cabana: de-Qt, part 1

openpilot/tools/cabana/.gitignore

@@ -7,3 +7,4 @@ assets.cc
 _cabana
 dbc/car_fingerprint_to_dbc.json
 tests/test_cabana
+tests/test_dbc_core

openpilot/tools/cabana/SConscript

@@ -97,7 +97,7 @@ cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
 cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
-               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc',
                'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
@@ -110,6 +110,19 @@ cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_lib
 if GetOption('extras'):
   cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
+  # This target deliberately uses the base environment and links no Qt libraries.
+  # It prevents Qt dependencies from creeping back into the DBC core.
+  dbc_core_test_env = env.Clone()
+  dbc_core_test_env['CXXFLAGS'] += [opendbc_path]
+  dbc_core_test_objects = [
+    dbc_core_test_env.Object('tests/dbc_core_test_runner', 'tests/test_runner.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_tests', 'tests/test_cabana.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_manager', 'dbc/dbcmanager.cc'),
+  ]
+  dbc_core_test_env.Program('tests/test_dbc_core', dbc_core_test_objects)
+
 output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],

openpilot/tools/cabana/binaryview.cc

@@ -1,4 +1,5 @@
 #include "tools/cabana/binaryview.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 
@@ -34,7 +35,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setMouseTracking(true);
   setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &BinaryView::refresh);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);
 
   addShortcuts();
@@ -334,7 +335,7 @@ void BinaryViewModel::updateState() {
       color.setAlpha(alpha);
       updateItem(i, j, bit_val, color);
     }
-    updateItem(i, 8, binary[i], last_msg.colors[i]);
+    updateItem(i, 8, binary[i], toQColor(last_msg.colors[i]));
   }
 }
 
@@ -421,14 +422,14 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
   } else if (option.state & QStyle::State_Selected) {
-    auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
+    auto color = bin_view->resize_sig ? toQColor(bin_view->resize_sig->color) : option.palette.color(QPalette::Active, QPalette::Highlight);
     painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
   } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
-          painter->fillRect(option.rect, s->color.darker(125));  // 4/5x brightness
+          painter->fillRect(option.rect, toQColor(s->color.darker(125)));  // 4/5x brightness
         } else {
           drawSignalCell(painter, option, index, s);
         }
@@ -483,14 +484,14 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
   painter->setClipRegion(QRegion(rc).subtracted(subtract));
 
   auto item = (const BinaryViewModel::Item *)index.internalPointer();
-  QColor color = sig->color;
+  QColor color = toQColor(sig->color);
   color.setAlpha(item->bg_color.alpha());
   // Mixing the signal color with the Base background color to fade it
   painter->fillRect(rc, option.palette.color(QPalette::Base));
   painter->fillRect(rc, color);
 
   // Draw edges
-  color = sig->color.darker(125);
+  color = toQColor(sig->color.darker(125));
   painter->setPen(QPen(color, 1));
   if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft());
   if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight());

openpilot/tools/cabana/chart/chart.cc

@@ -1,4 +1,5 @@
 #include "tools/cabana/chart/chart.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <limits>
@@ -52,10 +53,10 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache);
   QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache);
 
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &ChartView::signalRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &ChartView::signalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &ChartView::msgRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgUpdated, this, &ChartView::msgUpdated);
 }
 
 void ChartView::createToolButtons() {
@@ -115,14 +116,14 @@ void ChartView::setTheme(QChart::ChartTheme theme) {
   axis_x->setLineVisible(false);
   axis_y->setLineVisible(false);
   for (auto &s : sigs) {
-    s.series->setColor(s.sig->color);
+    s.series->setColor(toQColor(s.sig->color));
   }
 }
 
 void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
   if (hasSignal(msg_id, sig)) return;
 
-  QXYSeries *series = createSeries(series_type, sig->color);
+  QXYSeries *series = createSeries(series_type, toQColor(sig->color));
   sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
   updateSeries(sig);
   updateSeriesPoints();
@@ -157,8 +158,8 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
   if (it != sigs.end()) {
-    if (it->series->color() != sig->color) {
-      setSeriesColor(it->series, sig->color);
+    if (it->series->color() != toQColor(sig->color)) {
+      setSeriesColor(it->series, toQColor(sig->color));
     }
     updateTitle();
     updateSeries(sig);
@@ -838,7 +839,7 @@ void ChartView::setSeriesType(SeriesType type) {
       s.series->deleteLater();
     }
     for (auto &s : sigs) {
-      s.series = createSeries(series_type, s.sig->color);
+      s.series = createSeries(series_type, toQColor(s.sig->color));
       const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
       s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
     }

openpilot/tools/cabana/chart/chartswidget.cc

@@ -1,4 +1,5 @@
 #include "tools/cabana/chart/chartswidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 #include <future>
@@ -115,7 +116,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   align_timer->setSingleShot(true);
   QObject::connect(align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
   QObject::connect(auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
   QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
@@ -309,7 +310,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
       src_chart->chart()->removeSeries(it->series);
 
