You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
1.9 KiB
51 lines
1.9 KiB
#include "cereal/messaging/messaging.h"
|
|
#include "selfdrive/pandad/panda.h"
|
|
#include "opendbc/can/common.h"
|
|
|
|
void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendcan, bool valid) {
|
|
MessageBuilder msg;
|
|
auto event = msg.initEvent(valid);
|
|
|
|
auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
|
|
int j = 0;
|
|
for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
|
|
auto c = canData[j];
|
|
c.setAddress(it->address);
|
|
c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
|
|
c.setSrc(it->src);
|
|
}
|
|
const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
|
|
out.resize(msg_size);
|
|
kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
|
|
capnp::writeMessage(output_stream, msg);
|
|
}
|
|
|
|
// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
|
|
void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
|
|
AlignedBuffer aligned_buf;
|
|
can_list.reserve(strings.size());
|
|
|
|
for (const auto &str : strings) {
|
|
// extract the messages
|
|
capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
|
|
cereal::Event::Reader event = reader.getRoot<cereal::Event>();
|
|
|
|
auto frames = sendcan ? event.getSendcan() : event.getCan();
|
|
|
|
// Add new CanData entry
|
|
CanData &can_data = can_list.emplace_back();
|
|
can_data.nanos = event.getLogMonoTime();
|
|
can_data.frames.reserve(frames.size());
|
|
|
|
// Populate CAN frames
|
|
for (const auto &frame : frames) {
|
|
CanFrame &can_frame = can_data.frames.emplace_back();
|
|
can_frame.src = frame.getSrc();
|
|
can_frame.address = frame.getAddress();
|
|
|
|
// Copy CAN data
|
|
auto dat = frame.getDat();
|
|
can_frame.dat.assign(dat.begin(), dat.end());
|
|
}
|
|
}
|
|
}
|
|
|