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96 lines
2.4 KiB
96 lines
2.4 KiB
# distutils: language = c++
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#cython: language_level=3
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from libc.stdint cimport uint32_t, uint64_t, uint16_t
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from libcpp.vector cimport vector
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from libcpp.map cimport map
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from libcpp.string cimport string
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from libcpp.unordered_set cimport unordered_set
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from libcpp cimport bool
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ctypedef enum SignalType:
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DEFAULT,
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HONDA_CHECKSUM,
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HONDA_COUNTER,
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TOYOTA_CHECKSUM,
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PEDAL_CHECKSUM,
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PEDAL_COUNTER
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cdef struct Signal:
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const char* name
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int b1, b2, bo
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bool is_signed
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double factor, offset
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SignalType type
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cdef struct Msg:
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const char* name
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uint32_t address
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unsigned int size
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size_t num_sigs
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const Signal *sigs
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cdef struct Val:
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const char* name
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uint32_t address
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const char* def_val
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const Signal *sigs
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cdef struct DBC:
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const char* name
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size_t num_msgs
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const Msg *msgs
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const Val *vals
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size_t num_vals
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cdef struct SignalParseOptions:
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uint32_t address
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const char* name
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double default_value
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cdef struct MessageParseOptions:
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uint32_t address
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int check_frequency
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cdef struct SignalValue:
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uint32_t address
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uint16_t ts
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const char* name
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double value
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ctypedef const DBC * (*dbc_lookup_func)(const char* dbc_name)
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ctypedef void* (*can_init_with_vectors_func)(int bus, const char* dbc_name,
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vector[MessageParseOptions] message_options,
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vector[SignalParseOptions] signal_options,
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bool sendcan,
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const char* tcp_addr,
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int timeout)
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ctypedef int (*can_update_func)(void* can, uint64_t sec, bool wait);
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ctypedef void (*can_update_string_func)(void* can, const char* dat, int len);
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ctypedef size_t (*can_query_latest_func)(void* can, bool *out_can_valid, size_t out_values_size, SignalValue* out_values);
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ctypedef void (*can_query_latest_vector_func)(void* can, bool *out_can_valid, vector[SignalValue] &values)
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cdef class CANParser:
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cdef:
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void *can
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const DBC *dbc
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dbc_lookup_func dbc_lookup
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can_init_with_vectors_func can_init_with_vectors
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can_update_func can_update
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can_update_string_func can_update_string
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can_query_latest_vector_func can_query_latest_vector
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map[string, uint32_t] msg_name_to_address
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map[uint32_t, string] address_to_msg_name
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vector[SignalValue] can_values
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bool test_mode_enabled
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cdef public:
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string dbc_name
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dict vl
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dict ts
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bool can_valid
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int can_invalid_cnt
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cdef unordered_set[uint32_t] update_vl(self)
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