       // Restore to the original color
-      it->series->setColor(it->sig->color);
+      it->series->setColor(toQColor(it->sig->color));
 
       c->addSeries(it->series);
       c->sigs.emplace_back(std::move(*it));

openpilot/tools/cabana/chart/signalselector.cc

@@ -1,4 +1,5 @@
 #include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <QCompleter>
 #include <QDialogButtonBox>
@@ -92,7 +93,7 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), QString::fromStdString(sig->name));
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(toQColor(sig->color).name(), QString::fromStdString(sig->name));
   if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString()));
 
   QLabel *label = new QLabel(text);

openpilot/tools/cabana/chart/sparkline.cc

@@ -31,7 +31,7 @@ void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIt
   }
 
   freq_ = points_.size() / std::max(points_.back().x() - points_.front().x(), 1.0);
-  render(sig->color, range, size);
+  render(toQColor(sig->color), range, size);
 }
 
 void Sparkline::render(const QColor &color, int range, QSize size) {

openpilot/tools/cabana/core/can_data.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include <array>
+#include <cstdint>
+#include <unordered_map>
+#include <vector>
+
+#include "tools/cabana/core/color.h"
+#include "tools/cabana/core/message_id.h"
+
+struct CanData {
+  void compute(const MessageId &msg_id, const uint8_t *data, int size, double current_sec,
+               double playback_speed, const std::vector<uint8_t> &mask, double frequency = 0);
+
+  double ts = 0.;
+  uint32_t count = 0;
+  double freq = 0;
+  std::vector<uint8_t> dat;
+  std::vector<CabanaColor> colors;
+
+  struct ByteLastChange {
+    double ts = 0;
+    int delta = 0;
+    int same_delta_counter = 0;
+    bool suppressed = false;
+  };
+  std::vector<ByteLastChange> last_changes;
+  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
+  double last_freq_update_ts = 0;
+};
+
+struct CanEvent {
+  uint8_t src;
+  uint32_t address;
+  uint64_t mono_time;
+  uint8_t size;
+  uint8_t dat[];
+};
+
+struct CompareCanEvent {
+  constexpr bool operator()(const CanEvent *const event, uint64_t ts) const { return event->mono_time < ts; }
+  constexpr bool operator()(uint64_t ts, const CanEvent *const event) const { return ts < event->mono_time; }
+};
+
+using MessageEventsMap = std::unordered_map<MessageId, std::vector<const CanEvent *>>;
+using CanEventIter = std::vector<const CanEvent *>::const_iterator;

