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68 lines
1.8 KiB
68 lines
1.8 KiB
# distutils: language = c++
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# cython: c_string_encoding=ascii, language_level=3
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from libc.stdint cimport uint8_t, uint32_t
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from libcpp.string cimport string
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from libcpp.vector cimport vector
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from .common cimport CANPacker as cpp_CANPacker
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from .common cimport dbc_lookup, SignalPackValue, DBC, Msg
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cdef class CANPacker:
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cdef:
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cpp_CANPacker *packer
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const DBC *dbc
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def __init__(self, dbc_name):
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self.dbc = dbc_lookup(dbc_name)
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if not self.dbc:
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raise RuntimeError(f"Can't lookup {dbc_name}")
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cdef string cpp_dbc_name
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if isinstance(dbc_name, str):
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cpp_dbc_name = dbc_name.encode('utf-8')
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else:
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cpp_dbc_name = dbc_name
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with nogil:
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self.packer = new cpp_CANPacker(cpp_dbc_name)
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def __dealloc__(self):
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if self.packer:
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with nogil:
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del self.packer
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cdef vector[uint8_t] pack(self, addr, values):
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cdef vector[SignalPackValue] values_thing
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cdef uint32_t value_len = len(values)
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with nogil:
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values_thing.reserve(value_len)
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cdef SignalPackValue spv
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for name, value in values.iteritems():
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spv.name = name.encode("utf8")
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spv.value = value
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with nogil:
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values_thing.push_back(spv)
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cdef vector[uint8_t] result
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cdef uint32_t addr_cpp = addr
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with nogil:
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result = self.packer.pack(addr_cpp, values_thing)
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return result
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cpdef make_can_msg(self, name_or_addr, bus, values):
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cdef uint32_t addr = 0
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cdef const Msg* m
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if isinstance(name_or_addr, int):
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addr = name_or_addr
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else:
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try:
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m = self.dbc.name_to_msg.at(name_or_addr.encode("utf8"))
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addr = m.address
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except IndexError:
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# The C++ pack function will log an error message for invalid addresses
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pass
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cdef vector[uint8_t] val = self.pack(addr, values)
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return addr, (<char *>&val[0])[:val.size()], bus
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