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.
486 lines
13 KiB
486 lines
13 KiB
#include <cstdio>
|
|
#include <cstdint>
|
|
#include <cassert>
|
|
#include <cstring>
|
|
|
|
#include <unistd.h>
|
|
#include <fcntl.h>
|
|
#include <sys/stat.h>
|
|
#include <sys/mman.h>
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
#include <algorithm>
|
|
#include <unordered_map>
|
|
|
|
#include <zmq.h>
|
|
|
|
#include <capnp/serialize.h>
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
|
|
|
#include "common.h"
|
|
|
|
#define DEBUG(...)
|
|
// #define DEBUG printf
|
|
#define INFO printf
|
|
|
|
|
|
#define MAX_BAD_COUNTER 5
|
|
|
|
unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
|
|
d >>= ((8-l)*8); // remove padding
|
|
d >>= 4; // remove checksum
|
|
|
|
int s = 0;
|
|
while (address) { s += (address & 0xF); address >>= 4; }
|
|
while (d) { s += (d & 0xF); d >>= 4; }
|
|
s = 8-s;
|
|
s &= 0xF;
|
|
|
|
return s;
|
|
}
|
|
|
|
unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
|
|
d >>= ((8-l)*8); // remove padding
|
|
d >>= 8; // remove checksum
|
|
|
|
unsigned int s = l;
|
|
while (address) { s += address & 0xff; address >>= 8; }
|
|
while (d) { s += d & 0xff; d >>= 8; }
|
|
|
|
return s & 0xFF;
|
|
}
|
|
|
|
namespace {
|
|
|
|
uint64_t read_u64_be(const uint8_t* v) {
|
|
return (((uint64_t)v[0] << 56)
|
|
| ((uint64_t)v[1] << 48)
|
|
| ((uint64_t)v[2] << 40)
|
|
| ((uint64_t)v[3] << 32)
|
|
| ((uint64_t)v[4] << 24)
|
|
| ((uint64_t)v[5] << 16)
|
|
| ((uint64_t)v[6] << 8)
|
|
| (uint64_t)v[7]);
|
|
}
|
|
|
|
uint64_t read_u64_le(const uint8_t* v) {
|
|
return ((uint64_t)v[0]
|
|
| ((uint64_t)v[1] << 8)
|
|
| ((uint64_t)v[2] << 16)
|
|
| ((uint64_t)v[3] << 24)
|
|
| ((uint64_t)v[4] << 32)
|
|
| ((uint64_t)v[5] << 40)
|
|
| ((uint64_t)v[6] << 48)
|
|
| ((uint64_t)v[7] << 56));
|
|
}
|
|
|
|
|
|
struct MessageState {
|
|
uint32_t address;
|
|
unsigned int size;
|
|
|
|
std::vector<Signal> parse_sigs;
|
|
std::vector<double> vals;
|
|
|
|
uint16_t ts;
|
|
uint64_t seen;
|
|
uint64_t check_threshold;
|
|
|
|
uint8_t counter;
|
|
uint8_t counter_fail;
|
|
|
|
bool parse(uint64_t sec, uint16_t ts_, uint64_t dat) {
|
|
for (int i=0; i < parse_sigs.size(); i++) {
|
|
auto& sig = parse_sigs[i];
|
|
int64_t tmp;
|
|
|
|
if (sig.is_little_endian){
|
|
tmp = (dat >> sig.b1) & ((1ULL << sig.b2)-1);
|
|
} else {
|
|
tmp = (dat >> sig.bo) & ((1ULL << sig.b2)-1);
|
|
}
|
|
|
|
if (sig.is_signed) {
|
|
tmp -= (tmp >> (sig.b2-1)) ? (1ULL << sig.b2) : 0; //signed
|
|
}
|
|
|
|
DEBUG("parse %X %s -> %lld\n", address, sig.name, tmp);
|
|
|
|
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
|
if (honda_checksum(address, dat, size) != tmp) {
|
|
INFO("%X CHECKSUM FAIL\n", address);
|
|
return false;
|
|
}
|
|
} else if (sig.type == SignalType::HONDA_COUNTER) {
|
|
if (!honda_update_counter(tmp)) {
|
|
return false;
|
|
}
|
|
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
|
// INFO("CHECKSUM %d %d %018llX - %lld vs %d\n", address, size, dat, tmp, toyota_checksum(address, dat, size));
|
|
|
|
if (toyota_checksum(address, dat, size) != tmp) {
|
|
INFO("%X CHECKSUM FAIL\n", address);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
vals[i] = tmp * sig.factor + sig.offset;
|
|
}
|
|
ts = ts_;
|
|
seen = sec;
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool honda_update_counter(int64_t v) {
|
|
uint8_t old_counter = counter;
|
|
counter = v;
|
|
if (((old_counter+1) & 3) != v) {
|
|
counter_fail += 1;
|
|
if (counter_fail > 1) {
|
|
INFO("%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v);
|
|
}
|
|
if (counter_fail >= MAX_BAD_COUNTER) {
|
|
return false;
|
|
}
|
|
} else if (counter_fail > 0) {
|
|
counter_fail--;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
};
|
|
|
|
|
|
class CANParser {
|
|
public:
|
|
CANParser(int abus, const std::string& dbc_name,
|
|
const std::vector<MessageParseOptions> &options,
|
|
const std::vector<SignalParseOptions> &sigoptions,
|
|
bool sendcan, const std::string& tcp_addr)
|
|
: bus(abus) {
|
|
// connect to can on 8006
|
|
context = zmq_ctx_new();
|
|
subscriber = zmq_socket(context, ZMQ_SUB);
|
|
zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
|
|
|
|
std::string tcp_addr_str;
|
|
|
|
if (sendcan) {
|
|
tcp_addr_str = "tcp://" + tcp_addr + ":8017";
|
|
} else {
|
|
tcp_addr_str = "tcp://" + tcp_addr + ":8006";
|
|
}
|
|
const char *tcp_addr_char = tcp_addr_str.c_str();
|
|
|
|
zmq_connect(subscriber, tcp_addr_char);
|
|
|
|
dbc = dbc_lookup(dbc_name);
|
|
assert(dbc);
|
|
|
|
for (const auto& op : options) {
|
|
MessageState state = {
|
|
.address = op.address,
|
|
// .check_frequency = op.check_frequency,
|
|
};
|
|
|
|
// msg is not valid if a message isn't received for 10 consecutive steps
|
|
if (op.check_frequency > 0) {
|
|
state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
|
|
}
|
|
|
|
|
|
const Msg* msg = NULL;
|
|
for (int i=0; i<dbc->num_msgs; i++) {
|
|
if (dbc->msgs[i].address == op.address) {
|
|
msg = &dbc->msgs[i];
|
|
break;
|
|
}
|
|
}
|
|
if (!msg) {
|
|
fprintf(stderr, "CANParser: could not find message 0x%X in dnc %s\n", op.address, dbc_name.c_str());
|
|
assert(false);
|
|
}
|
|
|
|
state.size = msg->size;
|
|
|
|
// track checksums and counters for this message
|
|
for (int i=0; i<msg->num_sigs; i++) {
|
|
const Signal *sig = &msg->sigs[i];
|
|
if (sig->type != SignalType::DEFAULT) {
|
|
state.parse_sigs.push_back(*sig);
|
|
state.vals.push_back(0);
|
|
}
|
|
}
|
|
|
|
// track requested signals for this message
|
|
for (const auto& sigop : sigoptions) {
|
|
if (sigop.address != op.address) continue;
|
|
|
|
for (int i=0; i<msg->num_sigs; i++) {
|
|
const Signal *sig = &msg->sigs[i];
|
|
if (strcmp(sig->name, sigop.name) == 0
|
|
&& sig->type == SignalType::DEFAULT) {
|
|
state.parse_sigs.push_back(*sig);
|
|
state.vals.push_back(sigop.default_value);
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
message_states[state.address] = state;
|
|
}
|
|
}
|
|
|
|
void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
|
|
int msg_count = cans.size();
|
|
uint64_t p;
|
|
|
|
DEBUG("got %d messages\n", msg_count);
|
|
|
|
// parse the messages
|
|
for (int i = 0; i < msg_count; i++) {
|
|
auto cmsg = cans[i];
|
|
if (cmsg.getSrc() != bus) {
|
|
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
|
|
continue;
|
|
}
|
|
