cabana: de-Qt, part 2 (#38359)

Author: adeebshihadeh

openpilot/tools/cabana/binaryview.cc

@@ -3,7 +3,8 @@
 
 #include <algorithm>
 
-#include <QDebug>
+#include <cstdio>
+
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -260,7 +261,8 @@ void BinaryViewModel::refresh() {
         int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
         int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          fprintf(stderr, "signal %s out of bounds.start_bit: %d size: %d\n",
+                  sig->name.c_str(), sig->start_bit, sig->size);
           break;
         }
         if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;

openpilot/tools/cabana/cabana.cc

@@ -1,5 +1,9 @@
+#include <cstdio>
+#include <cstring>
+#include <memory>
+#include <string>
+
 #include <QApplication>
-#include <QCommandLineParser>
 
 #include "tools/cabana/mainwin.h"
 #include "tools/cabana/streams/devicestream.h"
@@ -9,6 +13,120 @@
 #include "tools/cabana/streams/socketcanstream.h"
 #endif
 
+namespace {
+
+struct CabanaArgs {
+  bool demo = false;
+  bool auto_source = false;
+  bool qcam = false;
+  bool ecam = false;
+  bool dcam = false;
+  bool msgq = false;
+  bool panda = false;
+  bool no_vipc = false;
+  std::string panda_serial;
+  std::string socketcan;
+  std::string zmq;
+  std::string data_dir;
+  std::string dbc;
+  std::string route;
+};
+
+void printUsage(const char *argv0) {
+  fprintf(stderr,
+          "Usage: %s [options] [route]\n"
+          "\n"
+          "  route                     the drive to replay. find your drives at connect.comma.ai\n"
+          "\n"
+          "Options:\n"
+          "  --help                    show this help\n"
+          "  --demo                    use a demo route instead of providing your own\n"
+          "  --auto                    Auto load the route from the best available source (no video):\n"
+          "                            internal, openpilotci, comma_api, car_segments, testing_closet\n"
+          "  --qcam                    load qcamera\n"
+          "  --ecam                    load wide road camera\n"
+          "  --dcam                    load driver camera\n"
+          "  --msgq                    read can messages from the msgq\n"
+          "  --panda                   read can messages from panda\n"
+          "  --panda-serial <serial>   read can messages from panda with given serial\n"
+#ifdef __linux__
+          "  --socketcan <device>      read can messages from given SocketCAN device\n"
+#endif
+          "  --zmq <ip-address>        read can messages from zmq at the specified ip-address\n"
+          "  --data_dir <dir>          local directory with routes\n"
+          "  --no-vipc                 do not output video\n"
+          "  --dbc <file>              dbc file to open\n",
+          argv0);
+}
+
+// Returns true if value was consumed from argv[i+1].
+bool takeValue(int argc, char *argv[], int &i, std::string &out) {
+  if (i + 1 >= argc) {
+    fprintf(stderr, "error: %s requires a value\n", argv[i]);
+    return false;
+  }
+  out = argv[++i];
+  return true;
+}
+
+// Returns 0 to continue, or a process exit code (0 for --help, 1 for errors).
+int parseArgs(int argc, char *argv[], CabanaArgs &args, bool &ok) {
+  ok = false;
+  for (int i = 1; i < argc; ++i) {
+    const char *a = argv[i];
+    if (std::strcmp(a, "--help") == 0 || std::strcmp(a, "-h") == 0) {
+      printUsage(argv[0]);
+      return 0;
+    } else if (std::strcmp(a, "--demo") == 0) {
+      args.demo = true;
+    } else if (std::strcmp(a, "--auto") == 0) {
+      args.auto_source = true;
+    } else if (std::strcmp(a, "--qcam") == 0) {
+      args.qcam = true;
+    } else if (std::strcmp(a, "--ecam") == 0) {
+      args.ecam = true;
+    } else if (std::strcmp(a, "--dcam") == 0) {
+      args.dcam = true;
+    } else if (std::strcmp(a, "--msgq") == 0) {
+      args.msgq = true;
+    } else if (std::strcmp(a, "--panda") == 0) {
+      args.panda = true;
+    } else if (std::strcmp(a, "--panda-serial") == 0) {
+      if (!takeValue(argc, argv, i, args.panda_serial)) return 1;
+      args.panda = true;
+    } else if (std::strcmp(a, "--socketcan") == 0) {
+      if (!takeValue(argc, argv, i, args.socketcan)) return 1;
+#ifdef __linux__
+#else
+      fprintf(stderr, "error: --socketcan is only supported on Linux\n");
+      return 1;
+#endif
+    } else if (std::strcmp(a, "--zmq") == 0) {
+      if (!takeValue(argc, argv, i, args.zmq)) return 1;
+    } else if (std::strcmp(a, "--data_dir") == 0) {
+      if (!takeValue(argc, argv, i, args.data_dir)) return 1;
+    } else if (std::strcmp(a, "--no-vipc") == 0) {
+      args.no_vipc = true;
+    } else if (std::strcmp(a, "--dbc") == 0) {
+      if (!takeValue(argc, argv, i, args.dbc)) return 1;
+    } else if (a[0] == '-') {
+      fprintf(stderr, "error: unknown option %s\n", a);
+      printUsage(argv[0]);
+      return 1;
+    } else if (args.route.empty()) {
+      args.route = a;
+    } else {
+      fprintf(stderr, "error: unexpected argument %s\n", a);
+      printUsage(argv[0]);
+      return 1;
+    }
+  }
+  ok = true;
+  return 0;
+}
+
+}  // namespace
+
 int main(int argc, char *argv[]) {
   QCoreApplication::setApplicationName("Cabana");
   QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
@@ -20,69 +138,51 @@ int main(int argc, char *argv[]) {
   UnixSignalHandler signalHandler;
   utils::setTheme(settings.theme);
 
