IQ.Pilot Release Commit @ 0b96bd5

iqpilot/tools/cabana/dbc/dbc.cc

@@ -14,7 +14,7 @@ int numDecimals(double value) {
 }
 }
 
-// cabana::Msg
+
 
 cabana::Msg::~Msg() {
   for (auto s : sigs) {
@@ -77,7 +77,7 @@ int cabana::Msg::indexOf(const cabana::Signal *sig) const {
 
 std::string cabana::Msg::newSignalName() {
   std::string new_name;
-  for (int i = 1; /**/; ++i) {
+  for (int i = 1;  ; ++i) {
     new_name = "NEW_SIGNAL_" + std::to_string(i);
     if (sig(new_name) == nullptr) break;
   }
@@ -91,7 +91,7 @@ void cabana::Msg::update() {
   mask.assign(size, 0x00);
   multiplexor = nullptr;
 
-  // sort signals
+
   std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) {
     return std::tie(r->type, l->multiplex_value, l->start_bit, l->name) <
            std::tie(l->type, r->multiplex_value, r->start_bit, r->name);
@@ -103,7 +103,7 @@ void cabana::Msg::update() {
     }
     sig->update();
 
-    // update mask
+
     int i = sig->msb / 8;
     int bits = sig->size;
     while (i >= 0 && i < size && bits > 0) {
@@ -131,7 +131,7 @@ void cabana::Msg::update() {
   }
 }
 
-// cabana::Signal
+
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
@@ -150,7 +150,7 @@ void cabana::Signal::update() {
 }
 
 std::string cabana::Signal::formatValue(double value, bool with_unit) const {
-  // Show enum string
+
   int64_t raw_value = round((value - offset) / factor);
   for (const auto &[val, desc] : val_desc) {
     if (std::abs(raw_value - val) < 1e-6) {
@@ -185,7 +185,7 @@ bool cabana::Signal::operator==(const cabana::Signal &other) const {
          multiplex_value == other.multiplex_value && type == other.type && receiver_name == other.receiver_name;
 }
 
-// helper functions
+
 
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) {
   const int msb_byte = sig.msb / 8;
@@ -194,11 +194,11 @@ double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal
   const int lsb_byte = sig.lsb / 8;
   uint64_t val = 0;
 
-  // Fast path: signal fits in a single byte
+
   if (msb_byte == lsb_byte) {
     val = (data[msb_byte] >> (sig.lsb & 7)) & ((1ULL << sig.size) - 1);
   } else {
-    // Multi-byte case: signal spans across multiple bytes
+
     int bits = sig.size;
     int i = msb_byte;
     const int step = sig.is_little_endian ? -1 : 1;
@@ -212,7 +212,7 @@ double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal
     }
   }
 
-  // Sign extension (if needed)
+
   if (sig.is_signed && (val & (1ULL << (sig.size - 1)))) {
     val |= ~((1ULL << sig.size) - 1);
   }

iqpilot/tools/cabana/dbc/dbc.h

@@ -50,7 +50,7 @@ public:
   int precision = 0;
   CabanaColor color;
 
-  // Multiplexed
+
   int multiplex_value = 0;
   Signal *multiplexor = nullptr;
 };
@@ -81,9 +81,9 @@ public:
   cabana::Signal *multiplexor = nullptr;
 };
 
-}  // namespace cabana
+}
+
 
-// Helper functions
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
 void updateMsbLsb(cabana::Signal &s);
 inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }

iqpilot/tools/cabana/dbc/dbcfile.cc

@@ -43,7 +43,7 @@ bool commentComplete(const std::string &line) {
   return false;
 }
 
-}  // namespace
+}
 
 DBCFile::DBCFile(const std::string &dbc_file_name) {
   std::ifstream file(dbc_file_name, std::ios::binary);

iqpilot/tools/cabana/dbc/dbcmanager.cc

@@ -17,7 +17,7 @@ bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name
     return false;
   }
 
