &rect) override; - void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } + void drawStaticLayer(QPainter *painter); + void drawAxes(QPainter *painter); + void drawLegend(QPainter *painter); + void drawSeries(QPainter *painter); + void drawForeground(QPainter *painter); void drawSignalValue(QPainter *painter); void drawTimeline(QPainter *painter); void drawRubberBandTimeRange(QPainter *painter); + int xAxisPrecision() const; std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); - QXYSeries *createSeries(SeriesType type, QColor color); - void setSeriesColor(QXYSeries *, QColor color); - void updateSeriesPoints(); + QColor uniqueColor(QColor color, const cabana::Signal *exclude = nullptr) const; void removeIf(std::function predicate); + void takeSignalsFrom(ChartView *source); + void setDropHighlight(bool highlight) { if (std::exchange(can_drop, highlight) != highlight) update(); } inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } + inline qreal xPos(double sec) const { return plot_area.left() + (sec - x_min) / (x_max - x_min) * plot_area.width(); } + inline qreal yPos(double val) const { return plot_area.bottom() - (val - y_min) / (y_max - y_min) * plot_area.height(); } + // layout + QRect plot_area; + QRect move_icon_rect; + std::vector legend_rects; + // axes + double x_min; + double x_max; + double y_min = 0; + double y_max = 1; + int y_tick_count = 3; + int y_precision = 0; + QString y_unit; int y_label_width = 0; int align_to = 0; - QValueAxis *axis_x; - QValueAxis *axis_y; + // interaction + enum class MouseMode { None, Rubber, Scrub }; + MouseMode mouse_mode = MouseMode::None; + QPoint press_pos; + QRect rubber_rect; + bool resume_after_scrub = false; + QMenu *menu; QAction *split_chart_act; QAction *close_act; - QGraphicsPixmapItem *move_icon; - QGraphicsProxyWidget *close_btn_proxy; - QGraphicsProxyWidget *manage_btn_proxy; + ToolButton *manage_btn; + ToolButton *close_btn; TipLabel *tip_label; std::vector sigs; double cur_sec = 0; SeriesType series_type = SeriesType::Line; - bool is_scrubbing = false; - bool resume_after_scrub = false; QPixmap chart_pixmap; bool can_drop = false; double tooltip_x = -1; diff --git a/openpilot/tools/cabana/chart/chartswidget.cc b/openpilot/tools/cabana/chart/chartswidget.cc index 93d8570996..3144c5132d 100644 --- a/openpilot/tools/cabana/chart/chartswidget.cc +++ b/openpilot/tools/cabana/chart/chartswidget.cc @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include @@ -72,11 +72,14 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { range_slider_action = toolbar->addWidget(range_slider); // zoom controls - zoom_undo_stack = new QUndoStack(this); - toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this)); - undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise")); - toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this)); - redo_zoom_action->setIcon(utils::icon("arrow-clockwise")); + undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Undo Zoom"), [this]() { zoom_undo_stack.undo(); }); + redo_zoom_action = toolbar->addAction(utils::icon("arrow-clockwise"), tr("Redo Zoom"), [this]() { zoom_undo_stack.redo(); }); + undo_zoom_action->setEnabled(false); + redo_zoom_action->setEnabled(false); + zoom_undo_stack.setCallbacks({.index_changed = [this]() { + undo_zoom_action->setEnabled(zoom_undo_stack.canUndo()); + redo_zoom_action->setEnabled(zoom_undo_stack.canRedo()); + }}); reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom"))); reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); @@ -89,8 +92,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { tabbar->setAutoHide(true); tabbar->setExpanding(false); tabbar->setDrawBase(true); - tabbar->setAcceptDrops(true); - tabbar->setChangeCurrentOnDrag(true); tabbar->setUsesScrollButtons(true); main_layout->addWidget(tabbar); @@ -105,6 +106,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); main_layout->addWidget(charts_scroll); + // chart drag preview + drag_preview = new QLabel(this); + drag_preview->setAttribute(Qt::WA_TransparentForMouseEvents); + drag_preview->hide(); + // init settings current_theme = settings.theme; column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); @@ -186,7 +192,7 @@ void ChartsWidget::timeRangeChanged(const std::optionalsetTimeRange(std::nullopt); - zoom_undo_stack->clear(); + zoom_undo_stack.clear(); } QRect ChartsWidget::chartVisibleRect(ChartView *chart) { @@ -256,10 +262,6 @@ void ChartsWidget::settingChanged() { if (std::exchange(current_theme, settings.theme) != current_theme) { undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise")); redo_zoom_action->setIcon(utils::icon("arrow-clockwise")); - auto theme = utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight; - for (auto c : charts) { - c->setTheme(theme); - } } if (range_slider->maximum() != settings.max_cached_minutes * 60) { range_slider->setRange(1, settings.max_cached_minutes * 60); @@ -307,12 +309,8 @@ void ChartsWidget::splitChart(ChartView *src_chart) { int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1; for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { auto c = createChart(pos); - src_chart->chart()->removeSeries(it->series); - // Restore to the original color - it->series->setColor(toQColor(it->sig->color)); - - c->addSeries(it->series); + it->color = toQColor(it->sig->color); c->sigs.emplace_back(std::move(*it)); c->updateAxisY(); c->updateTitle(); @@ -320,6 +318,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) { } src_chart->updateAxisY(); src_chart->updateTitle(); + updateState(); QTimer::singleShot(0, src_chart, &ChartView::resetChartCache); } } @@ -390,7 +389,87 @@ void ChartsWidget::updateLayout(bool force) { } } -void ChartsWidget::startAutoScroll() { +void ChartsWidget::startChartDrag(ChartView *chart, const QPoint &global_pos) { + stopAutoScroll(); + drag = {.source = chart, .press_pos = global_pos}; + QPixmap px = chart->grab().scaledToWidth(CHART_MIN_WIDTH * chart->devicePixelRatio(), Qt::SmoothTransformation); + drag_preview->setPixmap(px); + drag_preview->resize(px.size() / px.devicePixelRatio()); +} + +void ChartsWidget::dragChartMove(const QPoint &global_pos) { + if (!drag.active) { + if ((global_pos - drag.press_pos).manhattanLength() < QApplication::startDragDistance()) return; + drag.active = true; + drag_preview->show(); + drag_preview->raise(); + } + drag_preview->move(mapFromGlobal(global_pos) + QPoint(5, 5)); + + // hovering a tab switches to it so the chart can be dropped into another tab + int tab = tabbar->tabAt(tabbar->mapFromGlobal(global_pos)); + if (tab >= 0 && tab != tabbar->currentIndex()) { + tabbar->setCurrentIndex(tab); + } + + const QPoint container_pos = charts_container->mapFromGlobal(global_pos); + ChartView *target = nullptr; + for (auto c : currentCharts()) { + if (c != drag.source && c->isVisible() && c->geometry().contains(container_pos)) { + target = c; + break; + } + } + if (std::exchange(drop_target, target) != target) { + for (auto c : charts) c->setDropHighlight(c == target); + } + bool in_viewport = charts_scroll->viewport()->rect().contains(charts_scroll->viewport()->mapFromGlobal(global_pos)); + bool on_background = !target && in_viewport && !charts_container->childAt(container_pos); + charts_container->drawDropIndicator(on_background ? container_pos : QPoint()); + + if (in_viewport) { + startAutoScroll(global_pos); + } +} + +void ChartsWidget::cancelChartDrag() { + drag = {}; + stopAutoScroll(); + drag_preview->hide(); + charts_container->drawDropIndicator({}); + if (auto target = std::exchange(drop_target, nullptr)) target->setDropHighlight(false); +} + +void ChartsWidget::dragChartRelease(const QPoint &global_pos) { + ChartView *source = drag.source; + bool active = drag.active; + ChartView *target = drop_target; + cancelChartDrag(); + if (!active) return; + + const QPoint container_pos = charts_container->mapFromGlobal(global_pos); + bool in_viewport = charts_scroll->viewport()->rect().contains(charts_scroll->viewport()->mapFromGlobal(global_pos)); + if (target) { + // merge source into target + target->takeSignalsFrom(source); + } else if (in_viewport && !charts_container->childAt(container_pos)) { + // reorder within the current tab + auto w = charts_container->getDropAfter(container_pos); + if (w != source) { + for (auto &[_, list] : tab_charts) { + list.erase(std::remove(list.begin(), list.end(), source), list.end()); + } + auto &cur = currentCharts(); + int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0; + cur.insert(cur.begin() + to, source); + updateLayout(true); + updateTabBar(); + } + } +} + +void ChartsWidget::startAutoScroll(const QPoint &global_pos) { + auto_scroll_pos = global_pos; auto_scroll_timer->start(50); } @@ -406,7 +485,7 @@ void ChartsWidget::doAutoScroll() { } int value = scroll->value(); - QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos()); + QPoint pos = charts_scroll->viewport()->mapFromGlobal(auto_scroll_pos); QRect area = charts_scroll->viewport()->rect(); if (pos.y() - area.top() < settings.chart_height / 2) { @@ -414,16 +493,11 @@ void ChartsWidget::doAutoScroll() { } else if (area.bottom() - pos.y() < settings.chart_height / 2) { scroll->setValue(value + auto_scroll_count); } - bool vertical_unchanged = value == scroll->value(); - if (vertical_unchanged) { + if (value == scroll->value()) { stopAutoScroll(); - } else { - // mouseMoveEvent to updates the drag-selection rectangle - const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos); - const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos); - QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos, - Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt); - QApplication::sendEvent(charts_scroll->viewport(), &mm); + } else if (chartDragActive()) { + // refresh the drop indicator/target at the new scroll position + dragChartMove(auto_scroll_pos); } } @@ -440,11 +514,14 @@ void ChartsWidget::newChart() { for (auto it : items) { c->addSignal(it->msg_id, it->sig); } + updateState(); } } } void ChartsWidget::removeChart(ChartView *chart) { + if (drag.source == chart) cancelChartDrag(); + if (drop_target == chart) drop_target = nullptr; charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end()); chart->deleteLater(); for (auto &[_, list] : tab_charts) { @@ -484,6 +561,19 @@ void ChartsWidget::alignCharts() { } bool ChartsWidget::eventFilter(QObject *o, QEvent *e) { + // route all mouse events to the chart drag, even when the source chart is hidden by a tab switch + if (chartDragActive()) { + if (e->type() == QEvent::MouseMove) { + dragChartMove(static_cast(e)->globalPos()); + return true; + } else if (e->type() == QEvent::MouseButtonRelease && static_cast(e)->button() == Qt::LeftButton) { + dragChartRelease(static_cast(e)->globalPos()); + return false; // let the release through so Qt clears the implicit mouse grab + } else if (e->type() == QEvent::MouseButtonPress || e->type() == QEvent::MouseButtonRelease) { + return true; // swallow other buttons during the drag + } + } + if (!value_tip_visible_) return false; if (e->type() == QEvent::MouseMove) { @@ -492,7 +582,7 @@ bool ChartsWidget::eventFilter(QObject *o, QEvent *e) { for (const auto &c : charts) { auto local_pos = c->mapFromGlobal(global_pos); - if (c->chart()->plotArea().contains(local_pos)) { + if (c->plot_area.contains(local_pos)) { if (on_tip) { showValueTip(c->secondsAtPoint(local_pos)); } @@ -524,13 +614,14 @@ bool ChartsWidget::event(QEvent *event) { break; case QEvent::WindowDeactivate: case QEvent::FocusOut: + if (chartDragActive()) cancelChartDrag(); showValueTip(-1); default: break; } if (back_button) { - zoom_undo_stack->undo(); + zoom_undo_stack.undo(); return true; // Return true since the event has been handled } return QFrame::event(event); @@ -539,7 +630,6 @@ bool ChartsWidget::event(QEvent *event) { // ChartsContainer ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) { - setAcceptDrops(true); setBackgroundRole(QPalette::Window); QVBoxLayout *charts_main_layout = new QVBoxLayout(this); charts_main_layout->setContentsMargins(0, CHART_SPACING, 0, CHART_SPACING); @@ -549,32 +639,6 @@ ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), charts_main_layout->addStretch(0); } -void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) { - if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { - event->acceptProposedAction(); - drawDropIndicator(event->pos()); - } -} - -void ChartsContainer::dropEvent(QDropEvent *event) { - if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { - auto w = getDropAfter(event->pos()); - auto chart = qobject_cast(event->source()); - if (w != chart) { - for (auto &[_, list] : charts_widget->tab_charts) { - list.erase(std::remove(list.begin(), list.end(), chart), list.end()); - } - auto &cur = charts_widget->currentCharts(); - int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0; - cur.insert(cur.begin() + to, chart); - charts_widget->updateLayout(true); - charts_widget->updateTabBar(); - event->acceptProposedAction(); - } - drawDropIndicator({}); - } -} - void ChartsContainer::paintEvent(QPaintEvent *ev) { if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) { QRect r = geometry(); diff --git a/openpilot/tools/cabana/chart/chartswidget.h b/openpilot/tools/cabana/chart/chartswidget.h index ef3fbc471a..8b3003dcd6 100644 --- a/openpilot/tools/cabana/chart/chartswidget.h +++ b/openpilot/tools/cabana/chart/chartswidget.h @@ -8,15 +8,13 @@ #include #include #include -#include -#include #include "tools/cabana/chart/signalselector.h" +#include "tools/cabana/commands.h" #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" const int CHART_MIN_WIDTH = 300; -const QString CHART_MIME_TYPE = "application/x-cabanachartview"; class ChartView; class ChartsWidget; @@ -24,9 +22,6 @@ class ChartsWidget; class ChartsContainer : public QWidget { public: ChartsContainer(ChartsWidget *parent); - void dragEnterEvent(QDragEnterEvent *event) override; - void dropEvent(QDropEvent *event) override; - void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); } void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); } void paintEvent(QPaintEvent *ev) override; ChartView *getDropAfter(const QPoint &pos) const; @@ -69,7 +64,12 @@ private: void eventsMerged(const MessageEventsMap &new_events); void updateState(); void zoomReset(); - void startAutoScroll(); + void startChartDrag(ChartView *chart, const QPoint &global_pos); + void dragChartMove(const QPoint &global_pos); + void dragChartRelease(const QPoint &global_pos); + void cancelChartDrag(); + bool chartDragActive() const { return drag.source != nullptr; } + void startAutoScroll(const QPoint &global_pos); void stopAutoScroll(); void doAutoScroll(); void updateToolBar(); @@ -97,7 +97,7 @@ private: QAction *redo_zoom_action; QAction *reset_zoom_action; ToolButton *reset_zoom_btn; - QUndoStack *zoom_undo_stack; + UndoStack zoom_undo_stack; ToolButton *remove_all_btn; std::vector charts; @@ -110,7 +110,15 @@ private: QAction *columns_action; int column_count = 1; int current_column_count = 0; + struct ChartDrag { + ChartView *source = nullptr; + QPoint press_pos; // global + bool active = false; + } drag; + QLabel *drag_preview; + ChartView *drop_target = nullptr; int auto_scroll_count = 0; + QPoint auto_scroll_pos; QTimer *auto_scroll_timer; QTimer *align_timer; int current_theme = 0; @@ -119,11 +127,10 @@ private: friend class ChartsContainer; }; -class ZoomCommand : public QUndoCommand { +class ZoomCommand : public UndoCommand { public: - ZoomCommand(std::pair range) : range(range), QUndoCommand() { + ZoomCommand(std::pair range) : range(range) { prev_range = can->timeRange(); - setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2)); } void undo() override { can->setTimeRange(prev_range); } void redo() override { can->setTimeRange(range); } diff --git a/openpilot/tools/cabana/commands.cc b/openpilot/tools/cabana/commands.cc index f158528b51..b47bf90b0c 100644 --- a/openpilot/tools/cabana/commands.cc +++ b/openpilot/tools/cabana/commands.cc @@ -1,20 +1,81 @@ -#include - #include "tools/cabana/commands.h" +#include + +// UndoStack + +void UndoStack::push(UndoCommand *cmd) { + commands_.resize(index_); // drop any redoable commands + if (clean_index_ > index_) clean_index_ = -1; + commands_.emplace_back(cmd); + cmd->redo(); + setIndex(index_ + 1); +} + +void UndoStack::undo() { + if (!canUndo()) return; + commands_[index_ - 1]->undo(); + setIndex(index_ - 1); +} + +void UndoStack::redo() { + if (!canRedo()) return; + commands_[index_]->redo(); + setIndex(index_ + 1); +} + +void UndoStack::clear() { + bool was_clean = isClean(); + commands_.clear(); + index_ = clean_index_ = 0; + if (callbacks_.index_changed) callbacks_.index_changed(); + if (!was_clean && callbacks_.clean_changed) callbacks_.clean_changed(true); +} + +void UndoStack::setClean() { + if (!isClean()) { + clean_index_ = index_; + if (callbacks_.clean_changed) callbacks_.clean_changed(true); + } +} + +void UndoStack::setIndex(int index) { + bool was_clean = isClean(); + index_ = index; + if (callbacks_.index_changed) callbacks_.index_changed(); + if (isClean() != was_clean && callbacks_.clean_changed) callbacks_.clean_changed(isClean()); +} + +UndoStack *UndoStack::instance() { + static UndoStack undo_stack; + return &undo_stack; +} + +QtUndoNotifier::QtUndoNotifier(QObject *parent) : QObject(parent) { + UndoStack::instance()->setCallbacks({ + .index_changed = [this]() { emit indexChanged(); }, + .clean_changed = [this](bool clean) { emit cleanChanged(clean); }, + }); +} + +QtUndoNotifier *undoNotifier() { + static QtUndoNotifier notifier; + return ¬ifier; +} + // EditMsgCommand EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size, - const std::string &node, const std::string &comment, QUndoCommand *parent) - : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) { + const std::string &node, const std::string &comment) + : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment) { if (auto msg = dbc()->msg(id)) { old_name = msg->name; old_size = msg->size; old_node = msg->transmitter; old_comment = msg->comment; - setText(QObject::tr("edit message %1:%2").arg(QString::fromStdString(name)).arg(id.address)); + text = "edit message " + name + ":" + std::to_string(id.address); } else { - setText(QObject::tr("new message %1:%2").arg(QString::fromStdString(name)).arg(id.address)); + text = "new message " + name + ":" + std::to_string(id.address); } } @@ -31,10 +92,10 @@ void EditMsgCommand::redo() { // RemoveMsgCommand -RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) { +RemoveMsgCommand::RemoveMsgCommand(const MessageId &id) : id(id) { if (auto msg = dbc()->msg(id)) { message = *msg; - setText(QObject::tr("remove message %1:%2").arg(QString::fromStdString(message.name)).arg(id.address)); + text = "remove message " + message.name + ":" + std::to_string(id.address); } } @@ -53,9 +114,9 @@ void RemoveMsgCommand::redo() { // AddSigCommand -AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent) - : id(id), signal(sig), QUndoCommand(parent) { - setText(QObject::tr("add signal %1 to %2:%3").arg(QString::fromStdString(sig.name)).arg(QString::fromStdString(msgName(id))).arg(id.address)); +AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig) + : id(id), signal(sig) { + text = "add signal " + sig.name + " to " + msgName(id) + ":" + std::to_string(id.address); } void AddSigCommand::undo() { @@ -75,8 +136,7 @@ void AddSigCommand::redo() { // RemoveSigCommand -RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent) - : id(id), QUndoCommand(parent) { +RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig) : id(id) { sigs.push_back(*sig); if (sig->type == cabana::Signal::Type::Multiplexor) { for (const auto &s : dbc()->msg(id)->sigs) { @@ -85,7 +145,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si } } } - setText(QObject::tr("remove signal %1 from %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address)); + text = "remove signal " + sig->name + " from " + msgName(id) + ":" + std::to_string(id.address); } void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); } @@ -93,8 +153,8 @@ void RemoveSigCommand::redo() { for (const auto &s : sigs) dbc()->removeSignal(i // EditSignalCommand -EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent) - : id(id), QUndoCommand(parent) { +EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig) + : id(id) { sigs.push_back({*sig, new_sig}); if (sig->type == cabana::Signal::Type::Multiplexor && new_sig.type == cabana::Signal::Type::Normal) { // convert all multiplexed signals to normal signals @@ -108,17 +168,8 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal * } } } - setText(QObject::tr("edit signal %1 in %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address)); + text = "edit signal " + sig->name + " in " + msgName(id) + ":" + std::to_string(id.address); } void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); } void EditSignalCommand::redo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.first.name, s.second); } - -namespace UndoStack { - -QUndoStack *instance() { - static QUndoStack *undo_stack = new QUndoStack(qApp); - return undo_stack; -} - -} // namespace UndoStack diff --git a/openpilot/tools/cabana/commands.h b/openpilot/tools/cabana/commands.h index 4081f86985..200a4f2f5b 100644 --- a/openpilot/tools/cabana/commands.h +++ b/openpilot/tools/cabana/commands.h @@ -1,19 +1,70 @@ #pragma once +#include +#include #include #include #include -#include -#include +#include #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -class EditMsgCommand : public QUndoCommand { +class UndoCommand { +public: + virtual ~UndoCommand() = default; + virtual void undo() = 0; + virtual void redo() = 0; + std::string text; +}; + +class UndoStack { +public: + struct Callbacks { + std::function index_changed; + std::function clean_changed; + }; + + void push(UndoCommand *cmd); // takes ownership and calls redo() + void undo(); + void redo(); + void clear(); + void setClean(); + bool isClean() const { return clean_index_ == index_; } + bool canUndo() const { return index_ > 0; } + bool canRedo() const { return index_ < (int)commands_.size(); } + std::string undoText() const { return canUndo() ? commands_[index_ - 1]->text : ""; } + std::string redoText() const { return canRedo() ? commands_[index_]->text : ""; } + void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); } + static UndoStack *instance(); + +private: + void setIndex(int index); + std::vector> commands_; + int index_ = 0; + int clean_index_ = 0; + Callbacks callbacks_; +}; + +// emits Qt signals for the global undo stack +class QtUndoNotifier : public QObject { + Q_OBJECT + +public: + explicit QtUndoNotifier(QObject *parent = nullptr); + +signals: + void indexChanged(); + void cleanChanged(bool clean); +}; + +QtUndoNotifier *undoNotifier(); + +class EditMsgCommand : public UndoCommand { public: EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node, - const std::string &comment, QUndoCommand *parent = nullptr); + const std::string &comment); void undo() override; void redo() override; @@ -23,9 +74,9 @@ private: int old_size = 0, new_size = 0; }; -class RemoveMsgCommand : public QUndoCommand { +class RemoveMsgCommand : public UndoCommand { public: - RemoveMsgCommand(const MessageId &id, QUndoCommand *parent = nullptr); + RemoveMsgCommand(const MessageId &id); void undo() override; void redo() override; @@ -34,9 +85,9 @@ private: cabana::Msg message; }; -class AddSigCommand : public QUndoCommand { +class AddSigCommand : public UndoCommand { public: - AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr); + AddSigCommand(const MessageId &id, const cabana::Signal &sig); void undo() override; void redo() override; @@ -46,9 +97,9 @@ private: cabana::Signal signal = {}; }; -class RemoveSigCommand : public QUndoCommand { +class RemoveSigCommand : public UndoCommand { public: - RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr); + RemoveSigCommand(const MessageId &id, const cabana::Signal *sig); void undo() override; void redo() override; @@ -57,9 +108,9 @@ private: std::vector sigs; }; -class EditSignalCommand : public QUndoCommand { +class EditSignalCommand : public UndoCommand { public: - EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr); + EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig); void undo() override; void redo() override; @@ -67,8 +118,3 @@ private: const MessageId id; std::vector> sigs; // {old_sig, new_sig} }; - -namespace UndoStack { - QUndoStack *instance(); - inline void push(QUndoCommand *cmd) { instance()->push(cmd); } -}; diff --git a/openpilot/tools/cabana/deqt.md b/openpilot/tools/cabana/deqt.md index 6d2aed8264..3bef2d7ab0 100644 --- a/openpilot/tools/cabana/deqt.md +++ b/openpilot/tools/cabana/deqt.md @@ -20,13 +20,8 @@ some rules - `QObject`, `QMetaObject`, `QMetaType` - `QApplication`, `QCoreApplication`, `QGuiApplication` - `QString`, `QStringList`, `QStringBuilder`, `QChar`, `QLatin1Char` -- `QByteArray` - `QVariant` -- `QVector`, `QMap`, `QSet`, `QPointer` -- `QSettings` -- `QFile`, `QFileInfo`, `QDir`, `QIODevice`, `QStandardPaths` -- `QThread` -- `QTimer`, `QBasicTimer`, `QTimerEvent` +- `QTimer` - `QWidget`, `QMainWindow`, `QWindow` - `QDialog`, `QDialogButtonBox`, `QMessageBox`, `QProgressDialog` - `QFileDialog` @@ -36,7 +31,7 @@ some rules - `QComboBox`, `QLineEdit`, `QTextEdit`, `QSpinBox`, `QSlider` - `QLabel`, `QGroupBox`, `QFrame` - `QTabBar`, `QTabWidget`, `QSplitter`, `QScrollArea`, `QScrollBar` -- `QDockWidget`, `QStatusBar`, `QProgressBar`, `QRubberBand` +- `QDockWidget`, `QStatusBar`, `QProgressBar` - `QFormLayout`, `QGridLayout`, `QHBoxLayout`, `QVBoxLayout` - `QSizePolicy` - `QAbstractItemModel`, `QAbstractTableModel`, `QModelIndex` @@ -44,27 +39,15 @@ some rules - `QTableWidget`, `QTableWidgetItem`, `QListWidget`, `QListWidgetItem` - `QItemSelection`, `QItemSelectionModel`, `QItemSelectionRange` - `QHeaderView`, `QStyledItemDelegate`, `QStyleOptionViewItem` -- `QValidator`, `QIntValidator`, `QDoubleValidator` +- `QValidator`, `QIntValidator` - `QColor`, `QRgb`, `QPalette` - `QBrush`, `QPen` - `QPainter`, `QPainterPath`, `QStylePainter` -- `QPixmap`, `QPixmapCache`, `QIcon`, `QStaticText` +- `QImage`, `QPixmap`, `QPixmapCache`, `QStaticText` - `QFont`, `QFontDatabase`, `QFontMetrics`, `QTextDocument` - `QStyle`, `QStyleOption`, `QStyleOptionFrame`, `QStyleOptionSlider` - `QPoint`, `QPointF`, `QRect`, `QRectF`, `QRegion` - `QSize`, `QSizeF` -- `QCursor`, `QClipboard`, `QScreen`, `QDesktopWidget` - `QEvent`, `QPaintEvent`, `QResizeEvent`, `QShowEvent`, `QCloseEvent` - `QMouseEvent`, `QWheelEvent`, `QNativeGestureEvent`, `QContextMenuEvent` -- `QDrag`, `QMimeData` -- `QDragEnterEvent`, `QDragLeaveEvent`, `QDragMoveEvent`, `QDropEvent` - `QKeySequence`, `QShortcut`, `QToolTip` -- `QChart`, `QChartView`, `QAbstractAxis`, `QValueAxis` -- `QXYSeries`, `QLineSeries`, `QScatterSeries` -- `QLegend`, `QLegendMarker` -- `QGraphicsScene`, `QGraphicsView`, `QGraphicsItemGroup`, `QGraphicsLayout` -- `QGraphicsPixmapItem`, `QGraphicsProxyWidget` -- `QOpenGLWidget`, `QOpenGLFunctions` -- `QOpenGLShader`, `QOpenGLShaderProgram` -- `QMatrix4x4`, `QSurfaceFormat` -- `QUndoCommand`, `QUndoStack`, `QUndoView` diff --git a/openpilot/tools/cabana/detailwidget.cc b/openpilot/tools/cabana/detailwidget.cc index 36a95ff96e..6b62f54959 100644 --- a/openpilot/tools/cabana/detailwidget.cc +++ b/openpilot/tools/cabana/detailwidget.cc @@ -58,7 +58,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); }); QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState); QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &DetailWidget::refresh); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh); + QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &DetailWidget::refresh); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { if (index != -1) { @@ -211,13 +211,13 @@ void DetailWidget::editMsg() { int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(), + UndoStack::instance()->push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(), dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString())); } } void DetailWidget::removeMsg() { - UndoStack::push(new RemoveMsgCommand(msg_id)); + UndoStack::instance()->push(new RemoveMsgCommand(msg_id)); } // EditMessageDialog diff --git a/openpilot/tools/cabana/historylog.cc b/openpilot/tools/cabana/historylog.cc index 51c2481f3b..3fd569c648 100644 --- a/openpilot/tools/cabana/historylog.cc +++ b/openpilot/tools/cabana/historylog.cc @@ -209,7 +209,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV); QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::reset); QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &HistoryLogModel::reset); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &HistoryLogModel::reset); + QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, model, &HistoryLogModel::reset); QObject::connect(model, &HistoryLogModel::modelReset, this, &LogsWidget::modelReset); QObject::connect(model, &HistoryLogModel::rowsInserted, [this]() { export_btn->setEnabled(true); }); } diff --git a/openpilot/tools/cabana/mainwin.cc b/openpilot/tools/cabana/mainwin.cc index 6372ea9295..953f573a0b 100644 --- a/openpilot/tools/cabana/mainwin.cc +++ b/openpilot/tools/cabana/mainwin.cc @@ -2,23 +2,21 @@ #include "tools/cabana/dbc/dbcqt.h" #include +#include +#include #include +#include #include +#include -#include -#include -#include #include -#include #include #include #include #include #include #include -#include #include -#include #include "json11/json11.hpp" #include "tools/cabana/commands.h" @@ -37,14 +35,11 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW createShortcuts(); // save default window state to allow resetting it - default_state = saveState(); + default_state = utils::toBytes(saveState()); - // restore states - restoreGeometry(settings.geometry); - if (isMaximized()) { - setGeometry(QApplication::desktop()->availableGeometry(this)); - } - restoreState(settings.window_state); + // restore states; restoreGeometry() itself corrects stale off-screen geometry + restoreGeometry(utils::qbytes(settings.geometry)); + restoreState(utils::qbytes(settings.window_state)); // install handlers static auto static_main_win = this; @@ -65,7 +60,7 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &MainWindow::DBCFileChanged); - QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); + QObject::connect(undoNotifier(), &QtUndoNotifier::cleanChanged, this, &MainWindow::undoStackCleanChanged); QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); }); @@ -73,10 +68,11 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW } void MainWindow::loadFingerprints() { - QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json"); - if (!json_file.open(QIODevice::ReadOnly)) return; + std::ifstream json_file((QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json").toStdString()); + if (!json_file) return; + const std::string contents{std::istreambuf_iterator(json_file), std::istreambuf_iterator()}; std::string err; - auto doc = json11::Json::parse(json_file.readAll().toStdString(), err); + auto doc = json11::Json::parse(contents, err); if (!err.empty() || !doc.is_object()) return; fingerprint_to_dbc.clear(); for (const auto &kv : doc.object_items()) { @@ -108,8 +104,17 @@ void MainWindow::createActions() { file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) { - load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); }); + std::vector dbc_names; + std::error_code ec; + for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH, ec)) { + if (entry.is_regular_file() && entry.path().extension() == ".dbc") { + dbc_names.push_back(entry.path().filename().string()); + } + } + std::sort(dbc_names.begin(), dbc_names.end()); + for (const auto &dbc_name : dbc_names) { + QString name = QString::fromStdString(dbc_name); + load_opendbc_menu->addAction(name, [this, name]() { loadDBCFromOpendbc(name); }); } file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); }); @@ -127,18 +132,12 @@ void MainWindow::createActions() { // Edit Menu QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); - auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo")); + undo_act = edit_menu->addAction(tr("&Undo"), []() { UndoStack::instance()->undo(); }); undo_act->setShortcuts(QKeySequence::Undo); - edit_menu->addAction(undo_act); - auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Redo")); + redo_act = edit_menu->addAction(tr("&Redo"), []() { UndoStack::instance()->redo(); }); redo_act->setShortcuts(QKeySequence::Redo); - edit_menu->addAction(redo_act); - edit_menu->addSeparator(); - - QMenu *commands_menu = edit_menu->addMenu(tr("Command &List")); - QWidgetAction *commands_act = new QWidgetAction(this); - commands_act->setDefaultWidget(new QUndoView(UndoStack::instance())); - commands_menu->addAction(commands_act); + QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &MainWindow::updateUndoRedoActions); + updateUndoRedoActions(); // View Menu QMenu *view_menu = menuBar()->addMenu(tr("&View")); @@ -148,7 +147,7 @@ void MainWindow::createActions() { view_menu->addAction(messages_dock->toggleViewAction()); view_menu->addAction(video_dock->toggleViewAction()); view_menu->addSeparator(); - view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); }); + view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(utils::qbytes(default_state)); }); // Tools Menu tools_menu = menuBar()->addMenu(tr("&Tools")); @@ -195,7 +194,7 @@ void MainWindow::createDockWidgets() { video_splitter->addWidget(charts_container); video_splitter->setStretchFactor(1, 1); - video_splitter->restoreState(settings.video_splitter_state); + video_splitter->restoreState(utils::qbytes(settings.video_splitter_state)); video_splitter->handle(1)->setEnabled(!can->liveStreaming()); video_dock->setWidget(video_splitter); QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking); @@ -226,6 +225,14 @@ void MainWindow::undoStackCleanChanged(bool clean) { setWindowModified(!clean); } +void MainWindow::updateUndoRedoActions() { + auto