auto state_it = message_states.find(cmsg.getAddress());
|
|
if (state_it == message_states.end()) {
|
|
// DEBUG("skip %d: not specified\n", cmsg.getAddress());
|
|
continue;
|
|
}
|
|
|
|
if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
|
|
uint8_t dat[8] = {0};
|
|
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
|
|
|
// Assumes all signals in the message are of the same type (little or big endian)
|
|
auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
|
|
if (sig.is_little_endian) {
|
|
p = read_u64_le(dat);
|
|
} else {
|
|
p = read_u64_be(dat);
|
|
}
|
|
|
|
DEBUG(" proc %X: %llx\n", cmsg.getAddress(), p);
|
|
|
|
state_it->second.parse(sec, cmsg.getBusTime(), p);
|
|
}
|
|
}
|
|
|
|
void UpdateValid(uint64_t sec) {
|
|
can_valid = true;
|
|
for (const auto& kv : message_states) {
|
|
const auto& state = kv.second;
|
|
if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
|
|
if (state.seen > 0) {
|
|
DEBUG("%X TIMEOUT\n", state.address);
|
|
}
|
|
can_valid = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
void update(uint64_t sec, bool wait) {
|
|
int err;
|
|
|
|
// recv from can
|
|
zmq_msg_t msg;
|
|
zmq_msg_init(&msg);
|
|
|
|
// multiple recv is fine
|
|
bool first = wait;
|
|
while (1) {
|
|
if (first) {
|
|
err = zmq_msg_recv(&msg, subscriber, 0);
|
|
first = false;
|
|
} else {
|
|
err = zmq_msg_recv(&msg, subscriber, ZMQ_DONTWAIT);
|
|
}
|
|
if (err < 0) break;
|
|
|
|
// format for board, make copy due to alignment issues, will be freed on out of scope
|
|
auto amsg = kj::heapArray<capnp::word>((zmq_msg_size(&msg) / sizeof(capnp::word)) + 1);
|
|
memcpy(amsg.begin(), zmq_msg_data(&msg), zmq_msg_size(&msg));
|
|
|
|
// extract the messages
|
|
capnp::FlatArrayMessageReader cmsg(amsg);
|
|
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
|
|
|
auto cans = event.getCan();
|
|
|
|
UpdateCans(sec, cans);
|
|
}
|
|
|
|
UpdateValid(sec);
|
|
|
|
zmq_msg_close(&msg);
|
|
}
|
|
|
|
std::vector<SignalValue> query(uint64_t sec) {
|
|
std::vector<SignalValue> ret;
|
|
|
|
for (const auto& kv : message_states) {
|
|
const auto& state = kv.second;
|
|
if (sec != 0 && state.seen != sec) continue;
|
|
|
|
for (int i=0; i<state.parse_sigs.size(); i++) {
|
|
const Signal &sig = state.parse_sigs[i];
|
|
ret.push_back((SignalValue){
|
|
.address = state.address,
|
|
.ts = state.ts,
|
|
.name = sig.name,
|
|
.value = state.vals[i],
|
|
});
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
bool can_valid = false;
|
|
|
|
private:
|
|
const int bus;
|
|
// zmq vars
|
|
void *context = NULL;
|
|
void *subscriber = NULL;
|
|
|
|
const DBC *dbc = NULL;
|
|
std::unordered_map<uint32_t, MessageState> message_states;
|
|
};
|
|
|
|
}
|
|
|
|
extern "C" {
|
|
|
|
void* can_init(int bus, const char* dbc_name,
|
|
size_t num_message_options, const MessageParseOptions* message_options,
|
|
size_t num_signal_options, const SignalParseOptions* signal_options,
|
|
bool sendcan, const char* tcp_addr) {
|
|
CANParser* ret = new CANParser(bus, std::string(dbc_name),
|
|
(message_options ? std::vector<MessageParseOptions>(message_options, message_options+num_message_options)
|
|
: std::vector<MessageParseOptions>{}),
|
|
