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105 lines
3.4 KiB
105 lines
3.4 KiB
# distutils: language = c++
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from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
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from libcpp cimport bool
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import os
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import numbers
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cdef int CAN_INVALID_CNT = 5
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cdef class CANParser:
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def __init__(self, dbc_name, signals, checks=None, bus=0, sendcan=False, tcp_addr="127.0.0.1", timeout=-1):
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self.test_mode_enabled = False
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can_dir = os.path.dirname(os.path.abspath(__file__))
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libdbc_fn = os.path.join(can_dir, "libdbc.so")
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cdef void *libdbc = dlopen(libdbc_fn, RTLD_LAZY)
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self.can_init_with_vectors = <can_init_with_vectors_func>dlsym(libdbc, 'can_init_with_vectors')
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self.dbc_lookup = <dbc_lookup_func>dlsym(libdbc, 'dbc_lookup')
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self.can_update = <can_update_func>dlsym(libdbc, 'can_update')
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self.can_query_vector = <can_query_vector_func>dlsym(libdbc, 'can_query_vector')
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if checks is None:
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checks = []
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self.can_valid = True
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self.dbc_name = dbc_name
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self.dbc = self.dbc_lookup(dbc_name)
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self.vl = {}
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self.ts = {}
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self.can_invalid_cnt = CAN_INVALID_CNT
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num_msgs = self.dbc[0].num_msgs
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for i in range(num_msgs):
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msg = self.dbc[0].msgs[i]
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self.msg_name_to_address[string(msg.name)] = msg.address
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self.address_to_msg_name[msg.address] = string(msg.name)
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self.vl[msg.address] = {}
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self.vl[str(msg.name)] = {}
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self.ts[msg.address] = {}
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self.ts[str(msg.name)] = {}
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# Convert message names into addresses
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for i in range(len(signals)):
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s = signals[i]
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if not isinstance(s[1], numbers.Number):
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s = (s[0], self.msg_name_to_address[s[1]], s[2])
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signals[i] = s
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for i in range(len(checks)):
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c = checks[i]
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if not isinstance(c[0], numbers.Number):
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c = (self.msg_name_to_address[c[0]], c[1])
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checks[i] = c
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cdef vector[SignalParseOptions] signal_options_v
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cdef SignalParseOptions spo
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for sig_name, sig_address, sig_default in signals:
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spo.address = sig_address
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spo.name = sig_name
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spo.default_value = sig_default
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signal_options_v.push_back(spo)
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message_options = dict((address, 0) for _, address, _ in signals)
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message_options.update(dict(checks))
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cdef vector[MessageParseOptions] message_options_v
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cdef MessageParseOptions mpo
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for msg_address, freq in message_options.items():
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mpo.address = msg_address
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mpo.check_frequency = freq
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message_options_v.push_back(mpo)
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self.can = self.can_init_with_vectors(bus, dbc_name, message_options_v, signal_options_v, sendcan, tcp_addr, timeout)
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self.update_vl(0)
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cdef unordered_set[uint32_t] update_vl(self, uint64_t sec):
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cdef string sig_name
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cdef unordered_set[uint32_t] updated_val
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cdef bool valid = False
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self.can_query_vector(self.can, sec, &valid, self.can_values)
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# Update invalid flag
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self.can_invalid_cnt += 1
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if valid:
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self.can_invalid_cnt = 0
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self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
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for cv in self.can_values:
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self.vl[cv.address][string(cv.name)] = cv.value
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self.ts[cv.address][string(cv.name)] = cv.ts
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sig_name = self.address_to_msg_name[cv.address]
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self.vl[sig_name][string(cv.name)] = cv.value
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self.ts[sig_name][string(cv.name)] = cv.ts
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updated_val.insert(cv.address)
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return updated_val
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def update(self, uint64_t sec, bool wait):
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r = (self.can_update(self.can, sec, wait) >= 0)
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updated_val = self.update_vl(sec)
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return r, updated_val
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