stack = UndoStack::instance(); + undo_act->setEnabled(stack->canUndo()); + undo_act->setText(stack->canUndo() ? tr("&Undo %1").arg(QString::fromStdString(stack->undoText())) : tr("&Undo")); + redo_act->setEnabled(stack->canRedo()); + redo_act->setText(stack->canRedo() ? tr("&Redo %1").arg(QString::fromStdString(stack->redoText())) : tr("&Redo")); +} + void MainWindow::DBCFileChanged() { UndoStack::instance()->clear(); @@ -306,11 +313,20 @@ void MainWindow::loadDBCFromOpendbc(const QString &name) { } void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { + std::string text; + if (!utils::getClipboardText(&text)) { + QMessageBox::warning(this, tr("Load From Clipboard"), tr("No clipboard tool found. Install xclip (X11) or wl-clipboard (Wayland).")); + return; + } + if (text.empty()) { + QMessageBox::warning(this, tr("Load From Clipboard"), tr("Clipboard is empty.")); + return; + } + closeFile(s); - QString dbc_str = QGuiApplication::clipboard()->text(); std::string error; - bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error); + bool ret = dbc()->open(s, std::string(""), text, &error); if (ret && dbc()->nonEmptyDBCCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { @@ -436,7 +452,7 @@ void MainWindow::saveFile(DBCFile *dbc_file) { void MainWindow::saveFileAs(DBCFile *dbc_file) { QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file)))); - QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(QString::fromStdString(settings.last_dir) + "/untitled.dbc"), tr("DBC (*.dbc)")); + QString fn = QFileDialog::getSaveFileName(this, title, QString::fromStdString((std::filesystem::path(settings.last_dir) / "untitled.dbc").string()), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { dbc_file->saveAs(fn.toStdString()); UndoStack::instance()->setClean(); @@ -455,8 +471,11 @@ void MainWindow::saveToClipboard() { void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { assert(dbc_file != nullptr); - QGuiApplication::clipboard()->setText(QString::fromStdString(dbc_file->generateDBC())); - QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); + if (utils::setClipboardText(dbc_file->generateDBC())) { + QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); + } else { + QMessageBox::warning(this, tr("Copy To Clipboard"), tr("Failed to copy DBC to clipboard. Install xclip (X11) or wl-clipboard (Wayland).")); + } } void MainWindow::updateLoadSaveMenus() { @@ -496,7 +515,7 @@ void MainWindow::updateRecentFiles(const QString &fn) { while (settings.recent_files.size() > MAX_RECENT_FILES) { settings.recent_files.pop_back(); } - settings.last_dir = QFileInfo(fn).absolutePath().toStdString(); + settings.last_dir = std::filesystem::absolute(fn.toStdString()).parent_path().string(); } void MainWindow::updateRecentFileMenu() { @@ -509,7 +528,7 @@ void MainWindow::updateRecentFileMenu() { } for (int i = 0; i < num_recent_files; ++i) { - QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(QString::fromStdString(settings.recent_files[i])).fileName()); + QString text = tr("&%1 %2").arg(i + 1).arg(QString::fromStdString(std::filesystem::path(settings.recent_files[i]).filename().string())); open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(QString::fromStdString(file)); }); } } @@ -576,16 +595,17 @@ void MainWindow::closeEvent(QCloseEvent *event) { floating_window->deleteLater(); // save states - settings.geometry = saveGeometry(); - settings.window_state = saveState(); + settings.geometry = utils::toBytes(saveGeometry()); + settings.window_state = utils::toBytes(saveState()); if (can && !can->liveStreaming()) { - settings.video_splitter_state = video_splitter->saveState(); + settings.video_splitter_state = utils::toBytes(video_splitter->saveState()); } if (messages_widget) { settings.message_header_state = messages_widget->saveHeaderState(); } saveSessionState(); + settings.save(); QWidget::closeEvent(event); } diff --git a/openpilot/tools/cabana/mainwin.h b/openpilot/tools/cabana/mainwin.h index 3526a58202..279ea3b969 100644 --- a/openpilot/tools/cabana/mainwin.h +++ b/openpilot/tools/cabana/mainwin.h @@ -6,9 +6,11 @@ #include #include #include +#include #include #include #include +#include #include "tools/cabana/chart/chartswidget.h" #include "tools/cabana/dbc/dbcmanager.h" @@ -68,6 +70,7 @@ protected: void findSimilarBits(); void findSignal(); void undoStackCleanChanged(bool clean); + void updateUndoRedoActions(); void onlineHelp(); void toggleFullScreen(); void updateStatus(); @@ -97,8 +100,10 @@ protected: QAction *save_dbc = nullptr; QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; + QAction *undo_act = nullptr; + QAction *redo_act = nullptr; QString car_fingerprint; - QByteArray default_state; + std::vector default_state; }; class HelpOverlay : public QWidget { diff --git a/openpilot/tools/cabana/messageswidget.cc b/openpilot/tools/cabana/messageswidget.cc index 22de1350ec..b07e3ea0bf 100644 --- a/openpilot/tools/cabana/messageswidget.cc +++ b/openpilot/tools/cabana/messageswidget.cc @@ -45,7 +45,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &MessageListModel::dbcModified); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified); + QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, model, &MessageListModel::dbcModified); QObject::connect(model, &MessageListModel::modelReset, [this]() { if (current_msg_id) { selectMessage(*current_msg_id); @@ -212,7 +212,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { return {}; } -void MessageListModel::setFilterStrings(const QMap &filters) { +void MessageListModel::setFilterStrings(const std::map &filters) { filters_ = filters; filterAndSort(); } @@ -265,14 +265,14 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) { } bool MessageListModel::match(const MessageListModel::Item &item) { - if (filters_.isEmpty()) + if (filters_.empty()) return true; bool match = true; const auto &data = can->lastMessage(item.id); for (auto it = filters_.cbegin(); it != filters_.cend() && match; ++it) { - const QString &txt = it.value(); - switch (it.key()) { + const QString &txt = it->second; + switch (it->first) { case Column::NAME: { match = item.name.contains(txt, Qt::CaseInsensitive); if (!match) { @@ -388,10 +388,13 @@ void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, painter->setPen(oldPen); } -void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles) { +void MessageView::setModel(QAbstractItemModel *model) { + QTreeView::setModel(model); // Bypass the slow call to QTreeView::dataChanged. // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView. - QAbstractItemView::dataChanged(topLeft, bottomRight, roles); + QObject::disconnect(model, &QAbstractItemModel::dataChanged, this, nullptr); + QObject::connect(model, &QAbstractItemModel::dataChanged, this, + [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); }); } void MessageView::updateBytesSectionSize() { @@ -422,9 +425,9 @@ MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizont } void MessageViewHeader::updateFilters() { - QMap filters; - for (int i = 0; i < count(); i++) { - if (editors[i] && !editors[i]->text().isEmpty()) { + std::map filters; + for (int i = 0; i < (int)editors.size(); i++) { + if (!editors[i]->text().isEmpty()) { filters[i] = editors[i]->text(); } } @@ -433,27 +436,24 @@ void MessageViewHeader::updateFilters() { void MessageViewHeader::updateHeaderPositions() { QSize sz = QHeaderView::sizeHint(); - for (int i = 0; i < count(); i++) { - if (editors[i]) { - int h = editors[i]->sizeHint().height(); - editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h); - editors[i]->setHidden(isSectionHidden(i)); - } + for (int i = 0; i < (int)editors.size(); i++) { + int h = editors[i]->sizeHint().height(); + editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h); + editors[i]->setHidden(isSectionHidden(i)); } } void MessageViewHeader::updateGeometries() { - for (int i = 0; i < count(); i++) { - if (!editors[i]) { - QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString(); - editors[i] = new QLineEdit(this); - editors[i]->setClearButtonEnabled(true); - editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name)); + for (int i = (int)editors.size(); i < count(); i++) { + QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString(); + auto edit = new QLineEdit(this); + edit->setClearButtonEnabled(true); + edit->setPlaceholderText(tr("Filter %1").arg(column_name)); - QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters); - } + QObject::connect(edit, &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters); + editors.push_back(edit); } - setViewportMargins(0, 0, 0, editors[0] ? editors[0]->sizeHint().height() : 0); + setViewportMargins(0, 0, 0, !editors.empty() ? editors[0]->sizeHint().height() : 0); QHeaderView::updateGeometries(); updateHeaderPositions(); @@ -461,5 +461,5 @@ void MessageViewHeader::updateGeometries() { QSize MessageViewHeader::sizeHint() const { QSize sz = QHeaderView::sizeHint(); - return editors[0] ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz; + return !editors.empty() ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz; } diff --git a/openpilot/tools/cabana/messageswidget.h b/openpilot/tools/cabana/messageswidget.h index 9ffb156604..0a9cd256d8 100644 --- a/openpilot/tools/cabana/messageswidget.h +++ b/openpilot/tools/cabana/messageswidget.h @@ -1,6 +1,8 @@ #pragma once #include +#include +#include #include #include #include @@ -35,7 +37,7 @@ public: QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; - void setFilterStrings(const QMap &filters); + void setFilterStrings(const std::map &filters); void showInactiveMessages(bool show); void msgsReceived(const std::set *new_msgs, bool has_new_ids); bool filterAndSort(); @@ -56,7 +58,7 @@ private: void sortItems(std::vector &items); bool match(const MessageListModel::Item &id); - QMap filters_; + std::map filters_; std::set dbc_messages_; int sort_column = 0; Qt::SortOrder sort_order = Qt::AscendingOrder; @@ -68,11 +70,11 @@ class MessageView : public QTreeView { public: MessageView(QWidget *parent) : QTreeView(parent) {} void updateBytesSectionSize(); + void setModel(QAbstractItemModel *model) override; protected: void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {} - void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override; void wheelEvent(QWheelEvent *event) override; }; @@ -86,7 +88,7 @@ public: QSize sizeHint() const override; void updateFilters(); - QMap editors; + std::vector editors; }; class MessagesWidget : public QWidget { @@ -95,8 +97,13 @@ class MessagesWidget : public QWidget { public: MessagesWidget(QWidget *parent); void selectMessage(const MessageId &message_id); - QByteArray saveHeaderState() const { return view->header()->saveState(); } - bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); } + std::vector saveHeaderState() const { + const auto state = view->header()->saveState(); + return {state.begin(), state.end()}; + } + bool restoreHeaderState(const std::vector &state) const { + return view->header()->restoreState({(const char *)state.data(), (int)state.size()}); + } void suppressHighlighted(); signals: diff --git a/openpilot/tools/cabana/settings.cc b/openpilot/tools/cabana/settings.cc index e385d83eca..0c8136b84c 100644 --- a/openpilot/tools/cabana/settings.cc +++ b/openpilot/tools/cabana/settings.cc @@ -1,15 +1,37 @@ #include "tools/cabana/settings.