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
   return true;
 }
 
@@ -32,7 +32,7 @@ bool DBCManager::open(const SourceSet &sources, const std::string &name, const s
     return false;
   }
 
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
   return true;
 }
 
@@ -40,26 +40,26 @@ void DBCManager::close(const SourceSet &sources) {
   for (auto s : sources) {
     dbc_files[s] = nullptr;
   }
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
 }
 
 void DBCManager::close(DBCFile *dbc_file) {
   for (auto &[_, f] : dbc_files) {
     if (f.get() == dbc_file) f = nullptr;
   }
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
 }
 
 void DBCManager::closeAll() {
   dbc_files.clear();
-  if (callbacks_.file_changed) callbacks_.file_changed();
+  fileChanged();
 }
 
 void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->addSignal(sig)) {
-      if (callbacks_.signal_added) callbacks_.signal_added(id, s);
-      if (callbacks_.mask_updated) callbacks_.mask_updated();
+      signalAdded(id, s);
+      maskUpdated();
     }
   }
 }
@@ -67,8 +67,8 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
 void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
-      if (callbacks_.signal_updated) callbacks_.signal_updated(s);
-      if (callbacks_.mask_updated) callbacks_.mask_updated();
+      signalUpdated(s);
+      maskUpdated();
     }
   }
 }
@@ -76,26 +76,26 @@ void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name,
 void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
-      if (callbacks_.signal_removed) callbacks_.signal_removed(s);
+      signalRemoved(s);
       m->removeSignal(sig_name);
-      if (callbacks_.mask_updated) callbacks_.mask_updated();
+      maskUpdated();
     }
   }
 }
 
 void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto dbc_file = findDBCFile(id);
-  assert(dbc_file);  // This should be impossible
+  assert(dbc_file);
   dbc_file->updateMsg(id, name, size, node, comment);
-  if (callbacks_.msg_updated) callbacks_.msg_updated(id);
+  msgUpdated(id);
 }
 
 void DBCManager::removeMsg(const MessageId &id) {
   auto dbc_file = findDBCFile(id);
-  assert(dbc_file);  // This should be impossible
+  assert(dbc_file);
   dbc_file->removeMsg(id);
-  if (callbacks_.msg_removed) callbacks_.msg_removed(id);
-  if (callbacks_.mask_updated) callbacks_.mask_updated();
+  msgRemoved(id);
+  maskUpdated();
 }
 
 std::string DBCManager::newMsgName(const MessageId &id) {
@@ -126,7 +126,7 @@ cabana::Msg *DBCManager::msg(uint8_t source, const std::string &name) {
 }
 
 std::vector<std::string> DBCManager::signalNames() {
-  // Used for autocompletion
+
   std::set<std::string> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
@@ -141,12 +141,19 @@ std::vector<std::string> DBCManager::signalNames() {
 }
 
 int DBCManager::nonEmptyDBCCount() {
-  auto files = allDBCFiles();
-  return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); });
+  return nonEmptyDBCFiles().size();
+}
+
+std::vector<DBCFile *> DBCManager::nonEmptyDBCFiles() {
+  std::vector<DBCFile *> files;
+  for (auto f : allDBCFiles()) {
+    if (!f->isEmpty()) files.push_back(f);
+  }
+  return files;
 }
 
 DBCFile *DBCManager::findDBCFile(const uint8_t source) {
-  // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found
+
   auto it = dbc_files.count(source) ? dbc_files.find(source) : dbc_files.find(-1);
   return it != dbc_files.end() ? it->second.get() : nullptr;
 }

iqpilot/tools/cabana/dbc/dbcmanager.h

@@ -1,12 +1,12 @@
 #pragma once
 
-#include <functional>
 #include <memory>
 #include <map>
 #include <set>
 #include <string>
 #include <vector>
 
