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56 lines
1.7 KiB
56 lines
1.7 KiB
# distutils: language = c++
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# cython: language_level=3
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from cython.operator cimport dereference as deref, preincrement as preinc
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from libcpp.vector cimport vector
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from libcpp.string cimport string
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from libcpp cimport bool
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from libc.stdint cimport uint8_t, uint32_t, uint64_t
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cdef extern from "opendbc/can/common.h":
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cdef struct CanFrame:
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long src
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uint32_t address
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vector[uint8_t] dat
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cdef struct CanData:
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uint64_t nanos
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vector[CanFrame] frames
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cdef extern from "can_list_to_can_capnp.cc":
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void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil
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void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
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def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
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cdef CanFrame *f
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cdef vector[CanFrame] can_list
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cdef uint32_t cpp_can_msgs_len = len(can_msgs)
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with nogil:
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can_list.reserve(cpp_can_msgs_len)
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for can_msg in can_msgs:
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f = &(can_list.emplace_back())
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f.address = can_msg[0]
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f.dat = can_msg[1]
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f.src = can_msg[2]
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cdef string out
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cdef bool is_sendcan = (msgtype == 'sendcan')
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cdef bool is_valid = valid
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with nogil:
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can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid)
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return out
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def can_capnp_to_list(strings, msgtype='can'):
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cdef vector[CanData] data
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can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
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result = []
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cdef CanData *d
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cdef vector[CanData].iterator it = data.begin()
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while it != data.end():
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d = &deref(it)
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frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
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result.append((d.nanos, frames))
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preinc(it)
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return result
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