use CanData struct from cereal

flowdriveai · Aug 20, 2023 · ea0d275 · ea0d275
1 parent 6eb4994
commit ea0d275
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Showing 9 changed files with 25 additions and 45 deletions.
diff --git a/SConstruct b/SConstruct
@@ -10,7 +10,7 @@ cereal_dir = Dir('.')
 
 python_path = sysconfig.get_paths()['include']
 cpppath = [
-  "can",
+  '#',
   '/usr/lib/include',
   python_path
 ]
@@ -41,7 +41,7 @@ env = Environment(
   LDFLAGS=ldflags_asan,
   LINKFLAGS=ldflags_asan,
   LIBPATH=[
-    "can/",
+    "#opendbc/can/",
   ],
   CFLAGS="-std=gnu11",
   CXXFLAGS=["-std=c++1z"],
@@ -53,6 +53,11 @@ env = Environment(
 common = ''
 Export('env', 'zmq', 'arch', 'common')
 
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+
 envCython = env.Clone()
 envCython["CPPPATH"] += [np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
@@ -72,4 +77,6 @@ envCython["LIBS"] = python_libs
 
 Export('envCython')
 
-SConscript(['can/SConscript'])
+
+SConscript(['cereal/SConscript'])
+SConscript(['opendbc/can/SConscript'])
diff --git a/can/SConscript b/can/SConscript
@@ -1,15 +1,7 @@
-Import('env', 'envCython')
+Import('env', 'envCython', 'cereal', 'common')
 
 import os
 
-# Build Capnp Definitions
-msg_capnp = env.Command(
-    target=['msg.capnp.c++', 'msg.capnp.h'],
-    source=["msg.capnp"],
-    action='capnp compile -oc++ $SOURCE'
-)
-
-common = ''
 envDBC = env.Clone()
 dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("..").abspath)
 envDBC['CXXFLAGS'] += [dbc_file_path]

diff --git a/can/common.cc b/can/common.cc
@@ -1,4 +1,4 @@
-#include "common.h"
+#include "opendbc/can/common.h"
 
 
 unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {

diff --git a/can/common.h b/can/common.h
@@ -10,10 +10,10 @@
 #include <capnp/serialize.h>
 
 #ifndef DYNAMIC_CAPNP
-#include "msg.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
 #endif
 
-#include "common_dbc.h"
+#include "opendbc/can/common_dbc.h"
 
 #define INFO printf
 #define WARN printf
@@ -81,7 +81,7 @@ class CANParser {
   #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<CanData>::Reader& cans);
+  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
   #endif
   void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
   void UpdateValid(uint64_t sec);

diff --git a/can/dbc.cc b/can/dbc.cc
@@ -11,8 +11,8 @@
 #include <cstring>
 #include <clocale>
 
-#include "common.h"
-#include "common_dbc.h"
+#include "opendbc/can/common.h"
+#include "opendbc/can/common_dbc.h"
 
 std::regex bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
 std::regex sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");

diff --git a/can/msg.capnp b/can/msg.capnp
diff --git a/can/packer.cc b/can/packer.cc
@@ -5,7 +5,7 @@
 #include <stdexcept>
 #include <utility>
 
-#include "common.h"
+#include "opendbc/can/common.h"
 
 
 void set_value(std::vector<uint8_t> &msg, const Signal &sig, int64_t ival) {

diff --git a/can/parser.cc b/can/parser.cc
@@ -8,9 +8,8 @@
 #include <sys/stat.h>
 #include <sys/mman.h>
 
-#include "common.h"
-#include "msg.capnp.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) {
   int64_t ret = 0;
@@ -172,7 +171,7 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
 
   // extract the messages
   capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
-  Event::Reader event = cmsg.getRoot<Event>();
+  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
   if (first_sec == 0) {
     first_sec = event.getLogMonoTime();
@@ -196,7 +195,7 @@ void CANParser::update_strings(const std::vector<std::string> &data, std::vector
   query_latest(vals, current_sec);
 }
 
-void CANParser::UpdateCans(uint64_t sec, const capnp::List<CanData>::Reader& cans) {
+void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
   //DEBUG("got %d messages\n", cans.size());
 
   bool bus_empty = true;
@@ -242,7 +241,7 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<CanData>::Reader& can
 #endif
 
 void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
-  // assume message struct is `CanData` and parse
+  // assume message struct is `cereal::CanData` and parse
   assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
 
   if (cmsg.get("src").as<uint8_t>() != bus) {

diff --git a/can/tests/test_packer_parser.py b/can/tests/test_packer_parser.py
@@ -2,15 +2,15 @@
 import unittest
 import random
 
-from cereal import log
+import cereal.messaging as messaging
 from opendbc.can.parser import CANParser
 from opendbc.can.packer import CANPacker
 from opendbc.can.tests import 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 = log.Event.new_message()
+  dat = messaging.new_message()
   dat.init(msgtype, len(can_msgs))
 
   if logMonoTime is not None: