dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#include "cereal/messaging/messaging.h"
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#include "panda.h"
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extern "C" {
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void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
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MessageBuilder msg;
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auto event = msg.initEvent(valid);
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auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
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int j = 0;
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for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
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auto c = canData[j];
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c.setAddress(it->address);
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c.setBusTime(it->busTime);
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c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
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c.setSrc(it->src);
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}
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const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
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out.resize(msg_size);
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kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
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capnp::writeMessage(output_stream, msg);
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}
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}
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