mawei
/
openpilot0
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Cabana: add signal value filters to the logs view (#26779) 

add filter to logs view
old-commit-hash: cecef89124
This commit is contained in:
Dean Lee 2022-12-13 14:31:36 +08:00 committed by GitHub
parent dac7e50493
commit 62dbfd8fd6
8 changed files with 113 additions and 128 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
tools/cabana/canmessages.cc
View File

@ -32,30 +32,6 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint3
return false;
}
QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) {
auto evts = events();
if (!evts) return {};
QList<QPointF> ret;
ret.reserve(max_count);
auto [bus, address] = DBCManager::parseId(id);
for (auto &evt : *evts) {
if (evt->which != cereal::Event::Which::CAN) continue;
for (const auto &c : evt->event.getCan()) {
if (bus == c.getSrc() && address == c.getAddress()) {
double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
if (ret.size() >= max_count)
return ret;
}
}
}
}
return ret;
}
void CANMessages::process(QHash<QString, CanData> *messages) {
for (auto it = messages->begin(); it != messages->end(); ++it) {
can_msgs[it.key()] = it.value();

3
tools/cabana/canmessages.h
View File

@ -4,7 +4,6 @@
#include <QColor>
#include <QHash>
#include <QList>
#include "opendbc/can/common_dbc.h"
#include "tools/cabana/settings.h"
@ -21,12 +20,10 @@ class CANMessages : public QObject {
Q_OBJECT
public:
enum FindFlags{ EQ, LT, GT };
CANMessages(QObject *parent);
~CANMessages();
bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
void seekTo(double ts);
QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
bool eventFilter(const Event *event);
inline QString routeName() const { return replay->route()->name(); }

2
tools/cabana/detailwidget.cc
View File

@ -86,7 +86,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
tab_widget = new QTabWidget(this);
tab_widget->setTabPosition(QTabWidget::South);
tab_widget->addTab(scroll, "&Msg");
history_log = new HistoryLog(this);
history_log = new LogsWidget(this);
tab_widget->addTab(history_log, "&Logs");
main_layout->addWidget(tab_widget);

2
tools/cabana/detailwidget.h
View File

@ -53,7 +53,7 @@ private:
QTabWidget *tab_widget;
QToolBar *toolbar;
QAction *remove_msg_act;
HistoryLog *history_log;
LogsWidget *history_log;
BinaryView *binary_view;
QScrollArea *scroll;
ChartsWidget *charts;

