#!/usr/bin/env python
import os
import glob
import sys
import jinja2
from collections import Counter
from common . dbc import dbc
def main ( ) :
if len ( sys . argv ) != 3 :
print " usage: %s dbc_directory output_directory " % ( sys . argv [ 0 ] , )
sys . exit ( 0 )
dbc_dir = sys . argv [ 1 ]
out_dir = sys . argv [ 2 ]
template_fn = os . path . join ( os . path . dirname ( __file__ ) , " dbc_template.cc " )
template_mtime = os . path . getmtime ( template_fn )
this_file_mtime = os . path . getmtime ( __file__ )
with open ( template_fn , " r " ) as template_f :
template = jinja2 . Template ( template_f . read ( ) , trim_blocks = True , lstrip_blocks = True )
for dbc_path in glob . iglob ( os . path . join ( dbc_dir , " *.dbc " ) ) :
dbc_mtime = os . path . getmtime ( dbc_path )
dbc_fn = os . path . split ( dbc_path ) [ 1 ]
dbc_name = os . path . splitext ( dbc_fn ) [ 0 ]
can_dbc = dbc ( dbc_path )
out_fn = os . path . join ( os . path . dirname ( __file__ ) , out_dir , dbc_name + " .cc " )
if os . path . exists ( out_fn ) :
out_mtime = os . path . getmtime ( out_fn )
else :
out_mtime = 0
if dbc_mtime < out_mtime and template_mtime < out_mtime and this_file_mtime < out_mtime :
continue #skip output is newer than template and dbc
msgs = [ ( address , msg_name , msg_size , sorted ( msg_sigs , key = lambda s : s . name not in ( " COUNTER " , " CHECKSUM " ) ) ) # process counter and checksums first
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
for address , ( ( msg_name , msg_size ) , msg_sigs ) in sorted ( can_dbc . msgs . items ( ) ) if msg_sigs ]
def_vals = { a : set ( b ) for a , b in can_dbc . def_vals . items ( ) } #remove duplicates
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
def_vals = [ ( address , sig ) for address , sig in sorted ( def_vals . items ( ) ) ]
if can_dbc . name . startswith ( " honda " ) or can_dbc . name . startswith ( " acura " ) :
checksum_type = " honda "
checksum_size = 4
elif can_dbc . name . startswith ( " toyota " ) or can_dbc . name . startswith ( " lexus " ) :
checksum_type = " toyota "
checksum_size = 8
else :
checksum_type = None
for address , msg_name , msg_size , sigs in msgs :
for sig in sigs :
if checksum_type is not None and sig . name == " CHECKSUM " :
if sig . size != checksum_size :
sys . exit ( " CHECKSUM is not %d bits longs %s " % ( checksum_size , msg_name ) )
if checksum_type == " honda " and sig . start_bit % 8 != 3 :
sys . exit ( " CHECKSUM starts at wrong bit %s " % msg_name )
if checksum_type == " toyota " and sig . start_bit % 8 != 7 :
sys . exit ( " CHECKSUM starts at wrong bit %s " % msg_name )
if checksum_type == " honda " and sig . name == " COUNTER " :
if sig . size != 2 :
sys . exit ( " COUNTER is not 2 bits longs %s " % msg_name )
if sig . start_bit % 8 != 5 :
sys . exit ( " COUNTER starts at wrong bit %s " % msg_name )
if address in [ 0x200 , 0x201 ] :
if sig . name == " COUNTER_PEDAL " and sig . size != 4 :
sys . exit ( " PEDAL COUNTER is not 4 bits longs %s " % msg_name )
if sig . name == " CHECKSUM_PEDAL " and sig . size != 8 :
sys . exit ( " PEDAL CHECKSUM is not 8 bits longs %s " % msg_name )
# Fail on duplicate message names
c = Counter ( [ msg_name for address , msg_name , msg_size , sigs in msgs ] )
for name , count in c . items ( ) :
if count > 1 :
sys . exit ( " Duplicate message name in DBC file %s " % name )
parser_code = template . render ( dbc = can_dbc , checksum_type = checksum_type , msgs = msgs , def_vals = def_vals , len = len )
with open ( out_fn , " w " ) as out_f :
out_f . write ( parser_code )
if __name__ == ' __main__ ' :
main ( )