-  QCommandLineParser cmd_parser;
-  cmd_parser.addHelpOption();
-  cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
-  cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
-  cmd_parser.addOption({"auto", "Auto load the route from the best available source (no video): internal, openpilotci, comma_api, car_segments, testing_closet"});
-  cmd_parser.addOption({"qcam", "load qcamera"});
-  cmd_parser.addOption({"ecam", "load wide road camera"});
-  cmd_parser.addOption({"dcam", "load driver camera"});
-  cmd_parser.addOption({"msgq", "read can messages from the msgq"});
-  cmd_parser.addOption({"panda", "read can messages from panda"});
-  cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
-#ifdef __linux__
-  if (SocketCanStream::available()) {
-    cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
+  CabanaArgs args;
+  bool args_ok = false;
+  if (const int code = parseArgs(argc, argv, args, args_ok); !args_ok) {
+    return code;
   }
-#endif
-  cmd_parser.addOption({"zmq", "read can messages from zmq at the specified ip-address", "ip-address"});
-  cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
-  cmd_parser.addOption({"no-vipc", "do not output video"});
-  cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
-  cmd_parser.process(app);
 
   AbstractStream *stream = nullptr;
 
-  if (cmd_parser.isSet("msgq")) {
+  if (args.msgq) {
     stream = new DeviceStream(&app);
-  } else if (cmd_parser.isSet("zmq")) {
-    stream = new DeviceStream(&app, cmd_parser.value("zmq"));
-  } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
+  } else if (!args.zmq.empty()) {
+    stream = new DeviceStream(&app, QString::fromStdString(args.zmq));
+  } else if (args.panda || !args.panda_serial.empty()) {
     try {
-      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial").toStdString()});
+      stream = new PandaStream(&app, {.serial = args.panda_serial});
     } catch (std::exception &e) {
-      qWarning() << e.what();
+      fprintf(stderr, "%s\n", e.what());
       return 0;
     }
 #ifdef __linux__
-  } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
-    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan").toStdString()});
+  } else if (SocketCanStream::available() && !args.socketcan.empty()) {
+    stream = new SocketCanStream(&app, {.device = args.socketcan});
 #endif
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
-    if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
-    if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
-    if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
-    if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
+    if (args.ecam) replay_flags |= REPLAY_FLAG_ECAM;
+    if (args.qcam) replay_flags |= REPLAY_FLAG_QCAMERA;
+    if (args.dcam) replay_flags |= REPLAY_FLAG_DCAM;
+    if (args.no_vipc) replay_flags |= REPLAY_FLAG_NO_VIPC;
 
-    const QStringList args = cmd_parser.positionalArguments();
     QString route;
-    if (args.size() > 0) {
-      route = args.first();
-    } else if (cmd_parser.isSet("demo")) {
+    if (!args.route.empty()) {
+      route = QString::fromStdString(args.route);
+    } else if (args.demo) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
       auto replay_stream = std::make_unique<ReplayStream>(&app);
-      bool auto_source = cmd_parser.isSet("auto");
-      if (!replay_stream->loadRoute(route.toStdString(), cmd_parser.value("data_dir").toStdString(), replay_flags, auto_source)) {
+      if (!replay_stream->loadRoute(route.toStdString(), args.data_dir, replay_flags, args.auto_source)) {
         return 0;
       }
       stream = replay_stream.release();
     }
   }
 
