merge commaai#27130

Author: deanlee

common/SConscript

@@ -10,11 +10,13 @@ common_libs = [
   'statlog.cc',
   'swaglog.cc',
   'util.cc',
-  'gpio.cc',
   'i2c.cc',
   'watchdog.cc',
 ]
 
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
 _common = fxn('common', common_libs, LIBS="json11")
 
 files = [

selfdrive/boardd/boardd.cc

@@ -7,6 +7,7 @@
 #include <unistd.h>
 
 #include <algorithm>
+#include <array>
 #include <atomic>
 #include <bitset>
 #include <cassert>

selfdrive/boardd/panda.cc

@@ -14,7 +14,9 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   try {
     handle = std::make_unique<PandaUsbHandle>(serial);
   } catch (std::exception &e) {
+#ifndef __APPLE__
     handle = std::make_unique<PandaSpiHandle>(serial);
+#endif
   }
 
   hw_type = get_hw_type();
@@ -46,11 +48,13 @@ std::string Panda::hw_serial() {
 std::vector<std::string> Panda::list() {
   std::vector<std::string> serials = PandaUsbHandle::list();
 
+#ifndef __APPLE__
   for (auto s : PandaSpiHandle::list()) {
     if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
       serials.push_back(s);
     }
   }
+#endif
 
   return serials;
 }

selfdrive/boardd/panda_comms.h

@@ -5,7 +5,9 @@
 #include <cstdint>
 #include <vector>
 
+#ifndef __APPLE__
 #include <linux/spi/spidev.h>
+#endif
 
 #include <libusb-1.0/libusb.h>
 
@@ -52,6 +54,7 @@ class PandaUsbHandle : public PandaCommsHandle {
   void handle_usb_issue(int err, const char func[]);
 };
 
+#ifndef __APPLE__
 class PandaSpiHandle : public PandaCommsHandle {
 public:
   PandaSpiHandle(std::string serial);
@@ -75,3 +78,4 @@ class PandaSpiHandle : public PandaCommsHandle {
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
 };
+#endif

selfdrive/boardd/spi.cc

@@ -1,3 +1,4 @@
+#ifndef __APPLE__
 #include <sys/file.h>
 #include <sys/ioctl.h>
 #include <linux/spi/spidev.h>
@@ -339,3 +340,4 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
 transfer_fail:
   return ret;
 }
+#endif

selfdrive/loggerd/SConscript

@@ -13,6 +13,8 @@ if arch == "Darwin":
   # fix OpenCL
   del libs[libs.index('OpenCL')]
   env['FRAMEWORKS'] = ['OpenCL']
+  # exclude v4l
+  del src[src.index('encoder/v4l_encoder.cc')]
 
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)

tools/cabana/SConscript

@@ -24,6 +24,9 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream
                                                'commands.cc', 'messageswidget.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
+if arch == "Darwin":
+  cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana')
+
 if GetOption('test'):
   cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 

tools/cabana/chartswidget.cc

@@ -30,8 +30,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   title_label->setContentsMargins(0, 0, 12, 0);
   columns_cb = new QComboBox(this);
   columns_cb->addItems({"1", "2", "3", "4"});
-  toolbar->addWidget(new QLabel(tr("Columns:")));
-  toolbar->addWidget(columns_cb);
+  columns_lb_action = toolbar->addWidget(new QLabel(tr("Columns:")));
+  columns_cb_action = toolbar->addWidget(columns_cb);
 
   QLabel *stretch_label = new QLabel(this);
   stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
@@ -46,19 +46,21 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   range_slider->setPageStep(60);  // 1 min
   toolbar->addWidget(range_slider);
 
-  toolbar->addWidget(zoom_range_lb = new QLabel());
-  reset_zoom_btn = toolbar->addAction(bootstrapPixmap("arrow-counterclockwise"), "");
+  reset_zoom_btn = toolbar->addAction(bootstrapPixmap("zoom-out"), "");
   reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)"));
   remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), "");
   remove_all_btn->setToolTip(tr("Remove all charts"));
   dock_btn = toolbar->addAction("");
   main_layout->addWidget(toolbar);
 
   // charts
+  charts_layout = new QGridLayout();
+  charts_layout->setSpacing(10);
+
   QWidget *charts_container = new QWidget(this);
   QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container);
   charts_main_layout->setContentsMargins(0, 0, 0, 0);
-  charts_main_layout->addLayout(charts_layout = new QGridLayout);
+  charts_main_layout->addLayout(charts_layout);
   charts_main_layout->addStretch(0);
 
