mirror of https://github.com/rusefi/opendbc.git
102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
#pragma once
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#include <map>
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#include <string>
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#include <utility>
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#include <unordered_map>
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#include <vector>
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#include <capnp/dynamic.h>
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#include <capnp/serialize.h>
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#ifndef DYNAMIC_CAPNP
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#include "cereal/gen/cpp/log.capnp.h"
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#endif
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#include "opendbc/can/common_dbc.h"
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#define INFO printf
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#define WARN printf
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#define DEBUG(...)
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//#define DEBUG printf
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#define MAX_BAD_COUNTER 5
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#define CAN_INVALID_CNT 5
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void init_crc_lookup_tables();
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// Car specific functions
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unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
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class MessageState {
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public:
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uint32_t address;
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unsigned int size;
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std::vector<Signal> parse_sigs;
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std::vector<double> vals;
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std::vector<std::vector<double>> all_vals;
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uint64_t last_seen_nanos;
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uint64_t check_threshold;
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uint8_t counter;
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uint8_t counter_fail;
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bool ignore_checksum = false;
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bool ignore_counter = false;
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bool parse(uint64_t sec, const std::vector<uint8_t> &dat);
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bool update_counter_generic(int64_t v, int cnt_size);
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};
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class CANParser {
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private:
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const int bus;
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kj::Array<capnp::word> aligned_buf;
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const DBC *dbc = NULL;
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std::unordered_map<uint32_t, MessageState> message_states;
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public:
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bool can_valid = false;
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bool bus_timeout = false;
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uint64_t first_sec = 0;
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uint64_t last_sec = 0;
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uint64_t last_nonempty_sec = 0;
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uint64_t bus_timeout_threshold = 0;
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uint64_t can_invalid_cnt = CAN_INVALID_CNT;
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CANParser(int abus, const std::string& dbc_name,
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const std::vector<MessageParseOptions> &options,
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const std::vector<SignalParseOptions> &sigoptions);
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CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
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#ifndef DYNAMIC_CAPNP
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void update_string(const std::string &data, bool sendcan);
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void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
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#endif
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void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
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void UpdateValid(uint64_t sec);
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std::vector<SignalValue> query_latest();
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};
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class CANPacker {
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private:
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const DBC *dbc = NULL;
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std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
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std::map<uint32_t, Msg> message_lookup;
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std::map<uint32_t, uint32_t> counters;
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public:
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CANPacker(const std::string& dbc_name);
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std::vector<uint8_t> pack(uint32_t address, const std::vector<SignalPackValue> &values);
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Msg* lookup_message(uint32_t address);
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};
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