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Cabana: auto update signal on field changes (#26464) 

* auto update signal on field changes

* better icon
This commit is contained in:
Dean Lee 2022-11-12 02:34:49 +08:00 committed by GitHub
parent 6cf9fff919
commit 3c507e8ad7
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 99 additions and 130 deletions
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8
tools/cabana/dbcmanager.cc
View File

@ -165,3 +165,11 @@ std::pair<int, int> getSignalRange(const Signal *s) {
int to = from + s->size - 1;
return {from, to};
}
bool operator==(const Signal &l, const Signal &r) {
return l.name == r.name && l.size == r.size &&
l.start_bit == r.start_bit &&
l.msb == r.msb && l.lsb == r.lsb &&
l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian &&
l.factor == r.factor && l.offset == r.offset;
}

2
tools/cabana/dbcmanager.h
View File

@ -54,6 +54,8 @@ private:
// TODO: Add helper function in dbc.h
double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig);
bool operator==(const Signal &l, const Signal &r);
inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); }
int bigEndianStartBitsIndex(int start_bit);
int bigEndianBitIndex(int index);
void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size);

69
tools/cabana/detailwidget.cc
View File

@ -6,7 +6,6 @@
#include <QMessageBox>
#include <QScrollBar>
#include <QTimer>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/util.h"
#include "tools/cabana/canmessages.h"
@ -81,9 +80,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
container_layout->addWidget(binary_view);
// signals
signals_container = new QWidget(this);
signals_container->setLayout(new QVBoxLayout);
container_layout->addWidget(signals_container);
signals_layout = new QVBoxLayout();
container_layout->addLayout(signals_layout);
// history log
history_log = new HistoryLog(this);
@ -114,36 +112,25 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
QMenu menu(this);
menu.addAction(tr("Close Other Tabs"));
if (menu.exec(tabbar->mapToGlobal(pt))) {
tabbar->setCurrentIndex(index);
// remove all tabs before the one to keep
for (int i = 0; i < index; ++i) {
tabbar->removeTab(0);
}
// remove all tabs after the one to keep
while (tabbar->count() > 1) {
tabbar->moveTab(index, 0);
tabbar->setCurrentIndex(0);
while (tabbar->count() > 1)
tabbar->removeTab(1);
}
}
}
}
void DetailWidget::setMessage(const QString &message_id) {
if (message_id.isEmpty()) return;
int index = -1;
for (int i = 0; i < tabbar->count(); ++i) {
if (tabbar->tabText(i) == message_id) {
index = i;
break;
}
}
msg_id = message_id;
int index = tabbar->count() - 1;
for (/**/; index >= 0 && tabbar->tabText(index) != msg_id; --index) { /**/ }
if (index == -1) {
index = tabbar->addTab(message_id);
tabbar->setTabToolTip(index, msgName(message_id));
}
tabbar->setCurrentIndex(index);
dbcMsgChanged();
scroll->verticalScrollBar()->setValue(0);
}
void DetailWidget::dbcMsgChanged(int show_form_idx) {
@ -154,48 +141,42 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
binary_view->setMessage(msg_id);
history_log->setMessage(msg_id);
int i = 0;
QStringList warnings;
for (auto f : signal_list) f->hide();
const DBCMsg *msg = dbc()->msg(msg_id);
if (msg) {
int i = 0;
for (auto &[name, sig] : msg->sigs) {
SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr;
if (!form) {
form = new SignalEdit(i);
QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart);
signals_container->layout()->addWidget(form);
signals_layout->addWidget(form);
signal_list.push_back(form);
}
form->setSignal(msg_id, &sig, i == show_form_idx);
form->setSignal(msg_id, &sig);
form->setChartOpened(charts->isChartOpened(msg_id, &sig));
form->show();
++i;
}
if (msg->size != can->lastMessage(msg_id).dat.size())
warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
}
for (/**/; i < signal_list.size(); ++i)
signal_list[i]->hide();
toolbar->setVisible(!msg_id.isEmpty());
remove_msg_act->setEnabled(msg != nullptr);
name_label->setText(msgName(msg_id));
// Check overlapping bits
if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) {
for (auto s : overlapping)
warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str()));
}
for (auto s : binary_view->getOverlappingSignals())
warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str()));
warning_label->setText(warnings.join('\n'));
warning_widget->setVisible(!warnings.isEmpty());
setUpdatesEnabled(true);
scroll->verticalScrollBar()->setValue(0);
QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); });
}
void DetailWidget::updateState() {
@ -206,14 +187,6 @@ void DetailWidget::updateState() {
history_log->updateState();
}
void DetailWidget::showForm() {
SignalEdit *sender = qobject_cast<SignalEdit *>(QObject::sender());
setUpdatesEnabled(false);
for (auto f : signal_list)
f->setFormVisible(f == sender && !f->isFormVisible());
QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); });
}
void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) {
for (auto f : signal_list)
if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened);
@ -230,9 +203,7 @@ void DetailWidget::editMsg() {
}
void DetailWidget::removeMsg() {
if (auto msg = dbc()->msg(msg_id)) {
undo_stack->push(new RemoveMsgCommand(msg_id));
}
undo_stack->push(new RemoveMsgCommand(msg_id));
}
void DetailWidget::addSignal(int start_bit, int size, bool little_endian) {
@ -248,13 +219,11 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) {
}
}
}
Signal sig = {};
Signal sig = {.is_little_endian = little_endian};
for (int i = 1; /**/; ++i) {
sig.name = "NEW_SIGNAL_" + std::to_string(i);
auto it = msg->sigs.find(sig.name.c_str());
if (it == msg->sigs.end()) break;
if (msg->sigs.count(sig.name.c_str()) == 0) break;
}
sig.is_little_endian = little_endian;
updateSigSizeParamsFromRange(sig, start_bit, size);
undo_stack->push(new AddSigCommand(msg_id, sig));
}

