dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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# distutils: language = c++
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# cython: language_level=3
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from libcpp.vector cimport vector
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from libcpp.string cimport string
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from libcpp cimport bool
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cdef struct can_frame:
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long address
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string dat
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long busTime
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long src
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cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
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def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
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cdef vector[can_frame] can_list
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can_list.reserve(len(can_msgs))
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cdef can_frame f
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for can_msg in can_msgs:
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f.address = can_msg[0]
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f.busTime = can_msg[1]
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f.dat = can_msg[2]
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f.src = can_msg[3]
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can_list.push_back(f)
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cdef string out
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can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
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return out
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