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CANParser: invalid until valid (#648) 

* CANParser: invalid until valid

* small test
This commit is contained in:
Adeeb Shihadeh 2022-06-22 15:13:59 -07:00 committed by GitHub
parent f4b182dae4
commit 82be71072c
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 36 additions and 7 deletions
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2
can/common.h
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@ -39,7 +39,7 @@ public:
std::vector<double> vals;
std::vector<std::vector<double>> all_vals;
uint64_t seen;
uint64_t last_seen_nanos;
uint64_t check_threshold;
uint8_t counter;

15
can/parser.cc
View File

@ -78,7 +78,7 @@ bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
vals[i] = tmp * sig.factor + sig.offset;
all_vals[i].push_back(vals[i]);
}
seen = sec;
last_seen_nanos = sec;
return true;
}
@ -290,11 +290,14 @@ void CANParser::UpdateValid(uint64_t sec) {
can_valid = true;
for (const auto& kv : message_states) {
const auto& state = kv.second;
if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
if (state.seen > 0) {
LOGE("0x%X TIMEOUT", state.address);
} else if (show_missing) {
const bool missing = state.last_seen_nanos == 0;
const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold;
if (state.check_threshold > 0 && (missing || timed_out)) {
if (missing) {
LOGE("0x%X MISSING", state.address);
} else if (show_missing) {
LOGE("0x%X TIMEOUT", state.address);
}
can_valid = false;
}
@ -306,7 +309,7 @@ std::vector<SignalValue> CANParser::query_latest() {
for (auto& kv : message_states) {
auto& state = kv.second;
if (last_sec != 0 && state.seen != last_sec) continue;
if (last_sec != 0 && state.last_seen_nanos != last_sec) continue;
for (int i = 0; i < state.parse_sigs.size(); i++) {
const Signal &sig = state.parse_sigs[i];

26
can/tests/test_packer_parser.py
View File

@ -45,6 +45,32 @@ class TestCanParserPacker(unittest.TestCase):
self.assertEqual(bus, b)
self.assertEqual(dat[0], i)
def test_parser_can_valid(self):
signals = [
("COUNTER", "CAN_FD_MESSAGE"),
]
checks = [("CAN_FD_MESSAGE", 10), ]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, signals, checks, 0)
# shouldn't be valid initially
self.assertFalse(parser.can_valid)
# not valid until the message is seen
for _ in range(100):
dat = can_list_to_can_capnp([])
parser.update_string(dat)
self.assertFalse(parser.can_valid)
# valid once seen
for i in range(1, 100):
t = int(0.01 * i * 1e9)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
dat = can_list_to_can_capnp([msg, ], logMonoTime=t)
parser.update_string(dat)
self.assertTrue(parser.can_valid)
def test_packer_parser(self):
signals = [