From 82be71072c52fc78cf0e1eabc396af26c18ddc11 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Jun 2022 15:13:59 -0700
Subject: [PATCH] CANParser: invalid until valid (#648)

* CANParser: invalid until valid

* small test
---
 can/common.h                    |  2 +-
 can/parser.cc                   | 15 +++++++++------
 can/tests/test_packer_parser.py | 26 ++++++++++++++++++++++++++
 3 files changed, 36 insertions(+), 7 deletions(-)

diff --git a/can/common.h b/can/common.h
index 7e35e06..68a2621 100644
--- a/can/common.h
+++ b/can/common.h
@@ -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;
diff --git a/can/parser.cc b/can/parser.cc
index 7e6d604..d4e8427 100644
--- a/can/parser.cc
+++ b/can/parser.cc
@@ -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];
diff --git a/can/tests/test_packer_parser.py b/can/tests/test_packer_parser.py
index 496f043..5f615aa 100755
--- a/can/tests/test_packer_parser.py
+++ b/can/tests/test_packer_parser.py
@@ -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 = [