openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

opendbc/can/common.h

@@ -0,0 +1,102 @@
+#pragma once
+
+#include <map>
+#include <string>
+#include <utility>
+#include <unordered_map>
+#include <vector>
+
+#include <capnp/dynamic.h>
+#include <capnp/serialize.h>
+
+#ifndef DYNAMIC_CAPNP
+#include "cereal/gen/cpp/log.capnp.h"
+#endif
+
+#include "opendbc/can/common_dbc.h"
+
+#define INFO printf
+#define WARN printf
+#define DEBUG(...)
+//#define DEBUG printf
+
+#define MAX_BAD_COUNTER 5
+#define CAN_INVALID_CNT 5
+
+void init_crc_lookup_tables();
+
+// Car specific functions
+unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+
+class MessageState {
+public:
+  std::string name;
+  uint32_t address;
+  unsigned int size;
+
+  std::vector<Signal> parse_sigs;
+  std::vector<double> vals;
+  std::vector<std::vector<double>> all_vals;
+
+  uint64_t last_seen_nanos;
+  uint64_t check_threshold;
+
+  uint8_t counter;
+  uint8_t counter_fail;
+
+  bool ignore_checksum = false;
+  bool ignore_counter = false;
+
+  bool parse(uint64_t nanos, const std::vector<uint8_t> &dat);
+  bool update_counter_generic(int64_t v, int cnt_size);
+};
+
+class CANParser {
+private:
+  const int bus;
+  kj::Array<capnp::word> aligned_buf;
+
+  const DBC *dbc = NULL;
+  std::unordered_map<uint32_t, MessageState> message_states;
+
+public:
+  bool can_valid = false;
+  bool bus_timeout = false;
+  uint64_t first_nanos = 0;
+  uint64_t last_nanos = 0;
+  uint64_t last_nonempty_nanos = 0;
+  uint64_t bus_timeout_threshold = 0;
+  uint64_t can_invalid_cnt = CAN_INVALID_CNT;
+
+  CANParser(int abus, const std::string& dbc_name,
+            const std::vector<std::pair<uint32_t, int>> &messages);
+  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
+  #ifndef DYNAMIC_CAPNP
+  void update_string(const std::string &data, bool sendcan);
+  void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
+  void UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans);
+  #endif
+  void UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cans);
+  void UpdateValid(uint64_t nanos);
+  void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
+};
+
+class CANPacker {
+private:
+  const DBC *dbc = NULL;
+  std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
+  std::map<uint32_t, Msg> message_lookup;
+  std::map<uint32_t, uint32_t> counters;
+
+public:
+  CANPacker(const std::string& dbc_name);
+  std::vector<uint8_t> pack(uint32_t address, const std::vector<SignalPackValue> &values);
+  Msg* lookup_message(uint32_t address);
+};