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IQ.Pilot Release Commit @ 0b96bd5

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IQ.Lvbs CI [bot]
2026-09-02 16:46:45 -05:00
parent 4fb3da761f
commit 7745f48100
162 changed files with 12835 additions and 9476 deletions
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94
iqpilot/tools/cabana/streams/abstractstream.cc
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@@ -1,26 +1,51 @@
#include "tools/cabana/streams/abstractstream.h"
#include "tools/cabana/dbc/dbcqt.h"
#include <cassert>
#include <limits>
#include <utility>
#include <QApplication>
#include "common/timing.h"
#include "tools/cabana/settings.h"
static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB
static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;
AbstractStream *can = nullptr;
AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
assert(parent != nullptr);
AbstractStream::AbstractStream() {
event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &AbstractStream::updateMasks);
QObject::connect(dbcNotifier(), &QtDBCNotifier::maskUpdated, this, &AbstractStream::updateMasks);
connections_.push_back(seekedTo.connect([this](double sec) { updateLastMsgsTo(sec); }));
connections_.push_back(seeking.connect([this](double sec) { current_sec_ = sec; }));
connections_.push_back(dbc()->fileChanged.connect([this]() { updateMasks(); }));
connections_.push_back(dbc()->maskUpdated.connect([this]() { updateMasks(); }));
}
void AbstractStream::postToMainThread(std::function<void()> fn) {
utils::runOnMainThread([alive = std::weak_ptr<bool>(alive_), fn = std::move(fn)]() {
if (!alive.expired()) fn();
});
}
void AbstractStream::postToMainThreadAndWait(std::function<void()> fn) {
assert(!utils::isMainThread());
std::unique_lock lock(mutex_);
if (exiting_) return;
auto done = std::make_shared<bool>(false);
postToMainThread([this, alive = std::weak_ptr<bool>(alive_), done, fn = std::move(fn)]() {
fn();
if (alive.expired()) return;
std::lock_guard lk(mutex_);
*done = true;
wait_cv_.notify_all();
});
wait_cv_.wait(lock, [&]() { return *done || exiting_; });
}
void AbstractStream::cancelWaits() {
std::lock_guard lk(mutex_);
exiting_ = true;
wait_cv_.notify_all();
}
void AbstractStream::updateMasks() {
@@ -34,7 +59,7 @@ void AbstractStream::updateMasks() {
masks_[{.source = (uint8_t)s, .address = address}] = m.mask;
}
}
// clear bit change counts
for (auto &[id, m] : messages_) {
auto &mask = masks_[id];
const int size = std::min(mask.size(), m.last_changes.size());
@@ -97,9 +122,8 @@ void AbstractStream::updateLastMessages() {
if (sources.size() != prev_src_size) {
updateMasks();
emit sourcesUpdated(sources);
}
emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
msgsReceived(&msgs, prev_msg_size != last_msgs.size());
}
void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>> &range) {
@@ -107,7 +131,7 @@ void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>>
if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
seekTo(time_range_->first);
}
emit timeRangeChanged(time_range_);
timeRangeChanged(time_range_);
}
void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
@@ -132,7 +156,7 @@ bool AbstractStream::isMessageActive(const MessageId &id) const {
if (id.source == INVALID_SOURCE) {
return false;
}
// Check if the message is active based on time difference and frequency
const auto &m = lastMessage(id);
float delta = currentSec() - m.ts;
@@ -140,7 +164,7 @@ bool AbstractStream::isMessageActive(const MessageId &id) const {
return delta < 1.5;
}
return delta < (5.0 / m.freq) + (1.0 / settings.fps);
return delta < (5.0 / m.freq) + (1.0 / STREAM_UPDATE_FPS);
}
void AbstractStream::updateLastMsgsTo(double sec) {
@@ -154,7 +178,7 @@ void AbstractStream::updateLastMsgsTo(double sec) {
if (it != ev.begin()) {
auto &m = msgs[id];
double freq = 0;
// Keep suppressed bits.
