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CANParser: rename timestamp variables (#972) 

replace sec with nanos
This commit is contained in:
Shane Smiskol 2023-11-10 01:24:44 -08:00 committed by GitHub
parent b8789b3e16
commit a7b8bcfebb
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 29 additions and 29 deletions
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14
can/common.h
View File

@ -54,7 +54,7 @@ public:
bool ignore_checksum = false;
bool ignore_counter = false;
bool parse(uint64_t sec, const std::vector<uint8_t> &dat);
bool parse(uint64_t nanos, const std::vector<uint8_t> &dat);
bool update_counter_generic(int64_t v, int cnt_size);
};
@ -69,9 +69,9 @@ private:
public:
bool can_valid = false;
bool bus_timeout = false;
uint64_t first_sec = 0;
uint64_t last_sec = 0;
uint64_t last_nonempty_sec = 0;
uint64_t first_nanos = 0;
uint64_t last_nanos = 0;
uint64_t last_nonempty_nanos = 0;
uint64_t bus_timeout_threshold = 0;
uint64_t can_invalid_cnt = CAN_INVALID_CNT;
@ -81,10 +81,10 @@ public:
#ifndef DYNAMIC_CAPNP
void update_string(const std::string &data, bool sendcan);
void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
void UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans);
#endif
void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
void UpdateValid(uint64_t sec);
void UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cans);
void UpdateValid(uint64_t nanos);
void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
};

44
can/parser.cc
View File

@ -33,7 +33,7 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
}
bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
for (int i = 0; i < parse_sigs.size(); i++) {
const auto &sig = parse_sigs[i];
@ -67,7 +67,7 @@ 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]);
}
last_seen_nanos = sec;
last_seen_nanos = nanos;
return true;
}
@ -101,7 +101,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector<st
for (const auto& [address, frequency] : messages) {
// disallow duplicate message checks
if (message_states.find(address) != message_states.end()) {
if (message_states.find(address) != message_states.end()) {
std::stringstream is;
is << "Duplicate Message Check: " << address;
throw std::runtime_error(is.str());
@ -182,29 +182,29 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
if (first_sec == 0) {
first_sec = event.getLogMonoTime();
if (first_nanos == 0) {
first_nanos = event.getLogMonoTime();
}
last_sec = event.getLogMonoTime();
last_nanos = event.getLogMonoTime();
auto cans = sendcan ? event.getSendcan() : event.getCan();
UpdateCans(last_sec, cans);
UpdateCans(last_nanos, cans);
UpdateValid(last_sec);
UpdateValid(last_nanos);
}
void CANParser::update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan) {
uint64_t current_sec = 0;
uint64_t current_nanos = 0;
for (const auto &d : data) {
update_string(d, sendcan);
if (current_sec == 0) {
current_sec = last_sec;
if (current_nanos == 0) {
current_nanos = last_nanos;
}
}
query_latest(vals, current_sec);
query_latest(vals, current_nanos);
}
void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
void CANParser::UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans) {
//DEBUG("got %d messages\n", cans.size());
bool bus_empty = true;
@ -238,18 +238,18 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
std::vector<uint8_t> data(dat.size(), 0);
memcpy(data.data(), dat.begin(), dat.size());
state_it->second.parse(sec, data);
state_it->second.parse(nanos, data);
}
// update bus timeout
if (!bus_empty) {
last_nonempty_sec = sec;
last_nonempty_nanos = nanos;
}
bus_timeout = (sec - last_nonempty_sec) > bus_timeout_threshold;
bus_timeout = (nanos - last_nonempty_nanos) > bus_timeout_threshold;
}
#endif
void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
void CANParser::UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cmsg) {
// assume message struct is `cereal::CanData` and parse
assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
@ -268,11 +268,11 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cms
if (dat.size() > 64) return; // shouldn't ever happen
std::vector<uint8_t> data(dat.size(), 0);
memcpy(data.data(), dat.begin(), dat.size());
state_it->second.parse(sec, data);
state_it->second.parse(nanos, data);
}
void CANParser::UpdateValid(uint64_t sec) {
const bool show_missing = (last_sec - first_sec) > 8e9;
void CANParser::UpdateValid(uint64_t nanos) {
const bool show_missing = (last_nanos - first_nanos) > 8e9;
bool _valid = true;
bool _counters_valid = true;
@ -284,7 +284,7 @@ void CANParser::UpdateValid(uint64_t sec) {
}
const bool missing = state.last_seen_nanos == 0;
const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold;
const bool timed_out = (nanos - state.last_seen_nanos) > state.check_threshold;
if (state.check_threshold > 0 && (missing || timed_out)) {
if (show_missing && !bus_timeout) {
if (missing) {
@ -302,7 +302,7 @@ void CANParser::UpdateValid(uint64_t sec) {
void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
if (last_ts == 0) {
last_ts = last_sec;
last_ts = last_nanos;
}
for (auto& kv : message_states) {
auto& state = kv.second;