openpilot v0.9.6 release

date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
1881 changed files with 653708 additions and 0 deletions
--- a/opendbc/can/common.pxd
+++ b/opendbc/can/common.pxd
@@ -0,0 +1,75 @@
+# distutils: language = c++
+# cython: language_level=3
+
+from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
+from libcpp cimport bool
+from libcpp.pair cimport pair
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+
+
+ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
+
+cdef extern from "common_dbc.h":
+  ctypedef enum SignalType:
+    DEFAULT,
+    COUNTER,
+    HONDA_CHECKSUM,
+    TOYOTA_CHECKSUM,
+    PEDAL_CHECKSUM,
+    VOLKSWAGEN_MQB_CHECKSUM,
+    XOR_CHECKSUM,
+    SUBARU_CHECKSUM,
+    CHRYSLER_CHECKSUM
+    HKG_CAN_FD_CHECKSUM,
+
+  cdef struct Signal:
+    string name
+    int start_bit, msb, lsb, size
+    bool is_signed
+    double factor, offset
+    bool is_little_endian
+    SignalType type
+    calc_checksum_type calc_checksum
+
+  cdef struct Msg:
+    string name
+    uint32_t address
+    unsigned int size
+    vector[Signal] sigs
+
+  cdef struct Val:
+    string name
+    uint32_t address
+    string def_val
+    vector[Signal] sigs
+
+  cdef struct DBC:
+    string name
+    vector[Msg] msgs
+    vector[Val] vals
+
+  cdef struct SignalValue:
+    uint32_t address
+    uint64_t ts_nanos
+    string name
+    double value
+    vector[double] all_values
+
+  cdef struct SignalPackValue:
+    string name
+    double value
+
+
+cdef extern from "common.h":
+  cdef const DBC* dbc_lookup(const string) except +
+
+  cdef cppclass CANParser:
+    bool can_valid
+    bool bus_timeout
+    CANParser(int, string, vector[pair[uint32_t, int]]) except +
+    void update_strings(vector[string]&, vector[SignalValue]&, bool) except +
+
+  cdef cppclass CANPacker:
+   CANPacker(string)
+   vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&)