if (auto old_m = messages_.find(id); old_m != messages_.end()) {
freq = old_m->second.freq;
m.last_changes.reserve(old_m->second.last_changes.size());
@@ -175,16 +199,16 @@ void AbstractStream::updateLastMsgsTo(double sec) {
std::any_of(messages_.cbegin(), messages_.cend(),
[this](const auto &m) { return !last_msgs.count(m.first); });
last_msgs = messages_;
emit msgsReceived(nullptr, id_changed);
msgsReceived(nullptr, id_changed);
std::lock_guard lk(mutex_);
seek_finished_ = true;
seek_finished_cv_.notify_one();
wait_cv_.notify_all();
}
void AbstractStream::waitForSeekFinshed() {
std::unique_lock lock(mutex_);
seek_finished_cv_.wait(lock, [this]() { return seek_finished_; });
wait_cv_.wait(lock, [this]() { return seek_finished_ || exiting_; });
seek_finished_ = false;
}
@@ -203,11 +227,15 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
static MessageEventsMap msg_events;
std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
// Group events by message ID
for (auto e : events) {
msg_events[{.source = e->src, .address = e->address}].push_back(e);
}
insertEvents(events, msg_events);
}
void AbstractStream::insertEvents(const std::vector<const CanEvent *> &events, const MessageEventsMap &msg_events) {
if (!events.empty()) {
for (const auto &[id, new_e] : msg_events) {
if (!new_e.empty()) {
@@ -218,16 +246,16 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
}
auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), events.front()->mono_time, CompareCanEvent());
all_events_.insert(pos, events.cbegin(), events.cend());
emit eventsMerged(msg_events);
eventsMerged(msg_events);
}
}
std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const MessageId &id, std::optional<std::pair<double, double>> time_range) const {
const auto &events = can->events(id);
const auto &events = this->events(id);
if (!time_range) return {events.begin(), events.end()};
auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent());
auto last = std::upper_bound(first, events.end(), can->toMonoTime(time_range->second), CompareCanEvent());
auto first = std::lower_bound(events.begin(), events.end(), toMonoTime(time_range->first), CompareCanEvent());
auto last = std::upper_bound(first, events.end(), toMonoTime(time_range->second), CompareCanEvent());
return {first, last};
}
@@ -248,7 +276,7 @@ inline CabanaColor blend(const CabanaColor &a, const CabanaColor &b) {
return CabanaColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
}
// Calculate the frequency from the past one minute data
double calc_freq(const MessageId &msg_id, double current_sec) {
auto [first, last] = can->eventsInRange(msg_id, std::make_pair(current_sec - 59, current_sec));
int count = std::distance(first, last);
@@ -258,7 +286,7 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
return duration > std::numeric_limits<double>::epsilon() ? (count - 1) / duration : 0.0;
}
} // namespace
}
void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> &mask, double in_freq) {
@@ -291,21 +319,21 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
const uint8_t cur = can_data[i] & mask_byte;
if (last != cur) {
const int delta = cur - last;
// Keep track if signal is changing randomly, or mostly moving in the same direction
last_change.same_delta_counter += std::signbit(delta) == std::signbit(last_change.delta) ? 1 : -4;
last_change.same_delta_counter = std::clamp(last_change.same_delta_counter, 0, 16);
const double delta_t = ts - last_change.ts;
// Mostly moves in the same direction, color based on delta up/down
if (delta_t * freq > periodic_threshold || last_change.same_delta_counter > 8) {
// Last change was while ago, choose color based on delta up or down
colors[i] = getColor(cur > last ? CYAN : RED);
} else {
// Periodic changes
colors[i] = blend(colors[i], getColor(GREYISH_BLUE));
}
// Track bit level changes
auto &row_bit_flips = bit_flip_counts[i];
const uint8_t diff = (cur ^ last);
for (int bit = 0; bit < 8; bit++) {
@@ -317,7 +345,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
last_change.ts = ts;
last_change.delta = delta;
} else {
// Fade out
colors[i].setAlphaF(std::max(0.0f, colors[i].alphaF() - alpha_delta));
}
}