+#include "tools/cabana/core/observable.h"
 #include "tools/cabana/dbc/dbcfile.h"
 
 typedef std::set<int> SourceSet;
@@ -15,16 +15,6 @@ inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<D
 
 class DBCManager {
 public:
-  struct Callbacks {
-    std::function<void(MessageId, const cabana::Signal *)> signal_added;
-    std::function<void(const cabana::Signal *)> signal_removed;
-    std::function<void(const cabana::Signal *)> signal_updated;
-    std::function<void(MessageId)> msg_updated;
-    std::function<void(MessageId)> msg_removed;
-    std::function<void()> file_changed;
-    std::function<void()> mask_updated;
-  };
-
   DBCManager() = default;
   bool open(const SourceSet &sources, const std::string &dbc_file_name, std::string *error = nullptr);
   bool open(const SourceSet &sources, const std::string &name, const std::string &content, std::string *error = nullptr);
@@ -49,16 +39,23 @@ public:
   std::vector<std::string> signalNames();
   inline int dbcCount() { return allDBCFiles().size(); }
   int nonEmptyDBCCount();
+  std::vector<DBCFile *> nonEmptyDBCFiles();
 
   const SourceSet sources(const DBCFile *dbc_file) const;
   DBCFile *findDBCFile(const uint8_t source);
   inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
   std::set<DBCFile *> allDBCFiles();
-  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
+
+  Observable<MessageId, const cabana::Signal *> signalAdded;
+  Observable<const cabana::Signal *> signalRemoved;
+  Observable<const cabana::Signal *> signalUpdated;
+  Observable<MessageId> msgUpdated;
+  Observable<MessageId> msgRemoved;
+  Observable<> fileChanged;
+  Observable<> maskUpdated;
 
 private:
   std::map<int, std::shared_ptr<DBCFile>> dbc_files;
-  Callbacks callbacks_;
 };
 
 DBCManager *dbc();

iqpilot/tools/cabana/dbc/dbcqt.cc

@@ -1,18 +0,0 @@
-#include "tools/cabana/dbc/dbcqt.h"
-
-QtDBCNotifier::QtDBCNotifier(QObject *parent) : QObject(parent) {
-  dbc()->setCallbacks({
-    .signal_added = [this](MessageId id, const cabana::Signal *sig) { emit signalAdded(id, sig); },
-    .signal_removed = [this](const cabana::Signal *sig) { emit signalRemoved(sig); },
-    .signal_updated = [this](const cabana::Signal *sig) { emit signalUpdated(sig); },
-    .msg_updated = [this](MessageId id) { emit msgUpdated(id); },
-    .msg_removed = [this](MessageId id) { emit msgRemoved(id); },
-    .file_changed = [this]() { emit DBCFileChanged(); },
-    .mask_updated = [this]() { emit maskUpdated(); },
-  });
-}
-
-QtDBCNotifier *dbcNotifier() {
-  static QtDBCNotifier notifier;
-  return &notifier;
-}

iqpilot/tools/cabana/dbc/dbcqt.h

@@ -1,27 +0,0 @@
-#pragma once
-
-#include <QMetaType>
-#include <QObject>
-
-#include "tools/cabana/dbc/dbcmanager.h"
-
-Q_DECLARE_METATYPE(MessageId)
-Q_DECLARE_METATYPE(ValueDescription)
-
-class QtDBCNotifier : public QObject {
-  Q_OBJECT
-
-public:
-  explicit QtDBCNotifier(QObject *parent = nullptr);
-
-signals:
-  void signalAdded(MessageId id, const cabana::Signal *sig);
-  void signalRemoved(const cabana::Signal *sig);
-  void signalUpdated(const cabana::Signal *sig);
-  void msgUpdated(MessageId id);
-  void msgRemoved(MessageId id);
-  void DBCFileChanged();
-  void maskUpdated();
-};
-
-QtDBCNotifier *dbcNotifier();