openpilot/tools/cabana/core/color.h

@@ -0,0 +1,79 @@
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <cstdint>
+
+struct CabanaColor {
+  uint8_t r = 0;
+  uint8_t g = 0;
+  uint8_t b = 0;
+  uint8_t a = 255;
+
+  constexpr CabanaColor() = default;
+  constexpr CabanaColor(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha = 255)
+      : r(red), g(green), b(blue), a(alpha) {}
+
+  static CabanaColor fromHsv(float hue, float saturation, float value, float alpha = 1.0f) {
+    const float h = hue - std::floor(hue);
+    const float c = value * saturation;
+    const float x = c * (1.0f - std::fabs(std::fmod(h * 6.0f, 2.0f) - 1.0f));
+    const float m = value - c;
+    float red = 0, green = 0, blue = 0;
+    switch (static_cast<int>(h * 6.0f) % 6) {
+      case 0: red = c; green = x; break;
+      case 1: red = x; green = c; break;
+      case 2: green = c; blue = x; break;
+      case 3: green = x; blue = c; break;
+      case 4: red = x; blue = c; break;
+      default: red = c; blue = x; break;
+    }
+    auto channel = [m](float v) { return static_cast<uint8_t>(std::clamp((v + m) * 255.0f, 0.0f, 255.0f) + 0.5f); };
+    return {channel(red), channel(green), channel(blue),
+            static_cast<uint8_t>(std::clamp(alpha * 255.0f, 0.0f, 255.0f) + 0.5f)};
+  }
+
+  CabanaColor darker(int factor = 200) const {
+    if (factor <= 0) return *this;
+    if (factor < 100) return lighter(10000 / factor);
+    auto [hue, saturation, value] = hsv();
+    return fromHsv(hue, saturation, value * 100.0f / factor, a / 255.0f);
+  }
+
+  CabanaColor lighter(int factor = 150) const {
+    if (factor <= 0) return *this;
+    if (factor < 100) return darker(10000 / factor);
+    auto [hue, saturation, value] = hsv();
+    const float scaled_value = value * factor / 100.0f;
+    if (scaled_value > 1.0f) saturation = std::max(0.0f, saturation - (scaled_value - 1.0f));
+    return fromHsv(hue, saturation, std::min(1.0f, scaled_value), a / 255.0f);
+  }
+
+  constexpr int red() const { return r; }
+  constexpr int green() const { return g; }
+  constexpr int blue() const { return b; }
+  constexpr int alpha() const { return a; }
+  float alphaF() const { return a / 255.0f; }
+  void setAlphaF(float alpha) { a = static_cast<uint8_t>(std::clamp(alpha * 255.0f, 0.0f, 255.0f) + 0.5f); }
+
+  constexpr bool operator==(const CabanaColor &other) const {
+    return r == other.r && g == other.g && b == other.b && a == other.a;
+  }
+
+private:
+  struct Hsv { float hue; float saturation; float value; };
+  Hsv hsv() const {
+    const float red = r / 255.0f, green = g / 255.0f, blue = b / 255.0f;
+    const float maximum = std::max({red, green, blue});
+    const float minimum = std::min({red, green, blue});
+    const float delta = maximum - minimum;
+    float hue = 0;
+    if (delta > 0) {
+      if (maximum == red) hue = std::fmod((green - blue) / delta, 6.0f) / 6.0f;
+      else if (maximum == green) hue = ((blue - red) / delta + 2.0f) / 6.0f;
+      else hue = ((red - green) / delta + 4.0f) / 6.0f;
+      if (hue < 0) hue += 1.0f;
+    }
+    return {hue, maximum == 0 ? 0 : delta / maximum, maximum};
+  }
+};

openpilot/tools/cabana/core/message_id.h

@@ -0,0 +1,27 @@
+#pragma once
+#include <cstdint>
+#include <cstdio>
+#include <functional>
+#include <string>
+#include <tuple>
+
+constexpr int INVALID_SOURCE = 0xff;
+
+struct MessageId {
+  uint8_t source = 0;
+  uint32_t address = 0;
+  std::string toString() const { char b[64]; snprintf(b, sizeof(b), "%u:%X", source, address); return b; }
+  static MessageId fromString(const std::string &s) {
+    const auto p = s.find(':');
+    if (p == std::string::npos) return {};
+    return {.source = static_cast<uint8_t>(std::stoul(s.substr(0, p))), .address = static_cast<uint32_t>(std::stoul(s.substr(p + 1), nullptr, 16))};
+  }
+  bool operator==(const MessageId &o) const { return source == o.source && address == o.address; }
+  bool operator!=(const MessageId &o) const { return !(*this == o); }
+  bool operator<(const MessageId &o) const { return std::tie(source, address) < std::tie(o.source, o.address); }
+  bool operator>(const MessageId &o) const { return o < *this; }
+};
+
+template <> struct std::hash<MessageId> {
+  size_t operator()(const MessageId &id) const noexcept { return std::hash<uint8_t>{}(id.source) ^ (std::hash<uint32_t>{}(id.address) << 1); }
+};

openpilot/tools/cabana/core/settings.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+constexpr int LIGHT_THEME = 1;
+constexpr int DARK_THEME = 2;
+
+struct CabanaSettingsState {
+  enum DragDirection { MsbFirst, LsbFirst, AlwaysLE, AlwaysBE };
+
+  bool absolute_time = false;
+  int fps = 10;
+  int max_cached_minutes = 30;
+  int chart_height = 200;
+  int chart_column_count = 1;
+  int chart_range = 3 * 60;
+  int chart_series_type = 0;
+  int theme = 0;
+  int sparkline_range = 15;
+  bool multiple_lines_hex = false;
+  bool log_livestream = true;
+  bool suppress_defined_signals = false;
+  std::string log_path;
+  std::string last_dir;
+  std::string last_route_dir;
+  std::vector<std::string> recent_files;
+  DragDirection drag_direction = MsbFirst;
+
+  std::string recent_dbc_file;
+  std::string active_msg_id;
+  std::vector<std::string> selected_msg_ids;
+  std::vector<std::string> active_charts;
+};