(signal_options ? std::vector<SignalParseOptions>(signal_options, signal_options+num_signal_options)
|
|
: std::vector<SignalParseOptions>{}), sendcan, std::string(tcp_addr));
|
|
return (void*)ret;
|
|
}
|
|
|
|
void can_update(void* can, uint64_t sec, bool wait) {
|
|
CANParser* cp = (CANParser*)can;
|
|
cp->update(sec, wait);
|
|
}
|
|
|
|
size_t can_query(void* can, uint64_t sec, bool *out_can_valid, size_t out_values_size, SignalValue* out_values) {
|
|
CANParser* cp = (CANParser*)can;
|
|
|
|
if (out_can_valid) {
|
|
*out_can_valid = cp->can_valid;
|
|
}
|
|
|
|
const std::vector<SignalValue> values = cp->query(sec);
|
|
if (out_values) {
|
|
std::copy(values.begin(), values.begin()+std::min(out_values_size, values.size()), out_values);
|
|
}
|
|
return values.size();
|
|
};
|
|
|
|
}
|
|
|
|
#ifdef TEST
|
|
|
|
int main(int argc, char** argv) {
|
|
CANParser cp(0, "honda_civic_touring_2016_can",
|
|
std::vector<MessageParseOptions>{
|
|
// address, check_frequency
|
|
{0x14a, 100},
|
|
{0x158, 100},
|
|
{0x17c, 100},
|
|
{0x191, 100},
|
|
{0x1a4, 50},
|
|
{0x326, 10},
|
|
{0x1b0, 50},
|
|
{0x1d0, 50},
|
|
{0x305, 10},
|
|
{0x324, 10},
|
|
{0x405, 3},
|
|
{0x18f, 0},
|
|
{0x130, 0},
|
|
{0x296, 0},
|
|
{0x30c, 0},
|
|
},
|
|
std::vector<SignalParseOptions>{
|
|
// sig_name, sig_address, default
|
|
{0x158, "XMISSION_SPEED", 0},
|
|
{0x1d0, "WHEEL_SPEED_FL", 0},
|
|
{0x1d0, "WHEEL_SPEED_FR", 0},
|
|
{0x1d0, "WHEEL_SPEED_RL", 0},
|
|
{0x14a, "STEER_ANGLE", 0},
|
|
{0x18f, "STEER_TORQUE_SENSOR", 0},
|
|
{0x191, "GEAR", 0},
|
|
{0x1b0, "WHEELS_MOVING", 1},
|
|
{0x405, "DOOR_OPEN_FL", 1},
|
|
{0x405, "DOOR_OPEN_FR", 1},
|
|
{0x405, "DOOR_OPEN_RL", 1},
|
|
{0x405, "DOOR_OPEN_RR", 1},
|
|
{0x324, "CRUISE_SPEED_PCM", 0},
|
|
{0x305, "SEATBELT_DRIVER_LAMP", 1},
|
|
{0x305, "SEATBELT_DRIVER_LATCHED", 0},
|
|
{0x17c, "BRAKE_PRESSED", 0},
|
|
{0x130, "CAR_GAS", 0},
|
|
{0x296, "CRUISE_BUTTONS", 0},
|
|
{0x1a4, "ESP_DISABLED", 1},
|
|
{0x30c, "HUD_LEAD", 0},
|
|
{0x1a4, "USER_BRAKE", 0},
|
|
{0x18f, "STEER_STATUS", 5},
|
|
{0x1d0, "WHEEL_SPEED_RR", 0},
|
|
{0x1b0, "BRAKE_ERROR_1", 1},
|
|
{0x1b0, "BRAKE_ERROR_2", 1},
|
|
{0x191, "GEAR_SHIFTER", 0},
|
|
{0x326, "MAIN_ON", 0},
|
|
{0x17c, "ACC_STATUS", 0},
|
|
{0x17c, "PEDAL_GAS", 0},
|
|
{0x296, "CRUISE_SETTING", 0},
|
|
{0x326, "LEFT_BLINKER", 0},
|
|
{0x326, "RIGHT_BLINKER", 0},
|
|
{0x324, "COUNTER", 0},
|
|
{0x17c, "ENGINE_RPM", 0},
|
|
});
|
|
|
|
|
|
|
|
const std::string log_fn = "dats.bin";
|
|
|
|
int log_fd = open(log_fn.c_str(), O_RDONLY, 0);
|
|
assert(log_fd >= 0);
|
|
|
|
off_t log_size = lseek(log_fd, 0, SEEK_END);
|
|
lseek(log_fd, 0, SEEK_SET);
|
|
|
|
void* log_data = mmap(NULL, log_size, PROT_READ, MAP_PRIVATE, log_fd, 0);
|
|
assert(log_data);
|
|
|
|
auto words = kj::arrayPtr((const capnp::word*)log_data, log_size/sizeof(capnp::word));
|
|
while (words.size() > 0) {
|
|
capnp::FlatArrayMessageReader reader(words);
|
|
|
|
auto evt = reader.getRoot<cereal::Event>();
|
|
auto cans = evt.getCan();
|
|
|
|
cp.UpdateCans(0, cans);
|
|
|
|
words = kj::arrayPtr(reader.getEnd(), words.end());
|
|
}
|
|
|
|
munmap(log_data, log_size);
|
|
|
|
close(log_fd);
|
|
|
|
return 0;
|
|
}
|
|
|
|
#endif
|
|
|