cabana: bit level change frequency highlighting (#27259)

* cabana: bit level change highlighting

* change default color

tools/cabana/binaryview.cc

@@ -7,6 +7,8 @@
 #include <QScrollBar>
 #include <QToolTip>
 
+#include <cmath>
+
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streams/abstractstream.h"
 
@@ -212,6 +214,19 @@ void BinaryViewModel::updateState() {
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0';
+
+      // Bit update frequency based highlighting
+      bool has_signal = items[i * column_count + j].sigs.size() > 0;
+      double offset = has_signal ? 50 : 0;
+
+      double min_f = last_msg.bit_change_counts[i][7 - j] == 0 ? offset : offset + 25;
+      double max_f = 255.0;
+
+      double factor = 0.25;
+      double scaler = max_f / log2(1.0 + factor);
+
+      double alpha = std::clamp(offset + log2(1.0 + factor * (double)last_msg.bit_change_counts[i][7 - j] / (double)last_msg.count) * scaler, min_f, max_f);
+      items[i * column_count + j].bg_color.setAlpha(alpha);
     }
     hex[0] = toHex(binary[i] >> 4);
     hex[1] = toHex(binary[i] & 0xf);
@@ -264,10 +279,18 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     painter->setPen(option.palette.color(QPalette::BrightText));
   } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) {
     bool sig_hovered = item->sigs.contains(bin_view->hovered_sig);
-    painter->fillRect(option.rect, sig_hovered ? item->bg_color.darker(125) : item->bg_color);  // 4/5x brightness
+    int min_alpha = item->sigs.contains(bin_view->hovered_sig) ? 255 : 50;
+    QColor bg = item->bg_color;
+    if (bg.alpha() < min_alpha) {
+      bg.setAlpha(min_alpha);
+    }
+    painter->fillRect(option.rect, sig_hovered ? bg.darker(125) : bg);  // 4/5x brightness
     painter->setPen(sig_hovered ? option.palette.color(QPalette::BrightText) : Qt::black);
+  } else {
+    painter->fillRect(option.rect, item->bg_color);
   }
 
+
   painter->drawText(option.rect, Qt::AlignCenter, item->val);
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);

tools/cabana/binaryview.h

@@ -36,7 +36,7 @@ public:
   }
 
   struct Item {
-    QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base);
+    QColor bg_color = QColor(102, 86, 169, 0);
     bool is_msb = false;
     bool is_lsb = false;
     QString val = "-";

tools/cabana/streams/abstractstream.cc

@@ -34,6 +34,7 @@ bool AbstractStream::updateEvent(const Event *event) {
       change_trackers[id].compute(data.dat, data.ts, data.freq);
       data.colors = change_trackers[id].colors;
       data.last_change_t = change_trackers[id].last_change_t;
+      data.bit_change_counts = change_trackers[id].bit_change_counts;
     }
 
     double ts = millis_since_boot();

tools/cabana/streams/abstractstream.h

@@ -16,6 +16,7 @@ struct CanData {
   QByteArray dat;
   QVector<QColor> colors;
   QVector<double> last_change_t;
+  QVector<std::array<uint32_t, 8>> bit_change_counts;
 };
 
 class AbstractStream : public QObject {

tools/cabana/util.cc

@@ -18,6 +18,7 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
   if (prev_dat.size() != dat.size()) {
     colors.resize(dat.size());
     last_change_t.resize(dat.size());
+    bit_change_counts.resize(dat.size());
     std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0));
     std::fill(last_change_t.begin(), last_change_t.end(), ts);
   } else {
@@ -39,6 +40,13 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
           colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2));  // Greyish/Blue
         }
 
+        // Track bit level changes
+        for (int bit = 0; bit < 8; bit++){
+          if ((cur ^ last) & (1 << bit)) {
+            bit_change_counts[i][bit] += 1;
+          }
+        }
+
         last_change_t[i] = ts;
       } else {
         // Fade out

tools/cabana/util.h

@@ -17,6 +17,7 @@ public:
 
   QVector<double> last_change_t;
   QVector<QColor> colors;
+  QVector<std::array<uint32_t, 8>> bit_change_counts;
 
 private:
   const int periodic_threshold = 10;