Add openpilot tools

2024-01-12 22:39:30 -07:00
parent d1bee2c971
commit 0174873f46
154 changed files with 16477 additions and 0 deletions
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -0,0 +1,276 @@
+#include "tools/cabana/detailwidget.h"
+
+#include <QFormLayout>
+#include <QMenu>
+#include <QSpacerItem>
+
+#include "tools/cabana/commands.h"
+#include "tools/cabana/mainwin.h"
+
+// DetailWidget
+
+DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  // tabbar
+  tabbar = new TabBar(this);
+  tabbar->setUsesScrollButtons(true);
+  tabbar->setAutoHide(true);
+  tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
+  main_layout->addWidget(tabbar);
+
+  // message title
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  title_layout->setContentsMargins(3, 6, 3, 0);
+  auto spacer = new QSpacerItem(0, 1);
+  title_layout->addItem(spacer);
+  title_layout->addWidget(name_label = new ElidedLabel(this), 1);
+  name_label->setStyleSheet("QLabel{font-weight:bold;}");
+  name_label->setAlignment(Qt::AlignCenter);
+  auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
+  title_layout->addWidget(edit_btn);
+  title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message")));
+  spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1);
+  main_layout->addLayout(title_layout);
+
+  // warning
+  warning_widget = new QWidget(this);
+  QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
+  warning_hlayout->addWidget(warning_icon = new QLabel(this), 0, Qt::AlignTop);
+  warning_hlayout->addWidget(warning_label = new QLabel(this), 1, Qt::AlignLeft);
+  warning_widget->hide();
+  main_layout->addWidget(warning_widget);
+
+  // msg widget
+  splitter = new QSplitter(Qt::Vertical, this);
+  splitter->addWidget(binary_view = new BinaryView(this));
+  splitter->addWidget(signal_view = new SignalView(charts, this));
+  binary_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
+  signal_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+  splitter->setStretchFactor(0, 0);
+  splitter->setStretchFactor(1, 1);
+
+  tab_widget = new QTabWidget(this);
+  tab_widget->setStyleSheet("QTabWidget::pane {border: none; margin-bottom: -2px;}");
+  tab_widget->setTabPosition(QTabWidget::South);
+  tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg");
+  tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
+  main_layout->addWidget(tab_widget);
+
+  QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
+  QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
+  QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
+  QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
+  QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
+  QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart);
+  QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart);
+  QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);
+  QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); });
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
+  QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
+  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
+    if (index != -1) {
+      setMessage(tabbar->tabData(index).value<MessageId>());
+    }
+  });
+  QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab);
+  QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
+}
+
+void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
+  int index = tabbar->tabAt(pt);
+  if (index >= 0) {
+    QMenu menu(this);
+    menu.addAction(tr("Close Other Tabs"));
+    if (menu.exec(tabbar->mapToGlobal(pt))) {
+      tabbar->moveTab(index, 0);
+      tabbar->setCurrentIndex(0);
+      while (tabbar->count() > 1) {
+        tabbar->removeTab(1);
+      }
+    }
+  }
+}
+
+void DetailWidget::setMessage(const MessageId &message_id) {
+  if (std::exchange(msg_id, message_id) == message_id) return;
+
+  tabbar->blockSignals(true);
+  int index = tabbar->count() - 1;
+  for (/**/; index >= 0; --index) {
+    if (tabbar->tabData(index).value<MessageId>() == message_id) break;
+  }
+  if (index == -1) {
+    index = tabbar->addTab(message_id.toString());
+    tabbar->setTabData(index, QVariant::fromValue(message_id));
+    tabbar->setTabToolTip(index, msgName(message_id));
+  }
+  tabbar->setCurrentIndex(index);
+  tabbar->blockSignals(false);
+
+  setUpdatesEnabled(false);
+  signal_view->setMessage(msg_id);
+  binary_view->setMessage(msg_id);
+  history_log->setMessage(msg_id);
+  refresh();
+  setUpdatesEnabled(true);
+}
+
+void DetailWidget::refresh() {
+  QStringList warnings;
+  auto msg = dbc()->msg(msg_id);
+  if (msg) {
+    if (msg_id.source == INVALID_SOURCE) {
+      warnings.push_back(tr("No messages received."));