5
tools/cabana/detailwidget.h
View File

@ -11,8 +11,6 @@
#include "tools/cabana/signaledit.h"
class EditMessageDialog : public QDialog {
Q_OBJECT
public:
EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent);
@ -38,13 +36,12 @@ private:
void removeSignal(const Signal *sig);
void editMsg();
void removeMsg();
void showForm();
void updateState();
QString msg_id;
QLabel *name_label, *time_label, *warning_label;
QWidget *warning_widget;
QWidget *signals_container;
QVBoxLayout *signals_layout;
QTabBar *tabbar;
QToolBar *toolbar;
QAction *remove_msg_act;

105
tools/cabana/signaledit.cc
View File

@ -1,12 +1,11 @@
#include "tools/cabana/signaledit.h"
#include <QDialogButtonBox>
#include <QDoubleValidator>
#include <QFormLayout>
#include <QHBoxLayout>
#include <QMessageBox>
#include <QRadioButton>
#include <QScrollArea>
#include <QTimer>
#include <QToolBar>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/util.h"
@ -15,7 +14,6 @@
SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
QFormLayout *form_layout = new QFormLayout(this);
form_layout->setContentsMargins(0, 0, 0, 0);
name = new QLineEdit();
form_layout->addRow(tr("Name"), name);
@ -58,6 +56,13 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
form_layout->addRow(tr("Maximum value"), max_val);
val_desc = new QLineEdit();
form_layout->addRow(tr("Value descriptions"), val_desc);
QObject::connect(name, &QLineEdit::textEdited, this, &SignalForm::changed);
QObject::connect(factor, &QLineEdit::textEdited, this, &SignalForm::changed);
QObject::connect(offset, &QLineEdit::textEdited, this, &SignalForm::changed);
QObject::connect(sign, SIGNAL(activated(int)), SIGNAL(changed()));
QObject::connect(endianness, SIGNAL(activated(int)), SIGNAL(changed()));
QObject::connect(size, SIGNAL(valueChanged(int)), SIGNAL(changed()));
}
// SignalEdit
@ -67,36 +72,25 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
main_layout->setContentsMargins(0, 0, 0, 0);
// title bar
QHBoxLayout *title_layout = new QHBoxLayout();
auto toolbar = new QToolBar(this);
toolbar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}");
icon = new QLabel();
title_layout->addWidget(icon);
toolbar->addWidget(icon);
title = new ElidedLabel(this);
title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
title_layout->addWidget(title, 1);
QPushButton *seek_btn = new QPushButton("⌕");
seek_btn->setStyleSheet("QPushButton{font-weight:bold;font-size:18px}");
toolbar->addWidget(title);
plot_btn = toolbar->addAction("", [this]() { emit showChart(msg_id, sig, !chart_opened); });
auto seek_btn = toolbar->addAction(QIcon::fromTheme("edit-find"), "", [this]() { SignalFindDlg(msg_id, sig, this).exec(); });
seek_btn->setToolTip(tr("Find signal values"));
seek_btn->setFixedSize(25, 25);
title_layout->addWidget(seek_btn);
plot_btn = new QPushButton(this);
plot_btn->setStyleSheet("QPushButton {font-size:18px}");
plot_btn->setFixedSize(25, 25);
title_layout->addWidget(plot_btn);
main_layout->addLayout(title_layout);
auto remove_btn = toolbar->addAction("x", [this]() { emit remove(sig); });
remove_btn->setToolTip(tr("Remove signal"));
main_layout->addWidget(toolbar);
// signal form
form_container = new QWidget(this);
QVBoxLayout *v_layout = new QVBoxLayout(form_container);
QHBoxLayout *h = new QHBoxLayout();
QPushButton *remove_btn = new QPushButton(tr("Remove Signal"));
h->addWidget(remove_btn);
h->addStretch();
QPushButton *save_btn = new QPushButton(tr("Save"));
h->addWidget(save_btn);
v_layout->addLayout(h);
main_layout->addWidget(form_container);
form = new SignalForm(this);
form->setVisible(false);
main_layout->addWidget(form);
// bottom line
QFrame *hline = new QFrame();
