cabana: avoid dead locks and improve responsiveness (commaai#32740)

avoid dead locks and improve responsive

tools/cabana/chart/chart.cc

@@ -513,7 +513,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
     } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
-      charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
+      charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max}));
     } else {
       viewport()->update();
     }

tools/cabana/chart/chartswidget.cc

@@ -103,6 +103,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(dbc(), &DBCManager::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);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &ChartsWidget::timeRangeChanged);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -159,16 +161,13 @@ void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
   }
 }
 
-void ChartsWidget::setZoom(double min, double max) {
-  zoomed_range = {min, max};
-  is_zoomed = zoomed_range != display_range;
+void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   updateToolBar();
   updateState();
-  emit rangeChanged(min, max, is_zoomed);
 }
 
 void ChartsWidget::zoomReset() {
-  setZoom(display_range.first, display_range.second);
+  can->setTimeRange(std::nullopt);
   zoom_undo_stack->clear();
 }
 
@@ -186,22 +185,19 @@ void ChartsWidget::showValueTip(double sec) {
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
+  const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
-  if (!is_zoomed) {
+  if (!time_range.has_value()) {
     double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
     double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
-  } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
-    // loop in zoomed range
-    QTimer::singleShot(0, [ts = zoomed_range.first]() { can->seekTo(ts);});
-    return;
   }
 
-  const auto &range = is_zoomed ? zoomed_range : display_range;
+  const auto &range = time_range ? *time_range : display_range;
   for (auto c : charts) {
     c->updatePlot(cur_sec, range.first, range.second);
   }
@@ -217,12 +213,14 @@ void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
+
+  bool is_zoomed = can->timeRange().has_value();
   range_lb_action->setVisible(!is_zoomed);
   range_slider_action->setVisible(!is_zoomed);
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -252,7 +250,7 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
 }
 
 ChartView *ChartsWidget::createChart() {
-  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
+  auto chart = new ChartView(can->timeRange().value_or(display_range), this);
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);

tools/cabana/chart/chartswidget.h

@@ -46,11 +46,10 @@ class ChartsWidget : public QFrame {
 public slots:
   void setColumnCount(int n);
   void removeAll();
-  void setZoom(double min, double max);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
 
 signals:
   void dock(bool floating);
-  void rangeChanged(double min, double max, bool is_zommed);
   void seriesChanged();
 
 private:
@@ -102,9 +101,7 @@ public slots:
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
-  bool is_zoomed = false;
   std::pair<double, double> display_range;
-  std::pair<double, double> zoomed_range;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
@@ -119,12 +116,11 @@ public slots:
 
 class ZoomCommand : public QUndoCommand {
 public:
-  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
-    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+  ZoomCommand(std::pair<double, double> range) : range(range), QUndoCommand() {
+    prev_range = can->timeRange();
     setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
-  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
-  void redo() override { charts->setZoom(range.first, range.second); }
-  ChartsWidget *charts;
-  std::pair<double, double> prev_range, range;
+  void undo() override { can->setTimeRange(prev_range); }
+  void redo() override { can->setTimeRange(range); }
+  std::optional<std::pair<double, double>> prev_range, range;
 };

tools/cabana/mainwin.cc

@@ -192,7 +192,6 @@ void MainWindow::createDockWidgets() {
   video_splitter = new QSplitter(Qt::Vertical, this);
   video_widget = new VideoWidget(this);
   video_splitter->addWidget(video_widget);
-  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange);
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);

tools/cabana/streams/abstractstream.cc

@@ -92,13 +92,23 @@ void AbstractStream::updateLastMessages() {
   std::set<MessageId> msgs;
   {
     std::lock_guard lk(mutex_);
+    double max_sec = 0;
     for (const auto &id : new_msgs_) {
       const auto &can_data = messages_[id];
-      current_sec_ = std::max(current_sec_, can_data.ts);
+      max_sec = std::max(max_sec, can_data.ts);
       last_msgs[id] = can_data;
       sources.insert(id.source);
     }
-    msgs = std::move(new_msgs_);
+
+    if (!new_msgs_.empty()) {
+      msgs = std::move(new_msgs_);
+      current_sec_ = max_sec;
+    }
+  }
+
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+    return;
   }
 
   if (sources.size() != prev_src_size) {
@@ -108,6 +118,14 @@ void AbstractStream::updateLastMessages() {
   emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
 }
 