+    } else if (msg->size != can->lastMessage(msg_id).dat.size()) {
+      warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
+    }
+    for (auto s : binary_view->getOverlappingSignals()) {
+      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
+    }
+  } else {
+    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
+  }
+
+  QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
+  name_label->setText(msg_name);
+  name_label->setToolTip(msg_name);
+  remove_btn->setEnabled(msg != nullptr);
+
+  if (!warnings.isEmpty()) {
+    warning_label->setText(warnings.join('\n'));
+    warning_icon->setPixmap(utils::icon(msg ? "exclamation-triangle" : "info-circle"));
+  }
+  warning_widget->setVisible(!warnings.isEmpty());
+}
+
+void DetailWidget::updateState(const std::set<MessageId> *msgs) {
+  if ((msgs && !msgs->count(msg_id)))
+    return;
+
+  if (tab_widget->currentIndex() == 0)
+    binary_view->updateState();
+  else
+    history_log->updateState();
+}
+
+void DetailWidget::editMsg() {
+  auto msg = dbc()->msg(msg_id);
+  int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
+  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
+  if (dlg.exec()) {
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
+  }
+}
+
+void DetailWidget::removeMsg() {
+  UndoStack::push(new RemoveMsgCommand(msg_id));
+}
+
+// EditMessageDialog
+
+EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
+    : original_name(title), msg_id(msg_id), QDialog(parent) {
+  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
+  QFormLayout *form_layout = new QFormLayout(this);
+
+  form_layout->addRow("", error_label = new QLabel);
+  error_label->setVisible(false);
+  form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this));
+  name_edit->setValidator(new NameValidator(name_edit));
+
+  form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
+  // TODO: limit the maximum?
+  size_spin->setMinimum(1);
+  size_spin->setValue(size);
+
+  form_layout->addRow(tr("Node"), node = new QLineEdit(this));
+  node->setValidator(new NameValidator(name_edit));
+  form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
+
+  if (auto msg = dbc()->msg(msg_id)) {
+    node->setText(msg->transmitter);
+    comment_edit->setText(msg->comment);
+  }
+  validateName(name_edit->text());
+  setFixedWidth(parent->width() * 0.9);
+  connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
+  connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
+
+void EditMessageDialog::validateName(const QString &text) {
+  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
+  error_label->setVisible(false);
+  if (!text.isEmpty() && valid && text != original_name) {
+    valid = dbc()->msg(msg_id.source, text) == nullptr;
+    if (!valid) {
+      error_label->setText(tr("Name already exists"));
+      error_label->setVisible(true);
+    }
+  }
+  btn_box->button(QDialogButtonBox::Ok)->setEnabled(valid);
+}
+
+// CenterWidget
+
+CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->addWidget(welcome_widget = createWelcomeWidget());
+}
+
+void CenterWidget::setMessage(const MessageId &msg_id) {
+  if (!detail_widget) {
+    delete welcome_widget;
+    welcome_widget = nullptr;
+    layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
+  }
+  detail_widget->setMessage(msg_id);
+}
+
+void CenterWidget::clear() {
+  delete detail_widget;
+  detail_widget = nullptr;
+  if (!welcome_widget) {
+    layout()->addWidget(welcome_widget = createWelcomeWidget());
+  }
+}
+
+QWidget *CenterWidget::createWelcomeWidget() {
+  QWidget *w = new QWidget(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(w);
+  main_layout->addStretch(0);
+  QLabel *logo = new QLabel("CABANA");
+  logo->setAlignment(Qt::AlignCenter);
+  logo->setStyleSheet("font-size:50px;font-weight:bold;");
+  main_layout->addWidget(logo);
+
+  auto newShortcutRow = [](const QString &title, const QString &key) {
+    QHBoxLayout *hlayout = new QHBoxLayout();
+    auto btn = new QToolButton();
+    btn->setText(key);
+    btn->setEnabled(false);
+    hlayout->addWidget(new QLabel(title), 0, Qt::AlignRight);
+    hlayout->addWidget(btn, 0, Qt::AlignLeft);
+    return hlayout;
+  };
+
+  auto lb = new QLabel(tr("<-Select a message to view details"));
+  lb->setAlignment(Qt::AlignHCenter);
+  main_layout->addWidget(lb);
+  main_layout->addLayout(newShortcutRow("Pause", "Space"));
+  main_layout->addLayout(newShortcutRow("Help", "F1"));
+  main_layout->addLayout(newShortcutRow("WhatsThis", "Shift+F1"));
+  main_layout->addStretch(0);
+
+  w->setStyleSheet("QLabel{color:darkGray;}");
+  w->setBackgroundRole(QPalette::Base);
+  w->setAutoFillBackground(true);
+  return w;
+}