-  MainWindow w(stream, cmd_parser.value("dbc"));
+  MainWindow w(stream, QString::fromStdString(args.dbc));
   return app.exec();
 }

openpilot/tools/cabana/cameraview.cc

@@ -6,6 +6,8 @@
 #include <GLES3/gl3.h>
 #endif
 
+#include <cstdio>
+
 #include <QApplication>
 
 namespace {
@@ -221,7 +223,8 @@ void CameraWidget::vipcThread() {
   while (!QThread::currentThread()->isInterruptionRequested()) {
     if (!vipc_client || cur_stream != requested_stream_type) {
       clearFrames();
-      qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
+      fprintf(stderr, "connecting to stream %d, was connected to %d\n",
+              (int)requested_stream_type, (int)cur_stream);
       cur_stream = requested_stream_type;
       vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
     }

openpilot/tools/cabana/chart/chart.cc

@@ -3,18 +3,15 @@
 
 #include <algorithm>
 #include <limits>
+#include <random>
 
 #include <QActionGroup>
 #include <QApplication>
 #include <QDrag>
 #include <QGraphicsLayout>
-#include <QGraphicsDropShadowEffect>
 #include <QGraphicsItemGroup>
-#include <QGraphicsOpacityEffect>
 #include <QMimeData>
 #include <QOpenGLWidget>
-#include <QPropertyAnimation>
-#include <QRandomGenerator>
 #include <QRubberBand>
 #include <QScreen>
 #include <QWindow>
@@ -421,45 +418,6 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
   return q * z;
 }
 
-QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
-  QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
-  e->setColor(QColor(40, 40, 40, 245));
-  e->setOffset(0, 0);
-  e->setBlurRadius(radius);
-
-  qreal dpr = px.devicePixelRatio();
-  QPixmap blank(px.size());
-  blank.setDevicePixelRatio(dpr);
-  blank.fill(Qt::white);
-
-  QGraphicsScene scene;
-  QGraphicsPixmapItem item(blank);
-  item.setGraphicsEffect(e);
-  scene.addItem(&item);
-
-  QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2));
-  shadow.setDevicePixelRatio(dpr);
-  shadow.fill(Qt::transparent);
-  QPainter p(&shadow);
-  scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius));
-  return shadow;
-}
-
-static QPixmap getDropPixmap(const QPixmap &src) {
-  static QPixmap shadow_px;
-  const int radius = 10;
-  if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) {
-    shadow_px = getBlankShadowPixmap(src, radius);
-  }
-  QPixmap px = shadow_px;
-  QPainter p(&px);
-  QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio());
-  p.drawPixmap(target_rect.topLeft(), src);
-  p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
-  p.fillRect(target_rect, QColor(0, 0, 0, 200));
-  return px;
-}
-
 void ChartView::contextMenuEvent(QContextMenuEvent *event) {
   QMenu context_menu(this);
   context_menu.addActions(menu->actions());
@@ -479,7 +437,7 @@ void ChartView::mousePressEvent(QMouseEvent *event) {
     charts_widget->stopAutoScroll();
     QDrag *drag = new QDrag(this);
     drag->setMimeData(mimeData);
-    drag->setPixmap(getDropPixmap(px));
+    drag->setPixmap(px);
     drag->setHotSpot(-QPoint(5, 5));
     drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
   } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
@@ -628,7 +586,6 @@ void ChartView::dropEvent(QDropEvent *event) {
       sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end()));
       updateAxisY();
       updateTitle();
-      startAnimation();
 
       source_chart->sigs.clear();
       charts_widget->removeChart(source_chart);
@@ -643,17 +600,6 @@ void ChartView::resetChartCache() {
   viewport()->update();
 }
 
-void ChartView::startAnimation() {
-  QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this);
-  viewport()->setGraphicsEffect(eff);
-  QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity");
-  a->setDuration(250);
-  a->setStartValue(0.3);
-  a->setEndValue(1);
-  a->setEasingCurve(QEasingCurve::InBack);
-  a->start(QPropertyAnimation::DeleteWhenStopped);
-}
-
 void ChartView::paintEvent(QPaintEvent *event) {
   if (!can->liveStreaming()) {
     if (chart_pixmap.isNull()) {
@@ -822,9 +768,12 @@ void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
     if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
       // use different color to distinguish it from others.
       auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      static thread_local std::mt19937 rng{std::random_device{}()};
+      std::uniform_int_distribution<int> sat(35, 99);
+      std::uniform_int_distribution<int> val(85, 99);
       color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
-                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
-                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
+                    sat(rng) / 100.0,
+                    val(rng) / 100.0);
       break;
     }
   }

openpilot/tools/cabana/chart/chart.h

@@ -38,7 +38,6 @@ class ChartView : public QChartView {
   void updatePlotArea(int left, bool force = false);
   void showTip(double sec);
   void hideTip();
-  void startAnimation();
   double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
 
   struct SigItem {

openpilot/tools/cabana/chart/chartswidget.cc

@@ -570,7 +570,6 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
       charts_widget->updateLayout(true);
       charts_widget->updateTabBar();
       event->acceptProposedAction();
-      chart->startAnimation();
     }
     drawDropIndicator({});
   }