@ -104,25 +98,22 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
hline->setFrameShadow(QFrame::Sunken);
main_layout->addWidget(hline);
QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); });
QObject::connect(form, &SignalForm::changed, this, &SignalEdit::saveSignal);
QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal);
QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(msg_id, sig, !chart_opened); });
QObject::connect(seek_btn, &QPushButton::clicked, [this]() {
SignalFindDlg dlg(msg_id, sig, this);
dlg.exec();
});
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
}
void SignalEdit::setSignal(const QString &message_id, const Signal *signal, bool show_form) {
msg_id = message_id;
void SignalEdit::setSignal(const QString &message_id, const Signal *signal) {
sig = signal;
updateForm(msg_id == message_id && form->isVisible());
msg_id = message_id;
title->setText(QString("%1. %2").arg(form_idx + 1).arg(sig->name.c_str()));
setFormVisible(show_form);
show();
}
void SignalEdit::saveSignal() {
if (!sig || !form->changed_by_user) return;
Signal s = *sig;
s.name = form->name->text().toStdString();
s.size = form->size->text().toInt();
@ -148,33 +139,38 @@ void SignalEdit::saveSignal() {
s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
s.msb = s.start_bit;
}
title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text()));
emit save(this->sig, s);
if (s != *sig)
emit save(this->sig, s);
}
void SignalEdit::setChartOpened(bool opened) {
plot_btn->setText(opened ? "☒" : "📈");
plot_btn->setToolTip(opened ? tr("Close Plot") :tr("Show Plot"));
plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot"));
chart_opened = opened;
}
void SignalEdit::setFormVisible(bool visible) {
if (visible) {
if (!form) {
form = new SignalForm(this);
((QVBoxLayout *)form_container->layout())->insertWidget(0, form);
}
void SignalEdit::updateForm(bool visible) {
if (visible && sig) {
form->changed_by_user = false;
form->name->setText(sig->name.c_str());
form->size->setValue(sig->size);
form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1);
form->sign->setCurrentIndex(sig->is_signed ? 0 : 1);
form->factor->setText(QString::number(sig->factor));
form->offset->setText(QString::number(sig->offset));
form->msb->setText(QString::number(sig->msb));
form->lsb->setText(QString::number(sig->lsb));
form->size->setValue(sig->size);
form->changed_by_user = true;
}
form_container->setVisible(visible);
icon->setText(visible ? "▼" : ">");
form->setVisible(visible);
icon->setText(visible ? "▼ " : "> ");
}
void SignalEdit::showFormClicked() {
parentWidget()->setUpdatesEnabled(false);
for (auto &edit : parentWidget()->findChildren<SignalEdit*>())
edit->updateForm(edit == this && !form->isVisible());
QTimer::singleShot(1, [this]() { parentWidget()->setUpdatesEnabled(true); });
}
void SignalEdit::signalHovered(const Signal *s) {
@ -182,6 +178,13 @@ void SignalEdit::signalHovered(const Signal *s) {
title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name()));
}
void SignalEdit::hideEvent(QHideEvent *event) {
msg_id = "";
sig = nullptr;
updateForm(false);
QWidget::hideEvent(event);
}
void SignalEdit::enterEvent(QEvent *event) {
emit highlight(sig);
QWidget::enterEvent(event);
@ -204,7 +207,7 @@ SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *p
comp_box->addItems({">", "=", "<"});
h->addWidget(comp_box);
QLineEdit *value_edit = new QLineEdit("0", this);
value_edit->setValidator( new QDoubleValidator(-500000, 500000, 6, this) );
value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this));
h->addWidget(value_edit, 1);
QPushButton *search_btn = new QPushButton(tr("Find"), this);
h->addWidget(search_btn);

