CANParser: add field for all updated values (#548)

* add updated field

* rename to updated

* draft

* clean up

* function for resetting

* *minor* refactor

* clean up names

* keep track of updated vals in the cc parser

* remove extra lines

* remove ts

* match parser_pyx

* cleaner to just call the cpp function as we don't need to aggregate updated values

* draft

* some tests

* fix test

* clean up

clean up

* test clean up

* add clarifying comments

* Revert "remove ts"

This reverts commit fd4558289d6667a42ab41c4511b0d8fe54eb7fc8.

* fix order

* use vals

* fix dup

can/common.h

@@ -32,6 +32,7 @@ public:
 
   std::vector<Signal> parse_sigs;
   std::vector<double> vals;
+  std::vector<std::vector<double>> updated_vals;
 
   uint16_t ts;
   uint64_t seen;
@@ -69,7 +70,7 @@ public:
   #endif
   void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
   void UpdateValid(uint64_t sec);
-  std::vector<SignalValue> query_latest();
+  std::vector<SignalValue> update_vl();
 };
 
 class CANPacker {

can/common.pxd

@@ -63,6 +63,7 @@ cdef extern from "common_dbc.h":
     uint16_t ts
     const char* name
     double value
+    vector[double] updated_values
 
   cdef struct SignalPackValue:
     string name
@@ -76,7 +77,7 @@ cdef extern from "common.h":
     bool can_valid
     CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
     void update_string(string, bool)
-    vector[SignalValue] query_latest()
+    vector[SignalValue] update_vl()
 
   cdef cppclass CANPacker:
    CANPacker(string)

can/common_dbc.h

@@ -26,7 +26,8 @@ struct SignalValue {
   uint32_t address;
   uint16_t ts;
   const char* name;
-  double value;
+  double value;  // latest value
+  std::vector<double> updated_values;  // values updated this cycle
 };
 
 enum SignalType {

can/parser.cc

@@ -83,6 +83,7 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
     }
 
     vals[i] = tmp * sig.factor + sig.offset;
+    updated_vals[i].push_back(vals[i]);
   }
   ts = ts_;
   seen = sec;
@@ -90,7 +91,6 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
   return true;
 }
 
-
 bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
   uint8_t old_counter = counter;
   counter = v;
@@ -148,6 +148,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
       if (sig->type != SignalType::DEFAULT) {
         state.parse_sigs.push_back(*sig);
         state.vals.push_back(0);
+        state.updated_vals.push_back({});
       }
     }
 
@@ -161,6 +162,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
             && sig->type == SignalType::DEFAULT) {
           state.parse_sigs.push_back(*sig);
           state.vals.push_back(0);
+          state.updated_vals.push_back({});
           break;
         }
       }
@@ -189,6 +191,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
       const Signal *sig = &msg->sigs[j];
       state.parse_sigs.push_back(*sig);
       state.vals.push_back(0);
+      state.updated_vals.push_back({});
     }
 
     message_states[state.address] = state;
@@ -280,12 +283,11 @@ void CANParser::UpdateValid(uint64_t sec) {
   }
 }
 
-std::vector<SignalValue> CANParser::query_latest() {
+std::vector<SignalValue> CANParser::update_vl() {
   std::vector<SignalValue> ret;
 
-  for (const auto& kv : message_states) {
-    const auto& state = kv.second;
-    if (last_sec != 0 && state.seen != last_sec) continue;
+  for (auto& kv : message_states) {
+    auto& state = kv.second;
 
     for (int i=0; i<state.parse_sigs.size(); i++) {
       const Signal &sig = state.parse_sigs[i];
@@ -294,7 +296,9 @@ std::vector<SignalValue> CANParser::query_latest() {
         .ts = state.ts,
         .name = sig.name,
         .value = state.vals[i],
+        .updated_values = state.updated_vals[i],
       });
+      state.updated_vals[i].clear();  // reset updated values for next cycle
     }
   }
 

can/parser_pyx.pyx

@@ -30,6 +30,7 @@ cdef class CANParser:
     string dbc_name
     dict vl
     dict ts
+    dict updated
     bool can_valid
     int can_invalid_cnt
 
@@ -43,6 +44,7 @@ cdef class CANParser:
       raise RuntimeError(f"Can't find DBC: {dbc_name}")
     self.vl = {}
     self.ts = {}
+    self.updated = {}
 
     self.can_invalid_cnt = CAN_INVALID_CNT
 
@@ -58,6 +60,8 @@ cdef class CANParser:
       self.vl[name] = {}
       self.ts[msg.address] = {}
       self.ts[name] = {}
+      self.updated[msg.address] = {}
+      self.updated[name] = {}
 
     # Convert message names into addresses
     for i in range(len(signals)):
@@ -106,13 +110,13 @@ cdef class CANParser:
     cdef string sig_name
     cdef unordered_set[uint32_t] updated_val
 
-    can_values = self.can.query_latest()
+    can_values = self.can.update_vl()
     valid = self.can.can_valid
 
     # Update invalid flag
     self.can_invalid_cnt += 1
     if valid:
-        self.can_invalid_cnt = 0
+      self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
     for cv in can_values:
@@ -121,12 +125,16 @@ cdef class CANParser:
       cv_name = <unicode>cv.name
 
       self.vl[cv.address][cv_name] = cv.value
-      self.ts[cv.address][cv_name] = cv.ts
-
       self.vl[name][cv_name] = cv.value
+
+      self.ts[cv.address][cv_name] = cv.ts
       self.ts[name][cv_name] = cv.ts
 
-      updated_val.insert(cv.address)
+      self.updated[cv.address][cv_name] = cv.updated_values
+      self.updated[name][cv_name] = cv.updated_values
+
+      if cv.updated_values.size():
+        updated_val.insert(cv.address)
 
     return updated_val
 
@@ -135,13 +143,10 @@ cdef class CANParser:
     return self.update_vl()
 
   def update_strings(self, strings, sendcan=False):
-    updated_vals = set()
-
     for s in strings:
-      updated_val = self.update_string(s, sendcan)
-      updated_vals.update(updated_val)
+      self.can.update_string(s, sendcan)
 
-    return updated_vals
+    return self.update_vl()
 
 cdef class CANDefine():
   cdef:

can/tests/test_packer_parser.py

@@ -119,6 +119,32 @@ class TestCanParserPacker(unittest.TestCase):
 
         idx += 1
 
+  def test_updated(self):
+    """Test updated value dict"""
+    dbc_file = "honda_civic_touring_2016_can_generated"
+
+    signals = [("USER_BRAKE", "VSA_STATUS")]
+    checks = [("VSA_STATUS", 50)]
+
+    parser = CANParser(dbc_file, signals, checks, 0)
+    packer = CANPacker(dbc_file)
+
+    # Make sure nothing is updated
+    self.assertEqual(len(parser.updated["VSA_STATUS"]["USER_BRAKE"]), 0)
+
+    # Ensure CANParser holds the values of any duplicate messages
+    user_brake_vals = [4, 5, 6, 7]
+    msgs = []
+    for user_brake in user_brake_vals:
+      values = {"USER_BRAKE": user_brake}
+      msgs.append(packer.make_can_msg("VSA_STATUS", 0, values))
+
+    parser.update_strings([can_list_to_can_capnp(msgs)])
+    updated = parser.updated["VSA_STATUS"]["USER_BRAKE"]
+
+    self.assertEqual(updated, user_brake_vals)
+    self.assertEqual(updated[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"])
+
 
 if __name__ == "__main__":
   unittest.main()