mirror of https://github.com/rusefi/opendbc.git
CANParser: invalid until valid (#648)
* CANParser: invalid until valid * small test
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@ -39,7 +39,7 @@ public:
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std::vector<double> vals;
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std::vector<std::vector<double>> all_vals;
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uint64_t seen;
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uint64_t last_seen_nanos;
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uint64_t check_threshold;
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uint8_t counter;
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@ -78,7 +78,7 @@ bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
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vals[i] = tmp * sig.factor + sig.offset;
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all_vals[i].push_back(vals[i]);
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}
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seen = sec;
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last_seen_nanos = sec;
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return true;
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}
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@ -290,11 +290,14 @@ void CANParser::UpdateValid(uint64_t sec) {
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can_valid = true;
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for (const auto& kv : message_states) {
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const auto& state = kv.second;
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if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
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if (state.seen > 0) {
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LOGE("0x%X TIMEOUT", state.address);
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} else if (show_missing) {
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const bool missing = state.last_seen_nanos == 0;
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const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold;
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if (state.check_threshold > 0 && (missing || timed_out)) {
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if (missing) {
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LOGE("0x%X MISSING", state.address);
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} else if (show_missing) {
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LOGE("0x%X TIMEOUT", state.address);
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}
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can_valid = false;
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}
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@ -306,7 +309,7 @@ std::vector<SignalValue> CANParser::query_latest() {
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for (auto& kv : message_states) {
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auto& state = kv.second;
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if (last_sec != 0 && state.seen != last_sec) continue;
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if (last_sec != 0 && state.last_seen_nanos != last_sec) continue;
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for (int i = 0; i < state.parse_sigs.size(); i++) {
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const Signal &sig = state.parse_sigs[i];
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@ -45,6 +45,32 @@ class TestCanParserPacker(unittest.TestCase):
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self.assertEqual(bus, b)
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self.assertEqual(dat[0], i)
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def test_parser_can_valid(self):
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signals = [
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("COUNTER", "CAN_FD_MESSAGE"),
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]
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checks = [("CAN_FD_MESSAGE", 10), ]
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packer = CANPacker(TEST_DBC)
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parser = CANParser(TEST_DBC, signals, checks, 0)
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# shouldn't be valid initially
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self.assertFalse(parser.can_valid)
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# not valid until the message is seen
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for _ in range(100):
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dat = can_list_to_can_capnp([])
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parser.update_string(dat)
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self.assertFalse(parser.can_valid)
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# valid once seen
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for i in range(1, 100):
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t = int(0.01 * i * 1e9)
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msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
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dat = can_list_to_can_capnp([msg, ], logMonoTime=t)
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parser.update_string(dat)
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self.assertTrue(parser.can_valid)
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def test_packer_parser(self):
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signals = [
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