cabana: remove dependence on opendbc (commaai#30329)

* remove dependence on opendbc * move into function
deanlee · Nov 3, 2023 · bf932c6 · bf932c6
1 parent 0788573
commit bf932c6
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Showing 5 changed files with 20 additions and 61 deletions.
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
@@ -1,10 +1,7 @@
-import os
-Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
@@ -18,8 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_env["LIBPATH"] += ['../../opendbc/can']
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 

diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
@@ -10,7 +10,6 @@
 #include <QMetaType>
 #include <QString>
 
-#include "opendbc/can/common_dbc.h"
 
 const QString UNTITLED = "untitled";
 const QString DEFAULT_NODE_NAME = "XXX";
@@ -120,5 +119,4 @@ class Msg {
 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; }
-inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
 inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
@@ -9,6 +9,7 @@
 #include <QFile>
 #include <QFileDialog>
 #include <QFileInfo>
+#include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
 #include <QResizeEvent>
@@ -24,6 +25,7 @@
 #include "tools/replay/replay.h"
 
 MainWindow::MainWindow() : QMainWindow() {
+  loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
   createActions();
@@ -56,12 +58,6 @@ MainWindow::MainWindow() : QMainWindow() {
     qInfo() << QString::fromStdString(msg);
   });
 
-  // load fingerprints
-  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
-  if (json_file.open(QIODevice::ReadOnly)) {
-    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
-  }
-
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
     height: %1px; /* when horizontal */
@@ -77,6 +73,16 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
 }
 
+void MainWindow::loadFingerprints() {
+  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
+  if (json_file.open(QIODevice::ReadOnly)) {
+    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+    auto dbc_names = fingerprint_to_dbc.object().toVariantMap().values();
+    std::transform(dbc_names.begin(), dbc_names.end(), std::inserter(opendbc_names, opendbc_names.begin()),
+                   [](const auto &name) { return name.toString(); });
+  }
+}
+
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
@@ -102,11 +108,8 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  auto dbc_names = allDBCNames();
-  std::sort(dbc_names.begin(), dbc_names.end());
-  for (const auto &name : dbc_names) {
-    QString dbc_name = QString::fromStdString(name);
-    load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); });
+  for (const auto &dbc_name : opendbc_names) {
+    load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });

diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
@@ -7,6 +7,7 @@
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
+#include <set>
 
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -50,6 +51,7 @@ public slots:
   void saveFile(DBCFile *dbc_file);
   void saveFileAs(DBCFile *dbc_file);
   void saveFileToClipboard(DBCFile *dbc_file);
+  void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
   void autoSave();
   void cleanupAutoSaveFile();
@@ -84,6 +86,7 @@ public slots:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
+  std::set<QString> opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
   QAction *recent_files_acts[MAX_RECENT_FILES] = {};

diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
@@ -1,5 +1,4 @@
 
-#include "opendbc/can/common.h"
 #undef INFO
 #include "catch2/catch.hpp"
 #include "tools/replay/logreader.h"
@@ -29,46 +28,6 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
-TEST_CASE("Parse can messages") {
-  DBCManager dbc(nullptr);
-  dbc.open({0}, "toyota_new_mc_pt_generated");
-  CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
-
-  LogReader log;
-  REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true));
-  REQUIRE(log.events.size() > 0);
-  for (auto e : log.events) {
-    if (e->which == cereal::Event::Which::CAN) {
-      std::map<std::pair<uint32_t, QString>, std::vector<double>> values_1;
-      for (const auto &c : e->event.getCan()) {
-        const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()});
-        if (c.getSrc() == 0 && msg) {
-          for (auto sig : msg->getSignals()) {
-            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
-            values_1[{c.getAddress(), sig->name}].push_back(val);
-          }
-        }
-      }
-
-      can_parser.UpdateCans(e->mono_time, e->event.getCan());
-      std::vector<SignalValue> values_2;
-      can_parser.query_latest(values_2);
-      for (auto &[key, v1] : values_1) {
-        bool found = false;
-        for (auto &v2 : values_2) {
-          if (v2.address == key.first && key.second == v2.name.c_str()) {
-            REQUIRE(v2.all_values.size() == v1.size());
-            REQUIRE(v2.all_values == v1);
-            found = true;
-            break;
-          }
-        }
-        REQUIRE(found);
-      }
-    }
-  }
-}
-
 TEST_CASE("parse_dbc") {
   QString content = R"(
 BO_ 160 message_1: 8 EON