cabana: support ECU node names (commaai#29897)

* support display&edit node name

* cleanup

* set validator for Node name

* modify validator to support multiple receivers

* set default to XXX in updateMsg

* add DEFAULT_NODE_NAME

* Update tools/cabana/commands.h

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

tools/cabana/commands.cc

@@ -4,11 +4,13 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent)
-    : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) {
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
+                               const QString &node, const QString &comment, QUndoCommand *parent)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
+    old_node = msg->transmitter;
     old_comment = msg->comment;
     setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
   } else {
@@ -20,11 +22,11 @@ void EditMsgCommand::undo() {
   if (old_name.isEmpty())
     dbc()->removeMsg(id);
   else
-    dbc()->updateMsg(id, old_name, old_size, old_comment);
+    dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
 }
 
 void EditMsgCommand::redo() {
-  dbc()->updateMsg(id, new_name, new_size, new_comment);
+  dbc()->updateMsg(id, new_name, new_size, new_node, new_comment);
 }
 
 // RemoveMsgCommand
@@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) :
 
 void RemoveMsgCommand::undo() {
   if (!message.name.isEmpty()) {
-    dbc()->updateMsg(id, message.name, message.size, message.comment);
+    dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
   }
@@ -64,7 +66,7 @@ void AddSigCommand::undo() {
 void AddSigCommand::redo() {
   if (auto msg = dbc()->msg(id); !msg) {
     msg_created = true;
-    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", "");
   }
   signal.name = dbc()->newSignalName(id);
   signal.max = std::pow(2, signal.size) - 1;

tools/cabana/commands.h

@@ -10,13 +10,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
+                 const QString &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment;
+  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 

tools/cabana/dbc/dbc.cc

@@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() {
 }
 
 void cabana::Msg::update() {
+  if (transmitter.isEmpty()) {
+    transmitter = DEFAULT_NODE_NAME;
+  }
   mask.assign(size, 0x00);
   multiplexor = nullptr;
 
@@ -125,6 +128,9 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
+  if (receiver_name.isEmpty()) {
+    receiver_name = DEFAULT_NODE_NAME;
+  }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);

tools/cabana/dbc/dbc.h

@@ -13,6 +13,7 @@
 #include "opendbc/can/common_dbc.h"
 
 const QString UNTITLED = "untitled";
+const QString DEFAULT_NODE_NAME = "XXX";
 
 struct MessageId {
   uint8_t source = 0;

tools/cabana/dbc/dbcfile.cc

@@ -60,11 +60,12 @@ bool DBCFile::writeContents(const QString &fn) {
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
+  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -198,7 +199,8 @@ void DBCFile::parse(const QString &content) {
 QString DBCFile::generateDBC() {
   QString dbc_string, signal_comment, message_comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
+    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
     if (!m.comment.isEmpty()) {
       message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
     }
@@ -221,7 +223,7 @@ QString DBCFile::generateDBC() {
                         .arg(doubleToString(sig->min))
                         .arg(doubleToString(sig->max))
                         .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
+                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }

tools/cabana/dbc/dbcfile.h

@@ -22,7 +22,7 @@ class DBCFile : public QObject {
   void cleanupAutoSaveFile();
   QString generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }

tools/cabana/dbc/dbcmanager.cc

@@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
-  dbc_file->updateMsg(id, name, size, comment);
+  dbc_file->updateMsg(id, name, size, node, comment);
   emit msgUpdated(id);
 }
 

tools/cabana/dbc/dbcmanager.h

@@ -28,7 +28,7 @@ class DBCManager : public QObject {
   void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
   void removeSignal(const MessageId &id, const QString &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   void removeMsg(const MessageId &id);
 
   QString newMsgName(const MessageId &id);

tools/cabana/detailwidget.cc

@@ -2,7 +2,6 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QMessageBox>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -135,11 +134,12 @@ void DetailWidget::refresh() {
     for (auto s : binary_view->getOverlappingSignals()) {
       warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
     }
+    name_label->setText(QString("%1 (%2)").arg(msgName(msg_id), msg->transmitter));
   } else {
     warnings.push_back(tr("Drag-Select in binary view to create new signal."));
+    name_label->setText(msgName(msg_id));
   }
   remove_btn->setEnabled(msg != nullptr);
-  name_label->setText(msgName(msg_id));
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -164,8 +164,8 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
   EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
-                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
   }
 }
 
@@ -182,25 +182,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 
   form_layout->addRow("", error_label = new QLabel);
   error_label->setVisible(false);
-  name_edit = new QLineEdit(title, this);
+  form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this));
   name_edit->setValidator(new NameValidator(name_edit));
-  form_layout->addRow(tr("Name"), name_edit);
 
-  size_spin = new QSpinBox(this);
+  form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
   // TODO: limit the maximum?
   size_spin->setMinimum(1);
   size_spin->setValue(size);
-  form_layout->addRow(tr("Size"), size_spin);
 
+  form_layout->addRow(tr("Node"), node = new QLineEdit(this));
+  node->setValidator(new NameValidator(name_edit));
   form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
+
   if (auto msg = dbc()->msg(msg_id)) {
+    node->setText(msg->transmitter);
     comment_edit->setText(msg->comment);
   }
-
-  btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   validateName(name_edit->text());
-  form_layout->addRow(btn_box);
-
   setFixedWidth(parent->width() * 0.9);
   connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
   connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);

tools/cabana/detailwidget.h

@@ -21,6 +21,7 @@ class EditMessageDialog : public QDialog {
   QString original_name;
   QDialogButtonBox *btn_box;
   QLineEdit *name_edit;
+  QLineEdit *node;
   QTextEdit *comment_edit;
   QLabel *error_label;
   QSpinBox *size_spin;

tools/cabana/signalview.cc

@@ -36,7 +36,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
+  QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
                    "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
   for (int i = 0; i < std::size(titles); ++i) {
     item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
@@ -134,6 +134,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
           case Item::Sig: return item->sig_val;
           case Item::Name: return item->sig->name;
           case Item::Size: return item->sig->size;
+          case Item::Node: return item->sig->receiver_name;
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
           case Item::Offset: return doubleToString(item->sig->offset);
@@ -172,6 +173,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   switch (item->type) {
     case Item::Name: s.name = value.toString(); break;
     case Item::Size: s.size = value.toInt(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
@@ -195,11 +197,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) {
   if (item->type == Item::ExtraInfo) {
     if (!item->parent->extra_expanded) {
       item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), 7, 13);
+      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endInsertRows();
     } else {
       item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), 7, 13);
+      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endRemoveRows();
     }
   }
@@ -267,6 +269,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
 
 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
+  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
   double_validator = new DoubleValidator(this);
 
   label_font.setPointSize(8);
@@ -382,20 +385,21 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
-  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset ||
       item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
       item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
     QLineEdit *e = new QLineEdit(parent);
     e->setFrame(false);
-    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
+    if (item->type == SignalModel::Item::Name) e->setValidator(name_validator);
+    else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
+    else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
       QCompleter *completer = new QCompleter(dbc()->signalNames());
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
     }
-
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);

tools/cabana/signalview.h

@@ -17,7 +17,7 @@ class SignalModel : public QAbstractItemModel {
   Q_OBJECT
 public:
   struct Item {
-    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
     ~Item() { qDeleteAll(children); }
     inline int row() { return parent->children.indexOf(this); }
 
@@ -87,7 +87,7 @@ class SignalItemDelegate : public QStyledItemDelegate {
   void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
 
-  QValidator *name_validator, *double_validator;
+  QValidator *name_validator, *double_validator, *node_validator;
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;