100
tools/cabana/historylog.cc
View File

@ -2,6 +2,8 @@
#include <QFontDatabase>
#include <QPainter>
#include <QPushButton>
#include <QVBoxLayout>
// HistoryLogModel
@ -17,7 +19,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
if (index.column() == 0) {
return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
}
return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data);
return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : m.data;
} else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) {
return QFontDatabase::systemFont(QFontDatabase::FixedFont);
}
@ -26,15 +28,18 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
void HistoryLogModel::setMessage(const QString &message_id) {
beginResetModel();
msg_id = message_id;
sigs.clear();
messages.clear();
has_more_data = true;
if (auto dbc_msg = dbc()->msg(message_id)) {
sigs = dbc_msg->getSignals();
}
endResetModel();
if (msg_id != message_id || sigs.empty()) {
filter_cmp = nullptr;
}
msg_id = message_id;
updateState();
endResetModel();
}
QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const {
@ -53,6 +58,18 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
return {};
}
void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp) {
if (sig_idx < sigs.size()) {
filter_sig_idx = sig_idx;
filter_value = value.toDouble();
filter_cmp = value.isEmpty() ? nullptr : cmp;
beginResetModel();
messages.clear();
updateState();
endResetModel();
}
}
void HistoryLogModel::updateState() {
if (!msg_id.isEmpty()) {
uint64_t last_mono_time = messages.empty() ? 0 : messages.front().mono_time;
@ -87,20 +104,23 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t min_mon
std::deque<HistoryLogModel::Message> msgs;
const auto [src, address] = DBCManager::parseId(msg_id);
uint32_t cnt = 0;
QVector<double> values(sigs.size());
for (--it; it != events->begin() && (*it)->mono_time > min_mono_time; --it) {
if ((*it)->which == cereal::Event::Which::CAN) {
for (const auto &c : (*it)->event.getCan()) {
if (src == c.getSrc() && address == c.getAddress()) {
const auto dat = c.getDat();
auto &m = msgs.emplace_back();
m.mono_time = (*it)->mono_time;
m.data.append((char *)dat.begin(), dat.size());
m.sig_values.reserve(sigs.size());
for (const Signal *sig : sigs) {
m.sig_values.push_back(get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig));
for (int i = 0; i < sigs.size(); ++i) {
values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i]));
}
if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
auto &m = msgs.emplace_back();
m.mono_time = (*it)->mono_time;
m.data = toHex(QByteArray((char *)dat.begin(), dat.size()));
m.sig_values = values;
if (++cnt >= batch_size && min_mono_time == 0)
return msgs;
}
if (++cnt >= batch_size && min_mono_time == 0)
return msgs;
}
}
}
@ -132,12 +152,64 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
// HistoryLog
HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
model = new HistoryLogModel(this);
setModel(model);
setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
verticalHeader()->setVisible(false);
setFrameShape(QFrame::NoFrame);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
}
// LogsWidget
LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
filter_container = new QWidget(this);
QHBoxLayout *h = new QHBoxLayout(filter_container);
signals_cb = new QComboBox(this);
h->addWidget(signals_cb);
comp_box = new QComboBox();
comp_box->addItems({">", "=", "<"});
h->addWidget(comp_box);
value_edit = new QLineEdit(this);
value_edit->setClearButtonEnabled(true);
value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this));
h->addWidget(value_edit);
main_layout->addWidget(filter_container);
model = new HistoryLogModel(this);
logs = new HistoryLog(this);
logs->setModel(model);
main_layout->addWidget(logs);
QObject::connect(signals_cb, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter()));
QObject::connect(comp_box, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter()));
QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter);
}
void LogsWidget::setMessage(const QString &message_id) {
blockSignals(true);
value_edit->setText("");
signals_cb->clear();
comp_box->setCurrentIndex(0);
sigs.clear();
if (auto dbc_msg = dbc()->msg(message_id)) {
sigs = dbc_msg->getSignals();
for (auto s : sigs) {
signals_cb->addItem(s->name.c_str());
}
}
filter_container->setVisible(!sigs.empty());
model->setMessage(message_id);
blockSignals(false);
}
void LogsWidget::setFilter() {
std::function<bool(double, double)> cmp;
switch (comp_box->currentIndex()) {
case 0: cmp = std::greater<double>{}; break;
case 1: cmp = std::equal_to<double>{}; break;
case 2: cmp = std::less<double>{}; break;
}
model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp);
}

28
tools/cabana/historylog.h
View File

@ -1,7 +1,9 @@
#pragma once
#include <deque>
#include <QComboBox>
#include <QHeaderView>
#include <QLineEdit>
#include <QTableView>
#include "tools/cabana/canmessages.h"
@ -19,6 +21,7 @@ public:
HistoryLogModel(QObject *parent);
void setMessage(const QString &message_id);
void updateState();
void setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp);
QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
void fetchMore(const QModelIndex &parent) override;
@ -29,13 +32,16 @@ public:
struct Message {
uint64_t mono_time = 0;
QVector<double> sig_values;
QByteArray data;
QString data;
};
std::deque<Message> fetchData(uint64_t min_mono_time, uint64_t max_mono_time);
QString msg_id;
bool has_more_data = true;
const int batch_size = 50;
int filter_sig_idx = -1;
double filter_value = 0;
std::function<bool(double, double)> filter_cmp = nullptr;
std::deque<Message> messages;
std::vector<const Signal*> sigs;
};
@ -43,11 +49,27 @@ public:
class HistoryLog : public QTableView {
public:
HistoryLog(QWidget *parent);
void setMessage(const QString &message_id) { model->setMessage(message_id); }
int sizeHintForColumn(int column) const override { return -1; };
};
class LogsWidget : public QWidget {
Q_OBJECT
public:
LogsWidget(QWidget *parent);
void setMessage(const QString &message_id);
void updateState() { model->updateState(); }
private slots:
void setFilter();
private:
int sizeHintForColumn(int column) const override { return -1; };
void showEvent(QShowEvent *event) override { model->setMessage(model->msg_id); };
HistoryLog *logs;
HistoryLogModel *model;
QWidget *filter_container;
QComboBox *signals_cb, *comp_box;
QLineEdit *value_edit;
std::vector<const Signal*> sigs;
};

75
tools/cabana/signaledit.cc
View File

@ -4,12 +4,8 @@
#include <QFormLayout>
#include <QGuiApplication>
#include <QHBoxLayout>
#include <QScrollArea>
#include <QToolBar>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/util.h"
// SignalForm
SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
@ -94,11 +90,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
plot_btn->setCheckable(true);
plot_btn->setAutoRaise(true);
title_layout->addWidget(plot_btn);
auto seek_btn = new QToolButton(this);
seek_btn->setText("🔍");
seek_btn->setAutoRaise(true);
seek_btn->setToolTip(tr("Find signal values"));
title_layout->addWidget(seek_btn);
auto remove_btn = new QToolButton(this);
remove_btn->setAutoRaise(true);
remove_btn->setText("x");
@ -126,7 +117,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa
QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) {
emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
});
QObject::connect(seek_btn, &QToolButton::clicked, [this]() { SignalFindDlg(msg_id, sig, this).exec(); });
QObject::connect(remove_btn, &QToolButton::clicked, [this]() { emit remove(sig); });
QObject::connect(form, &SignalForm::changed, [this]() { save_timer->start(); });
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
@ -212,68 +202,3 @@ void SignalEdit::leaveEvent(QEvent *event) {
emit highlight(nullptr);
QWidget::leaveEvent(event);
}
// SignalFindDlg
SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) {
setWindowTitle(tr("Find signal values"));
QVBoxLayout *main_layout = new QVBoxLayout(this);
QHBoxLayout *h = new QHBoxLayout();
h->addWidget(new QLabel(signal->name.c_str()));
QComboBox *comp_box = new QComboBox();
comp_box->addItems({">", "=", "<"});
h->addWidget(comp_box);
QLineEdit *value_edit = new QLineEdit("0", 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);
main_layout->addLayout(h);
QWidget *container = new QWidget(this);
QVBoxLayout *signals_layout = new QVBoxLayout(container);
QScrollArea *scroll = new QScrollArea(this);
scroll->setWidget(container);
scroll->setWidgetResizable(true);
scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
main_layout->addWidget(scroll);
QObject::connect(search_btn, &QPushButton::clicked, [=]() {
clearLayout(signals_layout);
CANMessages::FindFlags comp = CANMessages::EQ;
if (comp_box->currentIndex() == 0) {
comp = CANMessages::GT;
} else if (comp_box->currentIndex() == 2) {
comp = CANMessages::LT;
}
double value = value_edit->text().toDouble();
const int limit_results = 50;
auto values = can->findSignalValues(id, signal, value, comp, limit_results);
for (auto &v : values) {
QHBoxLayout *item_layout = new QHBoxLayout();
item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2)));
item_layout->addWidget(new QLabel(QString::number(v.y())));
item_layout->addStretch(1);
QPushButton *goto_btn = new QPushButton(tr("Goto"), this);
QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); });
item_layout->addWidget(goto_btn);
signals_layout->addLayout(item_layout);
}
if (values.size() == limit_results) {
QFrame *hline = new QFrame();
hline->setFrameShape(QFrame::HLine);
hline->setFrameShadow(QFrame::Sunken);
signals_layout->addWidget(hline);
QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results));
info->setAlignment(Qt::AlignCenter);
signals_layout->addWidget(info);
}
if (values.size() * 30 > container->height()) {
scroll->setFixedHeight(std::min(values.size() * 30, 300));
}
});
}

7
tools/cabana/signaledit.h
View File

@ -1,7 +1,6 @@
#pragma once
#include <QComboBox>
#include <QDialog>
#include <QLabel>
#include <QLineEdit>
#include <QSpinBox>
@ -9,7 +8,6 @@
#include <QToolButton>
#include "selfdrive/ui/qt/widgets/controls.h"
#include "tools/cabana/canmessages.h"
#include "tools/cabana/dbcmanager.h"
@ -59,8 +57,3 @@ protected:
QToolButton *plot_btn;
QTimer *save_timer;
};
class SignalFindDlg : public QDialog {
public:
SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent);
};