   QScrollArea *charts_scroll = new QScrollArea(this);
@@ -167,7 +169,6 @@ void ChartsWidget::setMaxChartRange(int value) {
 
 void ChartsWidget::updateToolBar() {
   range_lb->setText(QString(" %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0')));
-  zoom_range_lb->setText(is_zoomed ? tr("Zooming: %1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   dock_btn->setIcon(bootstrapPixmap(docking ? "arrow-up-right" : "arrow-down-left"));
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -230,8 +231,13 @@ void ChartsWidget::setColumnCount(int n) {
 void ChartsWidget::updateLayout() {
   int n = column_count;
   for (; n > 1; --n) {
-    if ((n * (CHART_MIN_WIDTH + charts_layout->spacing())) < rect().width()) break;
+    if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
   }
+
+  bool show_column_cb = n > 1;
+  columns_lb_action->setVisible(show_column_cb);
+  columns_cb_action->setVisible(show_column_cb);
+
   for (int i = 0; i < charts.size(); ++i) {
     charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n);
   }
@@ -469,6 +475,18 @@ void ChartView::updatePlot(double cur, double min, double max) {
     axis_x->setRange(min, max);
     updateAxisY();
   }
+
+  // Show points when zoomed in enough
+  for (auto &s : sigs) {
+    auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
+    auto end = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; });
+
+    int num_points = std::max<int>(end - begin, 1);
+    int pixels_per_point = width() / num_points;
+
+    s.series->setPointsVisible(pixels_per_point > 20);
+  }
+
   scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
 }
 
@@ -521,8 +539,8 @@ void ChartView::updateAxisY() {
 
   if (min_y == std::numeric_limits<double>::max()) min_y = 0;
   if (max_y == std::numeric_limits<double>::lowest()) max_y = 0;
-  if (max_y == min_y) {
-    axis_y->setRange(min_y - 1, max_y + 1);
+  if (std::abs(max_y - min_y) < 1e-3) {
+    applyNiceNumbers(min_y - 1, max_y + 1);
   } else {
     double range = max_y - min_y;
     applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05);
@@ -539,6 +557,7 @@ void ChartView::applyNiceNumbers(qreal min, qreal max) {
   tick_count = int(max - min) + 1;
   axis_y->setRange(min * step, max * step);
   axis_y->setTickCount(tick_count);
+  axis_y->setLabelFormat("%.1f");
 }
 
 // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n

tools/cabana/chartswidget.h

@@ -116,7 +116,6 @@ public slots:
   ChartView *findChart(const QString &id, const Signal *sig);
 
   QLabel *title_label;
-  QLabel *zoom_range_lb;
   QLabel *range_lb;
   QSlider *range_slider;
   bool docking = true;
@@ -131,6 +130,8 @@ public slots:
   std::pair<double, double> display_range;
   std::pair<double, double> zoomed_range;
   bool use_dark_theme = false;
+  QAction *columns_lb_action;
+  QAction *columns_cb_action;
   QComboBox *columns_cb;
   int column_count = 1;
   const int CHART_MIN_WIDTH = 300;

tools/cabana/detailwidget.cc

@@ -186,7 +186,7 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title
   form_layout->addRow("ID", new QLabel(msg_id));
 
   name_edit = new QLineEdit(title, this);
-  name_edit->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name_edit));
+  name_edit->setValidator(new NameValidator(name_edit));
   form_layout->addRow(tr("Name"), name_edit);
 
   size_spin = new QSpinBox(this);

tools/cabana/historylog.cc

@@ -84,7 +84,6 @@ void HistoryLogModel::updateState() {
     if ((has_more_data = !new_msgs.empty())) {
       beginInsertRows({}, 0, new_msgs.size() - 1);
       messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end()));
-      updateColors();
       endInsertRows();
     }
     last_fetch_time = current_time;
@@ -97,29 +96,11 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
     if ((has_more_data = !new_msgs.empty())) {
       beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1);
       messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end()));
-      if (!dynamic_mode) {
-        updateColors();
-      }
       endInsertRows();
     }
   }
 }
 
-void HistoryLogModel::updateColors() {
-  if (!display_signals_mode || sigs.empty()) {
-    const auto freq = can->lastMessage(msg_id).freq;
-    if (dynamic_mode) {
-      for (auto it = messages.rbegin(); it != messages.rend(); ++it) {
-        it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
-      }
-    } else {
-      for (auto it = messages.begin(); it != messages.end(); ++it) {
-        it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
-      }
-    }
-  }
-}
-
 template <class InputIt>
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
   std::deque<HistoryLogModel::Message> msgs;
@@ -153,17 +134,28 @@ template std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData<>(std::
 
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
   auto events = can->events();
+  const auto freq = can->lastMessage(msg_id).freq;
+  const bool update_colors = !display_signals_mode || sigs.empty();
+
   if (dynamic_mode) {
-    auto it = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) {
-      return e->mono_time < ts;
-    });
-    return fetchData(it, events->rend(), min_time);
+    auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; });
+    auto msgs = fetchData(first, events->rend(), min_time);
+    if (update_colors && min_time > 0) {
+      for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
+        it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+      }
+    }
+    return msgs;
   } else {
     assert(min_time == 0);
-    auto it = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) {
-      return ts < e->mono_time;
-    });
-    return fetchData(it, events->end(), 0);
+    auto first = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto msgs = fetchData(first, events->end(), 0);
+    if (update_colors) {
+      for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
+        it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+      }
+    }
+    return msgs;
   }
 }
 

tools/cabana/historylog.h

@@ -33,7 +33,6 @@ class HistoryLogModel : public QAbstractTableModel {
   int columnCount(const QModelIndex &parent = QModelIndex()) const override {
     return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2;
   }
-  void updateColors();
   void refresh();
 
 public slots: