Merge remote-tracking branch 'upstream/master' into build_message_loo…

…kup_table_in_dbc
commaai · Jun 6, 2024 · 99bf552 · 99bf552
2 parents 7255286 + f58bc33
commit 99bf552
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Showing 6 changed files with 47 additions and 6 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -48,6 +48,7 @@ repos:
         args:
         - --error-exitcode=1
         - --language=c++
+        - --inline-suppr
         - --force
         - --quiet
         - -j4

diff --git a/can/common.h b/can/common.h
@@ -13,6 +13,7 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #endif
 
+#include "opendbc/can/logger.h"
 #include "opendbc/can/common_dbc.h"
 
 #define INFO printf

diff --git a/can/logger.h b/can/logger.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#ifdef SWAGLOG
+// cppcheck-suppress preprocessorErrorDirective
+#include SWAGLOG
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+#define cloudlog_rl(burst, millis, lvl, fmt, ...) printf(fmt "\n", ##__VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif
diff --git a/can/packer.cc b/can/packer.cc
@@ -60,9 +60,9 @@ std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalP
     }
     set_value(ret, sig, ival);
 
-    counter_set = counter_set || (sigval.name == "COUNTER");
-    if (counter_set) {
+    if (sigval.name == "COUNTER") {
       counters[address] = sigval.value;
+      counter_set = true;
     }
   }
 

diff --git a/can/parser.cc b/can/parser.cc
@@ -10,7 +10,6 @@
 #include <sys/stat.h>
 #include <sys/mman.h>
 
-#include "cereal/logger/logger.h"
 #include "opendbc/can/common.h"
 
 int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
@@ -65,7 +64,7 @@ bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
 
   // only update values if both checksum and counter are valid
   if (checksum_failed || counter_failed) {
-    LOGE("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed);
+    LOGE_100("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed);
     return false;
   }
 
@@ -279,9 +278,9 @@ void CANParser::UpdateValid(uint64_t nanos) {
     if (state.check_threshold > 0 && (missing || timed_out)) {
       if (show_missing && !bus_timeout) {
         if (missing) {
-          LOGE("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
+          LOGE_100("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
         } else if (timed_out) {
-          LOGE("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
+          LOGE_100("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
         }
       }
       _valid = false;

diff --git a/can/tests/test_packer_parser.py b/can/tests/test_packer_parser.py
@@ -60,6 +60,7 @@ def test_packer_counter(self):
       cnt = random.randint(0, 255)
       msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {
         "COUNTER": cnt,
+        "SIGNED": 0
       })
       dat = can_list_to_can_capnp([msg, ])
       parser.update_strings([dat])
@@ -381,6 +382,18 @@ def test_disallow_duplicate_messages(self):
     with self.assertRaises(RuntimeError):
       CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)])
 
+  def test_allow_undefined_msgs(self):
+    # TODO: we should throw an exception for these, but we need good
+    #  discovery tests in openpilot first
+    packer = CANPacker("toyota_nodsu_pt_generated")
+
+    self.assertEqual(packer.make_can_msg("ACC_CONTROL", 0, {"UNKNOWN_SIGNAL": 0}),
+                     [835, 0, b'\x00\x00\x00\x00\x00\x00\x00N', 0])
+    self.assertEqual(packer.make_can_msg("UNKNOWN_MESSAGE", 0, {"UNKNOWN_SIGNAL": 0}),
+                     [0, 0, b'', 0])
+    self.assertEqual(packer.make_can_msg(0, 0, {"UNKNOWN_SIGNAL": 0}),
+                     [0, 0, b'', 0])
+
 
 if __name__ == "__main__":
   unittest.main()