22
tools/cabana/signaledit.h
View File

@ -1,11 +1,12 @@
#pragma once
#include <QAction>
#include <QComboBox>
#include <QDialog>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QSpinBox>
#include <QToolButton>
#include "selfdrive/ui/qt/widgets/controls.h"
@ -13,13 +14,17 @@
#include "tools/cabana/dbcmanager.h"
class SignalForm : public QWidget {
Q_OBJECT
public:
SignalForm(QWidget *parent);
QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val;
QLabel *lsb, *msb;
QSpinBox *size;
QComboBox *sign, *endianness;
bool changed_by_user = false;
signals:
void changed();
};
class SignalEdit : public QWidget {
@ -27,38 +32,35 @@ class SignalEdit : public QWidget {
public:
SignalEdit(int index, QWidget *parent = nullptr);
void setSignal(const QString &msg_id, const Signal *sig, bool show_form);
void setSignal(const QString &msg_id, const Signal *sig);
void setChartOpened(bool opened);
void setFormVisible(bool show);
void signalHovered(const Signal *sig);
inline bool isFormVisible() const { return form_container->isVisible(); }
const Signal *sig = nullptr;
QString msg_id;
signals:
void highlight(const Signal *sig);
void showChart(const QString &name, const Signal *sig, bool show);
void showFormClicked();
void remove(const Signal *sig);
void save(const Signal *sig, const Signal &new_sig);
protected:
void hideEvent(QHideEvent *event) override;
void enterEvent(QEvent *event) override;
void leaveEvent(QEvent *event) override;
void saveSignal();
void updateForm(bool show);
void showFormClicked();
SignalForm *form = nullptr;
ElidedLabel *title;
QWidget *form_container;
QLabel *icon;
int form_idx = 0;
bool chart_opened = false;
QPushButton *plot_btn;
QAction *plot_btn;
};
class SignalFindDlg : public QDialog {
Q_OBJECT
public:
SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent);
};

18
tools/cabana/tests/test_cabana.cc
View File

@ -5,10 +5,8 @@
TEST_CASE("DBCManager::generateDBC") {
DBCManager dbc_origin(nullptr);
dbc_origin.open("toyota_new_mc_pt_generated");
QString dbc_string = dbc_origin.generateDBC();
DBCManager dbc_from_generated(nullptr);
dbc_from_generated.open("", dbc_string);
dbc_from_generated.open("", dbc_origin.generateDBC());
auto &msgs = dbc_origin.messages();
auto &new_msgs = dbc_from_generated.messages();
@ -18,17 +16,7 @@ TEST_CASE("DBCManager::generateDBC") {
REQUIRE(m.name == new_m.name);
REQUIRE(m.size == new_m.size);
REQUIRE(m.sigs.size() == new_m.sigs.size());
for (auto &[name, sig] : m.sigs) {
auto &new_sig = new_m.sigs[name];
REQUIRE(sig.name == new_sig.name);
REQUIRE(sig.start_bit == new_sig.start_bit);
REQUIRE(sig.msb == new_sig.msb);
REQUIRE(sig.lsb == new_sig.lsb);
REQUIRE(sig.size == new_sig.size);
REQUIRE(sig.is_signed == new_sig.is_signed);
REQUIRE(sig.factor == new_sig.factor);
REQUIRE(sig.offset == new_sig.offset);
REQUIRE(sig.is_little_endian == new_sig.is_little_endian);
}
for (auto &[name, sig] : m.sigs)
REQUIRE(sig == new_m.sigs[name]);
}
}