import struct
from selfdrive . can . libdbc_py import libdbc , ffi
class CANPacker ( object ) :
def __init__ ( self , dbc_name ) :
self . packer = libdbc . canpack_init ( dbc_name )
self . dbc = libdbc . dbc_lookup ( dbc_name )
self . sig_names = { }
self . name_to_address_and_size = { }
num_msgs = self . dbc [ 0 ] . num_msgs
for i in range ( num_msgs ) :
msg = self . dbc [ 0 ] . msgs [ i ]
name = ffi . string ( msg . name )
address = msg . address
self . name_to_address_and_size [ name ] = ( address , msg . size )
self . name_to_address_and_size [ address ] = ( address , msg . size )
def pack ( self , addr , values , counter ) :
values_thing = [ ]
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)
6 years ago
for name , value in values . items ( ) :
if name not in self . sig_names :
self . sig_names [ name ] = ffi . new ( " char[] " , name )
values_thing . append ( {
' name ' : self . sig_names [ name ] ,
' value ' : value
} )
values_c = ffi . new ( " SignalPackValue[] " , values_thing )
return libdbc . canpack_pack ( self . packer , addr , len ( values_thing ) , values_c , counter )
def pack_bytes ( self , addr , values , counter = - 1 ) :
addr , size = self . name_to_address_and_size [ addr ]
val = self . pack ( addr , values , counter )
r = struct . pack ( " >Q " , val )
return addr , r [ : size ]
def make_can_msg ( self , addr , bus , values , counter = - 1 ) :
addr , msg = self . pack_bytes ( addr , values , counter )
return [ addr , 0 , msg , bus ]
if __name__ == " __main__ " :
## little endian test
cp = CANPacker ( " hyundai_santa_fe_2019_ccan " )
s = cp . pack_bytes ( 0x340 , {
" CR_Lkas_StrToqReq " : - 0.06 ,
#"CF_Lkas_FcwBasReq": 1,
" CF_Lkas_MsgCount " : 7 ,
" CF_Lkas_HbaSysState " : 0 ,
#"CF_Lkas_Chksum": 3,
} )
s = cp . pack_bytes ( 0x340 , {
" CF_Lkas_MsgCount " : 1 ,
} )
# big endian test
#cp = CANPacker("honda_civic_touring_2016_can_generated")
#s = cp.pack_bytes(0xe4, {
# "STEER_TORQUE": -2,
#})
print ( [ hex ( ord ( v ) ) for v in s [ 1 ] ] )
print ( s [ 1 ] . encode ( " hex " ) )