+void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>> &range) {
+  time_range_ = range;
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+  }
+  emit timeRangeChanged(time_range_);
+}
+
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
   std::lock_guard lk(mutex_);
   messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);

tools/cabana/streams/abstractstream.h

@@ -3,8 +3,10 @@
 #include <array>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <set>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <QColor>
@@ -77,6 +79,8 @@ class AbstractStream : public QObject {
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
+  void setTimeRange(const std::optional<std::pair<double, double>> &range);
+  const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
   inline const MessageEventsMap &eventsMap() const { return events_; }
@@ -91,8 +95,9 @@ class AbstractStream : public QObject {
 signals:
   void paused();
   void resume();
-  void seekingTo(double sec);
+  void seeking(double sec);
   void seekedTo(double sec);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
   void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
@@ -110,6 +115,7 @@ class AbstractStream : public QObject {
 
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
+  std::optional<std::pair<double, double>> time_range_;
   uint64_t lastest_event_ts = 0;
 
 private:

tools/cabana/streams/replaystream.cc

@@ -53,9 +53,9 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                           {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
+  QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
   return replay->load();
 }
 
@@ -92,12 +92,7 @@ bool ReplayStream::eventFilter(const Event *event) {
 }
 
 void ReplayStream::seekTo(double ts) {
-  // Update timestamp and notify receivers of the time change.
   current_sec_ = ts;
-  std::set<MessageId> new_msgs;
-  msgsReceived(&new_msgs, false);
-
-  // Seek to the specified timestamp
   replay->seekTo(std::max(double(0), ts), false);
 }
 

tools/cabana/streams/replaystream.h

@@ -34,9 +34,6 @@ class ReplayStream : public AbstractStream {
   void pause(bool pause) override;
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
-signals:
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
-
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;

tools/cabana/videowidget.cc

@@ -38,6 +38,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &VideoWidget::timeRangeChanged);
 
   updatePlayBtnState();
   setWhatsThis(tr(R"(
@@ -150,14 +152,16 @@ QWidget *VideoWidget::createCameraWidget() {
 
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
   QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
+
+  auto replay = static_cast<ReplayStream*>(can)->getReplay();
+  QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(replay, &Replay::totalSecondsUpdated, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   return w;
 }
 
@@ -198,13 +202,13 @@ void VideoWidget::setMaximumTime(double sec) {
   slider->setTimeRange(0, sec);
 }
 
-void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
+void VideoWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   if (can->liveStreaming()) {
-    skip_to_end_btn->setEnabled(!is_zoomed);
+    skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
-  is_zoomed ? slider->setTimeRange(min, max)
-            : slider->setTimeRange(0, maximum_time);
+  time_range ? slider->setTimeRange(time_range->first, time_range->second)
+             : slider->setTimeRange(0, maximum_time);
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -255,12 +259,7 @@ void Slider::setTimeRange(double min, double max) {
   setRange(min * factor, max * factor);
 }
 
-void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
- const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
-  if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
-    emit updateMaximumTime(qlog->events.back().mono_time / 1e9 - can->routeStartTime());
-  }
-
+void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
   QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
     if (e.which == cereal::Event::Which::THUMBNAIL) {

tools/cabana/videowidget.h

@@ -3,6 +3,7 @@
 #include <map>
 #include <memory>
 #include <set>
+#include <utility>
 
 #include <QHBoxLayout>
 #include <QFrame>
@@ -40,13 +41,10 @@ class Slider : public QSlider {
   void setTimeRange(double min, double max);
   AlertInfo alertInfo(double sec);
   QPixmap thumbnail(double sec);
-  void parseQLog(int segnum, std::shared_ptr<LogReader> qlog);
+  void parseQLog(std::shared_ptr<LogReader> qlog);
 
   const double factor = 1000.0;
 
-signals:
-  void updateMaximumTime(double);
-
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
@@ -63,11 +61,11 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void updateTimeRange(double min, double max, bool is_zommed);
   void setMaximumTime(double sec);
 
 protected:
   QString formatTime(double sec, bool include_milliseconds = false);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();

tools/replay/camera.cc

@@ -60,7 +60,6 @@ void CameraServer::cameraThread(Camera &cam) {
     capnp::FlatArrayMessageReader reader(event->data);
     auto evt = reader.getRoot<cereal::Event>();
     auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-    if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
 
     int segment_id = eidx.getSegmentId();
     uint32_t frame_id = eidx.getFrameId();

tools/replay/logreader.cc

@@ -42,10 +42,10 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
           evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
         auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-        if (uint64_t sof = idx.getTimestampSof()) {
-          mono_time = sof;
+        if (idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+          uint64_t sof = idx.getTimestampSof();
+          events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
-        events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
       }
     }
   } catch (const kj::Exception &e) {