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#ifdef __APPLE__ +#include +#endif + #include #include -#include #include #include #include -#include -#include #include +#include "json11/json11.hpp" #include "tools/cabana/utils/util.h" const int MIN_CACHE_MINIUTES = 30; @@ -17,32 +39,442 @@ const int MAX_CACHE_MINIUTES = 120; Settings settings; +namespace { + +std::filesystem::path settingsFile() { + return utils::configPath() / "cabana.json"; +} + +struct LoadedSettings { + json11::Json::object values; + bool exists = false; + bool valid = true; +}; + +class FileLock { +public: + explicit FileLock(const std::filesystem::path &path) { + fd = open(path.c_str(), O_CREAT | O_CLOEXEC, 0600); + if (fd < 0 || flock(fd, LOCK_EX) < 0) { + fprintf(stderr, "failed to lock Cabana settings %s: %s\n", path.c_str(), strerror(errno)); + if (fd >= 0) close(fd); + fd = -1; + } + } + ~FileLock() { + if (fd >= 0) close(fd); + } + bool isLocked() const { return fd >= 0; } + +private: + int fd = -1; +}; + +LoadedSettings loadSettings() { + std::ifstream input(settingsFile()); + if (!input) return {}; + + const std::string contents{std::istreambuf_iterator(input), std::istreambuf_iterator()}; + std::string error; + auto settings_json = json11::Json::parse(contents, error); + if (!error.empty() || !settings_json.is_object()) { + fprintf(stderr, "failed to read Cabana settings %s%s%s\n", settingsFile().c_str(), error.empty() ? "" : ": ", error.c_str()); + return {.exists = true, .valid = false}; + } + return {.values = settings_json.object_items(), .exists = true}; +} + +bool ensureSettingsDirectory() { + const auto path = settingsFile(); + std::error_code error; + std::filesystem::create_directories(path.parent_path(), error); + if (error) { + fprintf(stderr, "failed to create Cabana settings directory %s: %s\n", path.parent_path().c_str(), error.message().c_str()); + return false; + } + return true; +} + +bool writeAll(int fd, const std::string &data) { + size_t written = 0; + while (written < data.size()) { + ssize_t result = write(fd, data.data() + written, data.size() - written); + if (result < 0 && errno == EINTR) continue; + if (result <= 0) return false; + written += result; + } + return true; +} + +bool saveSettings(const json11::Json::object &settings_json) { + const auto path = settingsFile(); + const std::string contents = json11::Json(settings_json).dump(); + std::string temporary_path = path.string() + ".tmp.XXXXXX"; + int fd = mkstemp(temporary_path.data()); + if (fd < 0) { + fprintf(stderr, "failed to create temporary Cabana settings %s: %s\n", temporary_path.c_str(), strerror(errno)); + return false; + } + + bool success = writeAll(fd, contents) && fsync(fd) == 0; + if (close(fd) < 0) success = false; + if (success && rename(temporary_path.c_str(), path.c_str()) < 0) success = false; + + if (success) { + int dir_fd = open(path.parent_path().c_str(), O_RDONLY | O_CLOEXEC); + success = dir_fd >= 0 && fsync(dir_fd) == 0; + if (dir_fd >= 0 && close(dir_fd) < 0) success = false; + } + + if (!success) { + const int saved_errno = errno; + unlink(temporary_path.c_str()); + fprintf(stderr, "failed to save Cabana settings to %s: %s\n", path.c_str(), strerror(saved_errno)); + } + return success; +} + +bool preserveCorruptSettings() { + const auto path = settingsFile(); + auto backup = path; + backup += ".corrupt"; + for (int i = 1; std::filesystem::exists(backup); ++i) { + backup = path; + backup += ".corrupt." + std::to_string(i); + } + if (rename(path.c_str(), backup.c_str()) < 0) { + fprintf(stderr, "failed to preserve corrupt Cabana settings %s: %s\n", path.c_str(), strerror(errno)); + return false; + } + fprintf(stderr, "preserved corrupt Cabana settings at %s\n", backup.c_str()); + return true; +} + +// TODO: Remove the legacy QSettings migration after users have had time to migrate to cabana.json. +struct LegacyValue { + std::vector strings; + std::string bytes; + bool is_byte_array = false; +}; + +using LegacySettings = std::map; + +int hexDigit(char c) { + if (c >= '0' && c <= '9') return c - '0'; + if (c >= 'a' && c <= 'f') return c - 'a' + 10; + if (c >= 'A' && c <= 'F') return c - 'A' + 10; + return -1; +} + +#ifndef __APPLE__ + +void appendUtf8(std::string &result, uint32_t codepoint) { + if (codepoint <= 0x7f) { + result.push_back(codepoint); + } else if (codepoint <= 0x7ff) { + result.push_back(0xc0 | (codepoint >> 6)); + result.push_back(0x80 | (codepoint & 0x3f)); + } else if (codepoint <= 0xffff) { + result.push_back(0xe0 | (codepoint >> 12)); + result.push_back(0x80 | ((codepoint >> 6) & 0x3f)); + result.push_back(0x80 | (codepoint & 0x3f)); + } else { + result.push_back(0xf0 | (codepoint >> 18)); + result.push_back(0x80 | ((codepoint >> 12) & 0x3f)); + result.push_back(0x80 | ((codepoint >> 6) & 0x3f)); + result.push_back(0x80 | (codepoint & 0x3f)); + } +} + +LegacyValue decodeIniValue(std::string_view encoded) { + std::vector> decoded(1); + std::vector quoted(1, false); + bool in_quotes = false; + + for (size_t i = 0; i < encoded.size();) { + char c = encoded[i++]; + if (c == '"') { + in_quotes = !in_quotes; + quoted.back() = true; + } else if (c == ',' && !in_quotes) { + decoded.emplace_back(); + quoted.push_back(false); + while (i < encoded.size() && (encoded[i] == ' ' || encoded[i] == '\t')) ++i; + } else if (c == '\\' && i < encoded.size()) { + c = encoded[i++]; + static const std::map escapes = { + {'a', '\a'}, {'b', '\b'}, {'f', '\f'}, {'n', '\n'}, {'r', '\r'}, {'t', '\t'}, + {'v', '\v'}, {'"', '"'}, {'?', '?'}, {'\'', '\''}, {'\\', '\\'}, + }; + if (auto it = escapes.find(c); it != escapes.end()) { + decoded.back().push_back(static_cast(it->second)); + } else if (c == 'x' && i < encoded.size() && hexDigit(encoded[i]) >= 0) { + uint32_t value = 0; + while (i < encoded.size() && hexDigit(encoded[i]) >= 0) value = (value << 4) + hexDigit(encoded[i++]); + decoded.back().push_back(value & 0xffff); + } else if (c >= '0' && c <= '7') { + uint32_t value = c - '0'; + while (i < encoded.size() && encoded[i] >= '0' && encoded[i] <= '7') value = (value << 3) + (encoded[i++] - '0'); + decoded.back().push_back(value & 0xffff); + } + } else { + decoded.back().push_back(static_cast(c)); + } + } + + LegacyValue result; + for (size_t i = 0; i < decoded.size(); ++i) { + auto &value = decoded[i]; + if (!quoted[i]) { + while (!value.empty() && (value.front() == ' ' || value.front() == '\t')) value.erase(value.begin()); + while (!value.empty() && (value.back() == ' ' || value.back() == '\t')) value.pop_back(); + } + + std::string string_value; + for (size_t j = 0; j < value.size(); ++j) { + uint32_t codepoint = value[j]; + if (codepoint >= 0xd800 && codepoint <= 0xdbff && j + 1 < value.size() && value[j + 1] >= 0xdc00 && value[j + 1] <= 0xdfff) { + codepoint = 0x10000 + ((codepoint - 0xd800) << 10) + (value[++j] - 0xdc00); + } + appendUtf8(string_value, codepoint); + } + result.strings.push_back(std::move(string_value)); + } + + if (result.strings.size() == 1 && result.strings[0] == "@Invalid()") { + result.strings.clear(); + } else if (decoded.size() == 1) { + static constexpr std::string_view prefix = "@ByteArray("; + const auto &value = decoded[0]; + if (value.size() >= prefix.size() + 1 && std::equal(prefix.begin(), prefix.end(), value.begin()) && value.back() == ')') { + result.is_byte_array = true; + result.bytes.reserve(value.size() - prefix.size() - 1); + for (size_t i = prefix.size(); i + 1 < value.size(); ++i) result.bytes.push_back(value[i] & 0xff); + } + } + if (!result.is_byte_array) { + for (auto &value : result.strings) { + if (value.compare(0, 2, "@@") == 0) value.erase(0, 1); + } + } + return result; +} + +LegacySettings loadLegacySettings() { + auto path = settingsFile(); + path.replace_filename("cabana.conf"); + std::ifstream input(path); + if (!input) return {}; + + LegacySettings settings; + bool in_general_section = false; + std::string line; + while (std::getline(input, line)) { + if (!line.empty() && line.back() == '\r') line.pop_back(); + if (line == "[General]") { + in_general_section = true; + continue; + } + if (!line.empty() && line.front() == '[') { + in_general_section = false; + continue; + } + if (!in_general_section || line.empty() || line.front() == ';') continue; + if (auto separator = line.find('='); separator != std::string::npos) { + settings[line.substr(0, separator)] = decodeIniValue(std::string_view(line).substr(separator + 1)); + } + } + return settings; +} + +#else + +std::string cfStringToUtf8(CFStringRef value) { + CFIndex length = CFStringGetLength(value); + CFIndex size = CFStringGetMaximumSizeForEncoding(length, kCFStringEncodingUTF8) + 1; + std::string result(size, '\0'); + if (!CFStringGetCString(value, result.data(), size, kCFStringEncodingUTF8)) return {}; + result.resize(strlen(result.c_str())); + return result; +} + +LegacyValue cfStringValue(CFStringRef string) { + LegacyValue value; + if (CFStringHasPrefix(string, CFSTR("@ByteArray(")) && CFStringHasSuffix(string, CFSTR(")"))) { + CFRange range{11, CFStringGetLength(string) - 12}; + std::vector data(range.length); + CFStringGetCharacters(string, range, data.data()); + value.is_byte_array = true; + value.bytes.reserve(data.size()); + for (UniChar c : data) value.bytes.push_back(c & 0xff); + } else { + std::string string_value = cfStringToUtf8(string); + if (string_value.compare(0, 2, "@@") == 0) string_value.erase(0, 1); + value.strings.push_back(std::move(string_value)); + } + return value; +} + +LegacySettings loadLegacySettings() { + LegacySettings settings; + CFDictionaryRef values = CFPreferencesCopyMultiple(nullptr, CFSTR("com.cabana"), + kCFPreferencesCurrentUser, kCFPreferencesAnyHost); + if (values == nullptr) return settings; + + CFIndex count = CFDictionaryGetCount(values); + std::vector keys(count); + std::vector objects(count); + CFDictionaryGetKeysAndValues(values, keys.data(), objects.data()); + for (CFIndex i = 0; i < count; ++i) { + if (CFGetTypeID(keys[i]) != CFStringGetTypeID()) continue; + std::string key = cfStringToUtf8(static_cast(keys[i])); + CFTypeRef object = objects[i]; + LegacyValue value; + if (CFGetTypeID(object) == CFBooleanGetTypeID()) { + value.strings.push_back(CFBooleanGetValue(static_cast(object)) ? "true" : "false"); + } else if (CFGetTypeID(object) == CFNumberGetTypeID()) { + int number = 0; + if (CFNumberGetValue(static_cast(object), kCFNumberIntType, &number)) value.strings.push_back(std::to_string(number)); + } else if (CFGetTypeID(object) == CFStringGetTypeID()) { + value = cfStringValue(static_cast(object)); + } else if (CFGetTypeID(object) == CFDataGetTypeID()) { + auto data = static_cast(object); + value.is_byte_array = true; + value.bytes.assign(reinterpret_cast(CFDataGetBytePtr(data)), CFDataGetLength(data)); + } else if (CFGetTypeID(object) == CFArrayGetTypeID()) { + auto array = static_cast(object); + for (CFIndex j = 0; j < CFArrayGetCount(array); ++j) { + CFTypeRef item = CFArrayGetValueAtIndex(array, j); + if (CFGetTypeID(item) != CFStringGetTypeID()) { + value.strings.clear(); + break; + } + auto item_value = cfStringValue(static_cast(item)); + if (item_value.strings.size() != 1) { + value.strings.clear(); + break; + } + value.strings.push_back(std::move(item_value.strings[0])); + } + } + if (!value.strings.empty() || value.is_byte_array || CFGetTypeID(object) == CFArrayGetTypeID()) { + settings.emplace(std::move(key), std::move(value)); + } + } + CFRelease(values); + return settings; +} + +#endif + template -void readSetting(QSettings &settings_store, const char *key, T &value) { - if (auto stored = settings_store.value(key); stored.canConvert()) value = stored.value(); +void readLegacySetting(const LegacySettings &legacy_settings, const char *key, T &value) { + auto it = legacy_settings.find(key); + if (it == legacy_settings.end() || it->second.strings.size() != 1) return; + const auto &stored = it->second.strings[0]; + + if constexpr (std::is_same_v) { + if (stored == "true") value = true; + if (stored == "false") value = false; + } else if constexpr (std::is_integral_v || std::is_enum_v) { + int number = 0; + auto [end, error] = std::from_chars(stored.data(), stored.data() + stored.size(), number); + if (error == std::errc{} && end == stored.data() + stored.size()) value = static_cast(number); + } } -void readSetting(QSettings &settings_store, const char *key, std::string &value) { - value = settings_store.value(key, QString::fromStdString(value)).toString().toStdString(); +void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::string &value) { + auto it = legacy_settings.find(key); + if (it != legacy_settings.end() && it->second.strings.size() == 1) value = it->second.strings[0]; } -void readSetting(QSettings &settings_store, const char *key, std::vector &value) { - value.clear(); - for (const auto &item : settings_store.value(key).toStringList()) value.push_back(item.toStdString()); +void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::vector &value) { + auto it = legacy_settings.find(key); + if (it != legacy_settings.end() && !it->second.is_byte_array) value = it->second.strings; +} + +void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::vector &value) { + auto it = legacy_settings.find(key); + if (it != legacy_settings.end() && it->second.is_byte_array) { + value.assign(it->second.bytes.begin(), it->second.bytes.end()); + } } template -void writeSetting(QSettings &settings_store, const char *key, const T &value) { settings_store.setValue(key, value); } -void writeSetting(QSettings &settings_store, const char *key, const std::string &value) { settings_store.setValue(key, QString::fromStdString(value)); } -void writeSetting(QSettings &settings_store, const char *key, const std::vector &value) { - QStringList items; - for (const auto &item : value) items.push_back(QString::fromStdString(item)); - settings_store.setValue(key, items); +void readSetting(const json11::Json::object &settings_json, const char *key, T &value) { + auto it = settings_json.find(key); + if (it == settings_json.end()) return; + + if constexpr (std::is_same_v) { + if (it->second.is_bool()) value = it->second.bool_value(); + } else if constexpr (std::is_integral_v) { + if (it->second.is_number()) value = it->second.int_value(); + } else if constexpr (std::is_enum_v) { + if (it->second.is_number()) value = static_cast(it->second.int_value()); + } } -template -void settingsOp(SettingOperation op) { - QSettings s("cabana"); +void readSetting(const json11::Json::object &settings_json, const char *key, std::string &value) { + auto it = settings_json.find(key); + if (it != settings_json.end() && it->second.is_string()) value = it->second.string_value(); +} + +void readSetting(const json11::Json::object &settings_json, const char *key, std::vector &value) { + auto it = settings_json.find(key); + if (it == settings_json.end() || !it->second.is_array()) return; + + std::vector stored; + for (const auto &item : it->second.array_items()) { + if (!item.is_string()) return; + stored.push_back(item.string_value()); + } + value = std::move(stored); +} + +void readSetting(const json11::Json::object &settings_json, const char *key, std::vector &value) { + auto it = settings_json.find(key); + if (it == settings_json.end() || !it->second.is_string()) return; + + const auto &hex = it->second.string_value(); + if (hex.size() % 2 == 0 && std::all_of(hex.begin(), hex.end(), [](unsigned char c) { return std::isxdigit(c); })) { + value.clear(); + value.reserve(hex.size() / 2); + for (size_t i = 0; i < hex.size(); i += 2) { + value.push_back((hexDigit(hex[i]) << 4) | hexDigit(hex[i + 1])); + } + } +} + +template +void writeSetting(json11::Json::object &settings_json, const char *key, const T &value) { + if constexpr (std::is_same_v) { + settings_json[key] = value; + } else if constexpr (std::is_integral_v || std::is_enum_v) { + settings_json[key] = static_cast(value); + } +} + +void writeSetting(json11::Json::object &settings_json, const char *key, const std::string &value) { + settings_json[key] = value; +} + +void writeSetting(json11::Json::object &settings_json, const char *key, const std::vector &value) { + settings_json[key] = value; +} + +void writeSetting(json11::Json::object &settings_json, const char *key, const std::vector &value) { + static const char digits[] = "0123456789abcdef"; + std::string hex; + hex.reserve(value.size() * 2); + for (uint8_t b : value) { + hex.push_back(digits[b >> 4]); + hex.push_back(digits[b & 0xf]); + } + settings_json[key] = hex; +} + +template +void settingsOp(Store &s, SettingOperation op) { op(s, "absolute_time", settings.absolute_time); op(s, "fps", settings.fps); op(s, "max_cached_minutes", settings.max_cached_minutes); @@ -70,14 +502,38 @@ void settingsOp(SettingOperation op) { op(s, "active_charts", settings.active_charts); } +} // namespace + Settings::Settings() { - last_dir = last_route_dir = QDir::homePath().toStdString(); - log_path = (QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/").toStdString(); - settingsOp([](QSettings &s, const char *key, auto &value) { readSetting(s, key, value); }); + last_dir = last_route_dir = utils::homePath(); + log_path = utils::homePath() + "/cabana_live_stream/"; + const auto stored_settings = loadSettings(); + if (stored_settings.valid) { + if (stored_settings.exists) { + settingsOp(stored_settings.values, [](const auto &s, const char *key, auto &value) { readSetting(s, key, value); }); + } else { + auto legacy_settings = loadLegacySettings(); + settingsOp(legacy_settings, [](const auto &s, const char *key, auto &value) { readLegacySetting(s, key, value); }); + } + } + fps = std::clamp(fps, 1, 100); } -Settings::~Settings() { - settingsOp([](QSettings &s, const char *key, const auto &value) { writeSetting(s, key, value); }); +// Must be called before main() returns: json11's internal statistics are constructed on first +// use at runtime, so they are destroyed before this pre-main global. Saving from ~Settings +// would use them after destruction and corrupt the heap. +void Settings::save() { + if (!ensureSettingsDirectory()) return; + + auto lock_path = settingsFile(); + lock_path += ".lock"; + FileLock lock(lock_path); + if (!lock.isLocked()) return; + + auto stored_settings = loadSettings(); + if (!stored_settings.valid && !preserveCorruptSettings()) return; + settingsOp(stored_settings.values, [](auto &s, const char *key, const auto &value) { writeSetting(s, key, value); }); + saveSettings(stored_settings.values); } // SettingsDlg @@ -121,6 +577,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { log_livestream = new QGroupBox(tr("Enable live stream logging"), this); log_livestream->setCheckable(true); + log_livestream->setChecked(settings.log_livestream); QHBoxLayout *path_layout = new QHBoxLayout(log_livestream); path_layout->addWidget(log_path = new QLineEdit(QString::fromStdString(settings.log_path), this)); log_path->setReadOnly(true); @@ -135,7 +592,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { QObject::connect(browse_btn, &QPushButton::clicked, [this]() { QString fn = QFileDialog::getExistingDirectory( this, tr("Log File Location"), - QStandardPaths::writableLocation(QStandardPaths::HomeLocation), + QString::fromStdString(utils::homePath()), QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks); if (!fn.isEmpty()) { log_path->setText(fn); diff --git a/openpilot/tools/cabana/settings.h b/openpilot/tools/cabana/settings.h index 4254a8009d..7357ecf4fc 100644 --- a/openpilot/tools/cabana/settings.h +++ b/openpilot/tools/cabana/settings.h @@ -1,6 +1,8 @@ #pragma once -#include +#include +#include + #include #include #include @@ -14,13 +16,13 @@ class Settings : public QObject, public CabanaSettingsState { public: Settings(); - ~Settings(); + void save(); // Qt frontend layout state. This intentionally stays outside CabanaSettingsState. - QByteArray geometry; - QByteArray video_splitter_state; - QByteArray window_state; - QByteArray message_header_state; + std::vector geometry; + std::vector video_splitter_state; + std::vector window_state; + std::vector message_header_state; signals: void changed(); diff --git a/openpilot/tools/cabana/signalview.cc b/openpilot/tools/cabana/signalview.cc index 87294b41f7..ebb5374140 100644 --- a/openpilot/tools/cabana/signalview.cc +++ b/openpilot/tools/cabana/signalview.cc @@ -198,7 +198,7 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) if (s.is_little_endian != origin_s->is_little_endian) { s.start_bit = flipBitPos(s.start_bit); } - UndoStack::push(new EditSignalCommand(msg_id, origin_s, s)); + UndoStack::instance()->push(new EditSignalCommand(msg_id, origin_s, s)); return true; } @@ -515,7 +515,7 @@ void SignalView::rowsChanged() { tree->setIndexWidget(index, w); auto sig = model->getItem(index)->sig; - QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); }); + QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::instance()->push(new RemoveSigCommand(model->msg_id, sig)); }); QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) { emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); }); diff --git a/openpilot/tools/cabana/signalview.h b/openpilot/tools/cabana/signalview.h index 42db830df7..2e44e55cbf 100644 --- a/openpilot/tools/cabana/signalview.h +++ b/openpilot/tools/cabana/signalview.h @@ -129,9 +129,12 @@ private: // update widget geometries in QTreeView::rowsInserted QTreeView::rowsInserted(parent, start, end); } - void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override { + void setModel(QAbstractItemModel *model) override { + QTreeView::setModel(model); // Bypass the slow call to QTreeView::dataChanged. - QAbstractItemView::dataChanged(topLeft, bottomRight, roles); + QObject::disconnect(model, &QAbstractItemModel::dataChanged, this, nullptr); + QObject::connect(model, &QAbstractItemModel::dataChanged, this, + [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); }); } void leaveEvent(QEvent *event) override { emit static_cast(parentWidget())->highlight(nullptr); diff --git a/openpilot/tools/cabana/streams/abstractstream.h b/openpilot/tools/cabana/streams/abstractstream.h index 26f05d9846..82cb899937 100644 --- a/openpilot/tools/cabana/streams/abstractstream.h +++ b/openpilot/tools/cabana/streams/abstractstream.h @@ -75,12 +75,12 @@ protected: const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c); void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size); void waitForSeekFinshed(); + virtual void updateLastMessages(); std::vector all_events_; double current_sec_ = 0; std::optional> time_range_; private: - void updateLastMessages(); void updateLastMsgsTo(double sec); void updateMasks(); diff --git a/openpilot/tools/cabana/streams/devicestream.cc b/openpilot/tools/cabana/streams/devicestream.cc index 1ce0dbb71f..91e890316e 100644 --- a/openpilot/tools/cabana/streams/devicestream.cc +++ b/openpilot/tools/cabana/streams/devicestream.cc @@ -1,22 +1,23 @@ #include "tools/cabana/streams/devicestream.h" #include +#include #include #include #include +#include #include #include +#include #include #include #include "openpilot/cereal/services.h" #include -#include #include #include #include -#include #include "tools/cabana/utils/util.h" @@ -26,6 +27,7 @@ DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(addre } DeviceStream::~DeviceStream() { + stop(); stopBridge(); } @@ -50,9 +52,8 @@ void DeviceStream::stopBridge() { void DeviceStream::start() { if (!zmq_address.isEmpty()) { stopBridge(); - QString bridge_path = QFileInfo(QCoreApplication::applicationDirPath() + - "/../../openpilot/cereal/messaging/bridge").absoluteFilePath(); - const std::string path = bridge_path.toStdString(); + const std::string path = (std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) / + "../../openpilot/cereal/messaging/bridge").lexically_normal().string(); const std::string addr = zmq_address.toStdString(); const char *can_filter = "/\"can/\""; @@ -108,10 +109,10 @@ void DeviceStream::streamThread() { std::unique_ptr sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size)); assert(sock != NULL); // run as fast as messages come in - while (!QThread::currentThread()->isInterruptionRequested()) { + while (!exit_) { std::unique_ptr msg(sock->receive(true)); if (!msg) { - QThread::msleep(50); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); continue; } handleEvent(kj::ArrayPtr((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word))); diff --git a/openpilot/tools/cabana/streams/livestream.cc b/openpilot/tools/cabana/streams/livestream.cc index 5aa4628bc0..019a67e8f2 100644 --- a/openpilot/tools/cabana/streams/livestream.cc +++ b/openpilot/tools/cabana/streams/livestream.cc @@ -1,7 +1,7 @@ #include "tools/cabana/streams/livestream.h" -#include #include +#include #include #include #include @@ -42,37 +42,34 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { if (settings.log_livestream) { logger = std::make_unique(); } - stream_thread = new QThread(this); - - QObject::connect(&settings, &Settings::changed, this, &LiveStream::startUpdateTimer); - QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); - QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); } LiveStream::~LiveStream() { stop(); } -void LiveStream::startUpdateTimer() { - update_timer.stop(); - update_timer.start(1000.0 / settings.fps, this); - timer_id = update_timer.timerId(); -} - void LiveStream::start() { - stream_thread->start(); - startUpdateTimer(); begin_date_time = std::chrono::system_clock::now(); + fps_ = settings.fps; + exit_ = false; + stream_thread = std::thread(&LiveStream::streamThread, this); + update_thread = std::thread(&LiveStream::updateThread, this); } void LiveStream::stop() { - if (!stream_thread) return; + exit_ = true; + if (stream_thread.joinable()) stream_thread.join(); + if (update_thread.joinable()) update_thread.join(); +} - update_timer.stop(); - stream_thread->requestInterruption(); - stream_thread->quit(); - stream_thread->wait(); - stream_thread = nullptr; +void LiveStream::updateThread() { + while (!exit_) { + std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps_)); + // coalesce: skip the emit if the main thread hasn't processed the previous one yet. + if (!update_pending_.exchange(true)) { + emit privateUpdateLastMsgsSignal(); + } + } } // called in streamThread @@ -92,23 +89,22 @@ void LiveStream::handleEvent(kj::ArrayPtr data) { } } -void LiveStream::timerEvent(QTimerEvent *event) { - if (event->timerId() == timer_id) { - { - // merge events received from live stream thread. - std::lock_guard lk(lock); - mergeEvents(received_events_); - uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0; - lastest_event_ts = std::max(lastest_event_ts, last_received_ts); - received_events_.clear(); - } - if (!all_events_.empty()) { - begin_event_ts = all_events_.front()->mono_time; - updateEvents(); - return; - } +// called on the main thread by the queued privateUpdateLastMsgsSignal connection +void LiveStream::updateLastMessages() { + update_pending_ = false; + fps_ = settings.fps; + { + // merge events received from live stream thread. + std::lock_guard lk(lock); + mergeEvents(received_events_); + uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0; + lastest_event_ts = std::max(lastest_event_ts, last_received_ts); + received_events_.clear(); + } + if (!all_events_.empty()) { + begin_event_ts = all_events_.front()->mono_time; + updateEvents(); } - QObject::timerEvent(event); } void LiveStream::updateEvents() { @@ -138,7 +134,7 @@ void LiveStream::updateEvents() { updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size); current_event_ts = e->mono_time; } - emit privateUpdateLastMsgsSignal(); + AbstractStream::updateLastMessages(); } void LiveStream::seekTo(double sec) { diff --git a/openpilot/tools/cabana/streams/livestream.h b/openpilot/tools/cabana/streams/livestream.h index e88fbadd8e..5d65b1743f 100644 --- a/openpilot/tools/cabana/streams/livestream.h +++ b/openpilot/tools/cabana/streams/livestream.h @@ -1,11 +1,11 @@ #pragma once #include +#include #include +#include #include -#include - #include "tools/cabana/streams/abstractstream.h" class LiveStream : public AbstractStream { @@ -29,18 +29,19 @@ protected: virtual void streamThread() = 0; void handleEvent(kj::ArrayPtr event); + std::atomic exit_ = false; + private: - void startUpdateTimer(); - void timerEvent(QTimerEvent *event) override; + void updateThread(); + void updateLastMessages() override; void updateEvents(); std::mutex lock; - QThread *stream_thread; + std::thread stream_thread, update_thread; + std::atomic update_pending_ = false; + std::atomic fps_ = 10; std::vector received_events_; - int timer_id; - QBasicTimer update_timer; - std::chrono::system_clock::time_point begin_date_time; uint64_t begin_event_ts = 0; uint64_t lastest_event_ts = 0; diff --git a/openpilot/tools/cabana/streams/pandastream.cc b/openpilot/tools/cabana/streams/pandastream.cc index aa1e01c5a3..7ccb18a756 100644 --- a/openpilot/tools/cabana/streams/pandastream.cc +++ b/openpilot/tools/cabana/streams/pandastream.cc @@ -1,12 +1,13 @@ #include "tools/cabana/streams/pandastream.h" +#include #include +#include #include #include #include #include -#include #include PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { @@ -45,13 +46,13 @@ bool PandaStream::connect() { void PandaStream::streamThread() { std::vector raw_can_data; - while (!QThread::currentThread()->isInterruptionRequested()) { - QThread::msleep(1); + while (!exit_) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); if (!panda->connected()) { fprintf(stderr, "Connection to panda lost. Attempting reconnect.\n"); if (!connect()){ - QThread::msleep(1000); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); continue; } } diff --git a/openpilot/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc index c74aa49821..c502ea061a 100644 --- a/openpilot/tools/cabana/streams/replaystream.cc +++ b/openpilot/tools/cabana/streams/replaystream.cc @@ -1,5 +1,7 @@ #include "tools/cabana/streams/replaystream.h" +#include + #include #include #include @@ -139,7 +141,7 @@ OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(p QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir)); if (!dir.isEmpty()) { route_edit->setText(dir); - settings.last_route_dir = QFileInfo(dir).absolutePath().toStdString(); + settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string(); } }); QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() { diff --git a/openpilot/tools/cabana/streams/routes.cc b/openpilot/tools/cabana/streams/routes.cc index 9c19219ce2..b6f98da533 100644 --- a/openpilot/tools/cabana/streams/routes.cc +++ b/openpilot/tools/cabana/streams/routes.cc @@ -12,7 +12,6 @@ #include #include #include -#include #include "json11/json11.hpp" #include "tools/replay/py_downloader.h" @@ -112,11 +111,10 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) { connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject); // Fetch devices - QPointer self = this; - std::thread([self]() { + std::thread([this, alive = std::weak_ptr(alive_)]() { std::string result = PyDownloader::getDevices(); - QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result)]() { - if (self) self->parseDeviceList(r, response.first, response.second); + QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result)]() { + if (!alive.expired()) parseDeviceList(r, response.first, response.second); }, Qt::QueuedConnection); }).detach(); } @@ -156,12 +154,10 @@ void RoutesDialog::fetchRoutes() { } int request_id = ++fetch_id_; - QPointer self = this; - std::thread([self, did, start_ms, end_ms, preserved, request_id]() { + std::thread([this, alive = std::weak_ptr(alive_), did, start_ms, end_ms, preserved, request_id]() { std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved); - if (!self || self->fetch_id_ != request_id) return; - QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() { - if (self && self->fetch_id_ == request_id) self->parseRouteList(r, response.first, response.second); + QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() { + if (!alive.expired() && fetch_id_ == request_id) parseRouteList(r, response.first, response.second); }, Qt::QueuedConnection); }).detach(); } diff --git a/openpilot/tools/cabana/streams/routes.h b/openpilot/tools/cabana/streams/routes.h index 99fa67ef8c..6ed145603f 100644 --- a/openpilot/tools/cabana/streams/routes.h +++ b/openpilot/tools/cabana/streams/routes.h @@ -1,6 +1,8 @@ #pragma once #include +#include + #include #include @@ -21,4 +23,6 @@ protected: QComboBox *period_selector_; RouteListWidget *route_list_; std::atomic fetch_id_{0}; + // expires on destruction; guards main-thread callbacks from detached worker threads + std::shared_ptr alive_ = std::make_shared(true); }; diff --git a/openpilot/tools/cabana/streams/socketcanstream.cc b/openpilot/tools/cabana/streams/socketcanstream.cc index cedbddf99e..b616e7f242 100644 --- a/openpilot/tools/cabana/streams/socketcanstream.cc +++ b/openpilot/tools/cabana/streams/socketcanstream.cc @@ -8,13 +8,13 @@ #include #include +#include +#include -#include #include #include #include #include -#include SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) { if (!available()) { @@ -82,7 +82,7 @@ bool SocketCanStream::connect() { void SocketCanStream::streamThread() { struct canfd_frame frame; - while (!QThread::currentThread()->isInterruptionRequested()) { + while (!exit_) { ssize_t nbytes = read(sock_fd, &frame, sizeof(frame)); if (nbytes <= 0) continue; @@ -128,14 +128,12 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi void OpenSocketCanWidget::refreshDevices() { device_edit->clear(); // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN) - QDir net_dir("/sys/class/net"); - for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) { - QFile type_file(net_dir.filePath(iface) + "/type"); - if (type_file.open(QIODevice::ReadOnly)) { - int type = type_file.readAll().trimmed().toInt(); - if (type == 280) { - device_edit->addItem(iface); - } + std::error_code ec; + for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) { + std::ifstream type_file(entry.path() / "type"); + int type = 0; + if (type_file >> type && type == 280) { + device_edit->addItem(QString::fromStdString(entry.path().filename().string())); } } } diff --git a/openpilot/tools/cabana/streamselector.cc b/openpilot/tools/cabana/streamselector.cc index 75fdf384b2..7e8adc568d 100644 --- a/openpilot/tools/cabana/streamselector.cc +++ b/openpilot/tools/cabana/streamselector.cc @@ -1,5 +1,7 @@ #include "tools/cabana/streamselector.h" +#include + #include #include #include @@ -55,7 +57,7 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), QString::fromStdString(settings.last_dir), "DBC (*.dbc)"); if (!fn.isEmpty()) { dbc_file->setText(fn); - settings.last_dir = QFileInfo(fn).absolutePath().toStdString(); + settings.last_dir = std::filesystem::absolute(fn.toStdString()).parent_path().string(); } }); } diff --git a/openpilot/tools/cabana/tools/findsignal.cc b/openpilot/tools/cabana/tools/findsignal.cc index d538d676b1..4511af7c01 100644 --- a/openpilot/tools/cabana/tools/findsignal.cc +++ b/openpilot/tools/cabana/tools/findsignal.cc @@ -1,5 +1,6 @@ #include "tools/cabana/tools/findsignal.h" +#include #include #include @@ -210,13 +211,13 @@ void FindSignalDlg::search() { } void FindSignalDlg::setInitialSignals() { - QSet buses; + std::set buses; for (auto bus : bus_edit->text().trimmed().split(",")) { bus = bus.trimmed(); if (!bus.isEmpty()) buses.insert(bus.toUShort()); } - QSet addresses; + std::set addresses; for (auto addr : address_edit->text().trimmed().split(",")) { addr = addr.trimmed(); if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16)); @@ -239,7 +240,7 @@ void FindSignalDlg::setInitialSignals() { model->initial_signals.clear(); for (const auto &[id, m] : can->lastMessages()) { - if ((buses.isEmpty() || buses.contains(id.source)) && (addresses.isEmpty() || addresses.contains(id.address))) { + if ((buses.empty() || buses.count(id.source)) && (addresses.empty() || addresses.count(id.address))) { const auto &events = can->events(id); auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent()); if (e != events.cend()) { @@ -276,7 +277,7 @@ void FindSignalDlg::customMenuRequested(const QPoint &pos) { menu.addAction(tr("Create Signal")); if (menu.exec(view->mapToGlobal(pos))) { auto &s = model->filtered_signals[index.row()]; - UndoStack::push(new AddSigCommand(s.id, s.sig)); + UndoStack::instance()->push(new AddSigCommand(s.id, s.sig)); emit openMessage(s.id); } } diff --git a/openpilot/tools/cabana/utils/util.cc b/openpilot/tools/cabana/utils/util.cc index 5c55bcf015..87a0f89427 100644 --- a/openpilot/tools/cabana/utils/util.cc +++ b/openpilot/tools/cabana/utils/util.cc @@ -4,21 +4,21 @@ #include #include #include +#include #include #include #include +#include #include #include #include #include +#include #include #include -#include #include #include -#include -#include #include #include #include "common/util.h" @@ -271,13 +271,13 @@ QValidator::State DoubleValidator::validate(QString &input, int &pos) const { if (input.isEmpty()) return QValidator::Intermediate; // Match QString::toDouble(): C locale, no hex floats / inf / nan. - const QByteArray bytes = input.toLatin1(); + const std::string bytes = input.toLatin1().toStdString(); // strtod accepts 0x… hex floats and p-exponents; QString::toDouble does not. - if (bytes.contains('x') || bytes.contains('X') || bytes.contains('p') || bytes.contains('P')) { + if (bytes.find_first_of("xXpP") != std::string::npos) { return QValidator::Invalid; } - const char *start = bytes.constData(); + const char *start = bytes.c_str(); char *end = nullptr; const double value = std::strtod(start, &end); if (end == start) { @@ -304,6 +304,58 @@ QValidator::State DoubleValidator::validate(QString &input, int &pos) const { namespace utils { +std::string homePath() { + const char *home = ::getenv("HOME"); + return home ? home : ""; +} + +std::filesystem::path configPath() { +#ifdef __APPLE__ + return std::filesystem::path(homePath()) / "Library/Preferences"; +#else + const char *xdg = ::getenv("XDG_CONFIG_HOME"); + return (xdg && xdg[0]) ? std::filesystem::path(xdg) : std::filesystem::path(homePath()) / ".config"; +#endif +} + +#ifdef __APPLE__ +static const char *clipboard_read_cmds[] = {"pbpaste"}; +static const char *clipboard_write_cmds[] = {"pbcopy"}; +#else +static const char *clipboard_read_cmds[] = {"wl-paste --no-newline 2>/dev/null", "xclip -selection clipboard -o 2>/dev/null", "xsel -ob 2>/dev/null"}; +static const char *clipboard_write_cmds[] = {"wl-copy 2>/dev/null", "xclip -selection clipboard 2>/dev/null", "xsel -ib 2>/dev/null"}; +#endif + +bool getClipboardText(std::string *text) { + text->clear(); + bool has_tool = false; + for (const char *cmd : clipboard_read_cmds) { + FILE *f = ::popen(cmd, "r"); + if (!f) continue; + std::string out; + char buf[4096]; + for (size_t n; (n = ::fread(buf, 1, sizeof(buf), f)) > 0;) out.append(buf, n); + int status = ::pclose(f); + if (status == 0) { + *text = std::move(out); + return true; + } + has_tool |= WIFEXITED(status) && WEXITSTATUS(status) != 127; // 127: command not found + } + return has_tool; // tool present but clipboard empty +} + +bool setClipboardText(const std::string &text) { + std::signal(SIGPIPE, SIG_IGN); + for (const char *cmd : clipboard_write_cmds) { + FILE *f = ::popen(cmd, "w"); + if (!f) continue; + size_t written = ::fwrite(text.data(), 1, text.size(), f); + if (::pclose(f) == 0 && written == text.size()) return true; + } + return false; +} + bool isDarkTheme() { QColor windowColor = QApplication::palette().color(QPalette::Window); return windowColor.lightness() < 128; @@ -413,20 +465,6 @@ QString signalToolTip(const cabana::Signal *sig) { .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); } -void setSurfaceFormat() { - QSurfaceFormat fmt; -#ifdef __APPLE__ - fmt.setVersion(3, 2); - fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile); - fmt.setRenderableType(QSurfaceFormat::OpenGL); -#else - fmt.setRenderableType(QSurfaceFormat::OpenGLES); -#endif - fmt.setSamples(16); - fmt.setStencilBufferSize(1); - QSurfaceFormat::setDefaultFormat(fmt); -} - void sigTermHandler(int s) { std::signal(s, SIG_DFL); qApp->quit(); @@ -437,57 +475,57 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { std::signal(SIGINT, sigTermHandler); std::signal(SIGTERM, sigTermHandler); - QString app_dir; + std::filesystem::path app_dir; #ifdef __APPLE__ // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering QApplication tmp(argc, argv); - app_dir = QCoreApplication::applicationDirPath(); + app_dir = QCoreApplication::applicationDirPath().toStdString(); if (disable_hidpi) { qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit()); } #else - app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path(); + app_dir = std::filesystem::path(util::readlink("/proc/self/exe")).parent_path(); #endif - qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); + qputenv("QT_DBL_CLICK_DIST", "150"); // ensure the current dir matches the exectuable's directory - QDir::setCurrent(app_dir); - - setSurfaceFormat(); + std::error_code ec; + std::filesystem::current_path(app_dir, ec); } +// embedded at build time from the bootstrap_icons package (see SConscript) +extern const unsigned char bootstrap_icons_svg[]; +extern const size_t bootstrap_icons_svg_len; + static std::unordered_map load_bootstrap_icons() { std::unordered_map icons; - QFile f(":/bootstrap-icons.svg"); - if (f.open(QIODevice::ReadOnly | QIODevice::Text)) { - std::string content = f.readAll().toStdString(); - const std::string sym_open = "(bootstrap_icons_svg), bootstrap_icons_svg_len); + const std::string sym_open = " with - svg_str.replace(0, 7, " ""); // "" (9) -> "" (6) - icons[id] = std::move(svg_str); - } + // extract id + size_t id_start = content.find(id_attr, pos); + if (id_start != std::string::npos && id_start < end) { + id_start += id_attr.size(); + size_t id_end = content.find('"', id_start); + if (id_end != std::string::npos && id_end < end) { + std::string id = content.substr(id_start, id_end - id_start); + std::string svg_str = content.substr(pos, end - pos); + // replace with + svg_str.replace(0, 7, " ""); // "" (9) -> "" (6) + icons[id] = std::move(svg_str); } - pos = end; } + pos = end; } return icons; } diff --git a/openpilot/tools/cabana/utils/util.h b/openpilot/tools/cabana/utils/util.h index e0318f5c16..5a3c62d118 100644 --- a/openpilot/tools/cabana/utils/util.h +++ b/openpilot/tools/cabana/utils/util.h @@ -3,12 +3,13 @@ #include #include #include +#include +#include #include #include #include #include -#include #include #include #include @@ -132,6 +133,10 @@ public: namespace utils { QPixmap icon(const QString &id); +std::string homePath(); +std::filesystem::path configPath(); +bool getClipboardText(std::string *text); // false if no clipboard tool is available +bool setClipboardText(const std::string &text); bool isDarkTheme(); void setTheme(int theme); QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false); @@ -140,7 +145,22 @@ inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text); } inline QString toHex(const std::vector &dat, char separator = '\0') { - return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper(); + static const char digits[] = "0123456789ABCDEF"; + QString hex; + hex.reserve(dat.size() * (separator ? 3 : 2)); + for (size_t i = 0; i < dat.size(); ++i) { + if (separator && i) hex += QLatin1Char(separator); + hex += QLatin1Char(digits[dat[i] >> 4]); + hex += QLatin1Char(digits[dat[i] & 0xf]); + } + return hex; +} + +// boundary conversions for the remaining Qt byte-array based state APIs +template +std::vector toBytes(const T &dat) { return {dat.begin(), dat.end()}; } +inline auto qbytes(const std::vector &dat) { + return decltype(QString().toUtf8())((const char *)dat.data(), (int)dat.size()); } } diff --git a/openpilot/tools/cabana/videowidget.cc b/openpilot/tools/cabana/videowidget.cc index 60f7b4d2b8..67b89cb080 100644 --- a/openpilot/tools/cabana/videowidget.cc +++ b/openpilot/tools/cabana/videowidget.cc @@ -356,8 +356,8 @@ void StreamCameraView::parseQLog(std::shared_ptr qlog) { update(); } -void StreamCameraView::paintGL() { - CameraWidget::paintGL(); +void StreamCameraView::paintEvent(QPaintEvent *event) { + CameraWidget::paintEvent(event); QPainter p(this); bool scrubbing = false; diff --git a/openpilot/tools/cabana/videowidget.h b/openpilot/tools/cabana/videowidget.h index d45695904e..09f7a9931b 100644 --- a/openpilot/tools/cabana/videowidget.h +++ b/openpilot/tools/cabana/videowidget.h @@ -35,7 +35,7 @@ class StreamCameraView : public CameraWidget { public: StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr); - void paintGL() override; + void paintEvent(QPaintEvent *event) override; void parseQLog(std::shared_ptr qlog); private: diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh index 80f3ac4e45..b76fdc7dde 100755 --- a/tools/setup_dependencies.sh +++ b/tools/setup_dependencies.sh @@ -44,7 +44,7 @@ function install_linux_deps() { echo "[ ] system packages already installed t=$SECONDS" elif command -v apt-get > /dev/null 2>&1; then $SUDO apt-get update - $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git + $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xclip wl-clipboard elif command -v dnf > /dev/null 2>&1; then $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git elif command -v yum > /dev/null 2>&1; then