openpilot v0.9.6 release

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

selfdrive/boardd/boardd_api_impl.pyx

@@ -0,0 +1,30 @@
+# distutils: language = c++
+# cython: language_level=3
+from libcpp.vector cimport vector
+from libcpp.string cimport string
+from libcpp cimport bool
+
+cdef extern from "panda.h":
+  cdef struct can_frame:
+    long address
+    string dat
+    long busTime
+    long src
+
+cdef extern from "can_list_to_can_capnp.cc":
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
+
+def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+  cdef vector[can_frame] can_list
+  can_list.reserve(len(can_msgs))
+
+  cdef can_frame f
+  for can_msg in can_msgs:
+    f.address = can_msg[0]
+    f.busTime = can_msg[1]
+    f.dat = can_msg[2]
+    f.src = can_msg[3]
+    can_list.push_back(f)
+  cdef string out
+  can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
+  return out