From f4b182dae4ccc616bc37170490e875012e8d1b5a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Jun 2022 14:17:22 -0700
Subject: [PATCH] Support arbitrary DBC paths

---
 can/common_dbc.h                |  2 +-
 can/dbc.cc                      | 18 ++++++++++++------
 test.dbc => can/tests/test.dbc  |  0
 can/tests/test_packer_parser.py | 11 ++++++++---
 4 files changed, 21 insertions(+), 10 deletions(-)
 rename test.dbc => can/tests/test.dbc (100%)

diff --git a/can/common_dbc.h b/can/common_dbc.h
index 9bd47c2..59556e6 100644
--- a/can/common_dbc.h
+++ b/can/common_dbc.h
@@ -73,6 +73,6 @@ struct DBC {
   std::vector<Val> vals;
 };
 
-DBC* dbc_parse(const std::string& dbc_name, const std::string& dbc_file_path);
+DBC* dbc_parse(const std::string& dbc_path);
 const DBC* dbc_lookup(const std::string& dbc_name);
 std::vector<std::string> get_dbc_names();
diff --git a/can/dbc.cc b/can/dbc.cc
index e22b2ec..e0ad64b 100644
--- a/can/dbc.cc
+++ b/can/dbc.cc
@@ -99,10 +99,12 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
   }
 }
 
-DBC* dbc_parse(const std::string& dbc_name, const std::string& dbc_file_path) {
-  std::ifstream infile(dbc_file_path + "/" + dbc_name + ".dbc");
+DBC* dbc_parse(const std::string& dbc_path) {
+  std::ifstream infile(dbc_path);
   if (!infile) return nullptr;
 
+  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
+
   std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
 
   uint32_t address = 0;
@@ -203,7 +205,7 @@ DBC* dbc_parse(const std::string& dbc_name, const std::string& dbc_file_path) {
   return dbc;
 }
 
-const std::string get_dbc_file_path() {
+const std::string get_dbc_root_path() {
   char *basedir = std::getenv("BASEDIR");
   if (basedir != NULL) {
     return std::string(basedir) + "/opendbc";
@@ -215,18 +217,22 @@ const std::string get_dbc_file_path() {
 const DBC* dbc_lookup(const std::string& dbc_name) {
   static std::mutex lock;
   static std::map<std::string, DBC*> dbcs;
-  static const std::string& dbc_file_path = get_dbc_file_path();
+
+  std::string dbc_file_path = dbc_name;
+  if (!std::filesystem::exists(dbc_file_path)) {
+    dbc_file_path = get_dbc_root_path() + "/" + dbc_name + ".dbc";
+  }
 
   std::unique_lock lk(lock);
   auto it = dbcs.find(dbc_name);
   if (it == dbcs.end()) {
-    it = dbcs.insert(it, {dbc_name, dbc_parse(dbc_name, dbc_file_path)});
+    it = dbcs.insert(it, {dbc_name, dbc_parse(dbc_file_path)});
   }
   return it->second;
 }
 
 std::vector<std::string> get_dbc_names() {
-  static const std::string& dbc_file_path = get_dbc_file_path();
+  static const std::string& dbc_file_path = get_dbc_root_path();
   std::vector<std::string> dbcs;
   for (std::filesystem::directory_iterator i(dbc_file_path), end; i != end; i++) {
     if (!is_directory(i->path())) {
diff --git a/test.dbc b/can/tests/test.dbc
similarity index 100%
rename from test.dbc
rename to can/tests/test.dbc
diff --git a/can/tests/test_packer_parser.py b/can/tests/test_packer_parser.py
index 92b398c..496f043 100755
--- a/can/tests/test_packer_parser.py
+++ b/can/tests/test_packer_parser.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import unittest
 import random
 
@@ -6,6 +7,10 @@ import cereal.messaging as messaging
 from opendbc.can.parser import CANParser
 from opendbc.can.packer import CANPacker
 
+
+TEST_DBC = os.path.abspath(os.path.join(os.path.dirname(__file__), "test.dbc"))
+
+
 # Python implementation so we don't have to depend on boardd
 def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
   dat = messaging.new_message()
@@ -30,7 +35,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
 
 class TestCanParserPacker(unittest.TestCase):
   def test_packer(self):
-    packer = CANPacker("test")
+    packer = CANPacker(TEST_DBC)
 
     for b in range(6):
       for i in range(256):
@@ -55,8 +60,8 @@ class TestCanParserPacker(unittest.TestCase):
     ]
     checks = [("STEERING_CONTROL", 0), ("CAN_FD_MESSAGE", 0)]
 
-    packer = CANPacker("test")
-    parser = CANParser("test", signals, checks, 0)
+    packer = CANPacker(TEST_DBC)
+    parser = CANParser(TEST_DBC, signals, checks, 0)
 
     idx = 0