CANParser: add option to enforce message checks (#385)

* CANParser: add option to enforce message checks

* fix testss

* nice error msg

* fix tests

can/parser_pyx.pyx

@@ -33,14 +33,14 @@ cdef class CANParser:
     bool can_valid
     int can_invalid_cnt
 
-  def __init__(self, dbc_name, signals, checks=None, bus=0):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
     if checks is None:
       checks = []
     self.can_valid = True
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
+      raise RuntimeError(f"Can't find DBC: {dbc_name}")
     self.vl = {}
     self.ts = {}
 
@@ -74,6 +74,14 @@ cdef class CANParser:
         c = (self.msg_name_to_address[name], c[1])
         checks[i] = c
 
+    if enforce_checks:
+      checked_addrs = {c[0] for c in checks}
+      signal_addrs = {s[1] for s in signals}
+      unchecked = signal_addrs - checked_addrs
+      if len(unchecked):
+        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        raise RuntimeError(f"Unchecked addrs: {err_msg}")
+
     cdef vector[SignalParseOptions] signal_options_v
     cdef SignalParseOptions spo
     for sig_name, sig_address, sig_default in signals:
@@ -108,7 +116,6 @@ cdef class CANParser:
         self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
-
     for cv in can_values:
       # Cast char * directly to unicode
       name = <unicode>self.address_to_msg_name[cv.address].c_str()
@@ -149,8 +156,8 @@ cdef class CANDefine():
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
-      
+      raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
+
     num_vals = self.dbc[0].num_vals
 
     address_to_msg_name = {}

can/tests/test_dbc_exceptions.py

@@ -13,7 +13,7 @@ class TestCanParserPackerExceptions(unittest.TestCase):
       ("STEER_TORQUE", "STEERING_CONTROL", 0),
       ("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
     ]
-    checks = []
+    checks = [("STEERING_CONTROL", 50)]
     with self.assertRaises(RuntimeError):
       CANParser(dbc_invalid, signals, checks, 0)
     with self.assertRaises(RuntimeError):
@@ -21,6 +21,9 @@ class TestCanParserPackerExceptions(unittest.TestCase):
     with self.assertRaises(RuntimeError):
       CANDefine(dbc_invalid)
 
+    with self.assertRaises(RuntimeError):
+      CANParser(dbc_file, signals, [], 0)
+
     # Everything is supposed to work below
     CANParser(dbc_file, signals, checks, 0)
     CANPacker(dbc_file)

can/tests/test_packer_parser.py

@@ -33,7 +33,7 @@ class TestCanParserPacker(unittest.TestCase):
       ("STEER_TORQUE", "STEERING_CONTROL", 0),
       ("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
     ]
-    checks = []
+    checks = [("STEERING_CONTROL", 50)]
 
     parser = CANParser(dbc_file, signals, checks, 0)
     packer = CANPacker(dbc_file)
@@ -69,8 +69,7 @@ class TestCanParserPacker(unittest.TestCase):
       ("LKAS_Request", "ES_LKAS", 0),
       ("SET_1", "ES_LKAS", 0),
     ]
-
-    checks = []
+    checks = [("ES_LKAS", 50)]
 
     parser = CANParser(dbc_file, signals, checks, 0)
     packer = CANPacker(dbc_file)