openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/boardd/can_list_to_can_capnp.cc

@@ -0,0 +1,21 @@
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/boardd/panda.h"
+
+void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
+  MessageBuilder msg;
+  auto event = msg.initEvent(valid);
+
+  auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
+  int j = 0;
+  for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
+    auto c = canData[j];
+    c.setAddress(it->address);
+    c.setBusTime(it->busTime);
+    c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
+    c.setSrc(it->src);
+  }
+  const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
+  out.resize(msg_size);
+  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
+  capnp::writeMessage(output_stream, msg);
+}