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#!/usr/bin/env python
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import os
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import glob
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import sys
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import jinja2
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from collections import Counter
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from common.dbc import dbc
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def main():
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if len(sys.argv) != 3:
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print "usage: %s dbc_directory output_directory" % (sys.argv[0],)
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sys.exit(0)
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dbc_dir = sys.argv[1]
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out_dir = sys.argv[2]
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template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
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template_mtime = os.path.getmtime(template_fn)
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this_file_mtime = os.path.getmtime(__file__)
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with open(template_fn, "r") as template_f:
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template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
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for dbc_path in glob.iglob(os.path.join(dbc_dir, "*.dbc")):
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dbc_mtime = os.path.getmtime(dbc_path)
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dbc_fn = os.path.split(dbc_path)[1]
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dbc_name = os.path.splitext(dbc_fn)[0]
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can_dbc = dbc(dbc_path)
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out_fn = os.path.join(os.path.dirname(__file__), out_dir, dbc_name + ".cc")
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if os.path.exists(out_fn):
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out_mtime = os.path.getmtime(out_fn)
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else:
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out_mtime = 0
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if dbc_mtime < out_mtime and template_mtime < out_mtime and this_file_mtime < out_mtime:
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continue #skip output is newer than template and dbc
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msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
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getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
old-commit-hash: 9dae0bfac4e54ec2b2e488d2b4ead1495c8f56d8
6 years ago
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for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
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def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
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getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
old-commit-hash: 9dae0bfac4e54ec2b2e488d2b4ead1495c8f56d8
6 years ago
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def_vals = [(address, sig) for address, sig in sorted(def_vals.items())]
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if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
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checksum_type = "honda"
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checksum_size = 4
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elif can_dbc.name.startswith("toyota") or can_dbc.name.startswith("lexus"):
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checksum_type = "toyota"
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checksum_size = 8
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else:
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checksum_type = None
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for address, msg_name, msg_size, sigs in msgs:
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for sig in sigs:
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if checksum_type is not None and sig.name == "CHECKSUM":
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if sig.size != checksum_size:
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sys.exit("CHECKSUM is not %d bits longs %s" % (checksum_size, msg_name))
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if checksum_type == "honda" and sig.start_bit % 8 != 3:
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sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
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if checksum_type == "toyota" and sig.start_bit % 8 != 7:
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sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
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if checksum_type == "honda" and sig.name == "COUNTER":
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if sig.size != 2:
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sys.exit("COUNTER is not 2 bits longs %s" % msg_name)
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if sig.start_bit % 8 != 5:
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sys.exit("COUNTER starts at wrong bit %s" % msg_name)
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if address in [0x200, 0x201]:
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if sig.name == "COUNTER_PEDAL" and sig.size != 4:
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sys.exit("PEDAL COUNTER is not 4 bits longs %s" % msg_name)
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if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
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sys.exit("PEDAL CHECKSUM is not 8 bits longs %s" % msg_name)
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# Fail on duplicate message names
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c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
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for name, count in c.items():
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if count > 1:
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sys.exit("Duplicate message name in DBC file %s" % name)
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parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
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with open(out_fn, "w") as out_f:
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out_f.write(parser_code)
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if __name__ == '__main__':
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main()
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