Merge commit 'd03ae519e9bcc516e127593a4274b4212c70b732' into subaru-c…

…ommunity

.pre-commit-config.yaml

@@ -15,7 +15,7 @@ repos:
         - --check-hidden
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.2.0
+    rev: v1.3.0
     hooks:
     -   id: mypy
 -   repo: https://github.com/PyCQA/flake8
@@ -37,6 +37,11 @@ repos:
         exclude: 'site_scons/'
         args:
         - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.15.0
+    hooks:
+    -   id: cython-lint
+    -   id: double-quote-cython-strings
 -   repo: https://github.com/cpplint/cpplint
     rev: 1.6.1
     hooks:

bmw_e9x_e8x.dbc

@@ -42,9 +42,9 @@ BO_ 170 AccPedal: 8 DME
  SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
  SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
  SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
- SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.04,0) [0|100] "" XXX
  SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ EngineSpeed : 32|16@1- (0.25,0) [0|65535] "U/min" XXX
+ SG_ EngineSpeed : 32|16@1+ (0.25,0) [0|8000] "rpm" XXX
  SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX
 
 BO_ 404 CruiseControl: 4 SZL
@@ -98,10 +98,10 @@ BO_ 201 SteeringWheelAngle_DSC: 8 SZL
  SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC
 
 BO_ 206 WheelSpeeds: 8 DSC
- SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel_FL : 0|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_FR : 16|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_RL : 32|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_RR : 48|16@1- (0.0625,0) [0|255] "kph" XXX
 
 BO_ 884 WheelToleranceAdjustment: 8 DSC
 
@@ -141,6 +141,10 @@ BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC
 
 BO_ 186 TransmissionData: 8 EGS
  SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX
+ SG_ Shifting : 4|1@1+ (1,0) [0|15] "" XXX
+ SG_ OutputShaftSpeed : 24|16@1- (0.125,0) [0|255] "rpm" XXX
+ SG_ GearRatio : 8|8@1+ (0.05,0) [0|255] "" XXX
+ SG_ GearTar : 0|4@1+ (1,-4) [0|255] "" XXX
  SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX
 
 BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM
@@ -198,6 +202,7 @@ BO_ 408 GearSelectorSwitch: 8 GWS
 BO_ 422 DistanceRoute: 8 DSC
 
 BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC
+ SG_ HandbrakeActive : 41|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 464 EngineData: 8 DME
  SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX
@@ -206,7 +211,7 @@ BO_ 464 EngineData: 8 DME
  SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX
  SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX
  SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] ""  XXX
- SG_ Counter_464 : 16|4@0+ (1,0) [0|14] "" XXX
+ SG_ Counter_464 : 16|4@1+ (1,0) [0|14] "" XXX
  SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX
  SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX
 
@@ -221,7 +226,7 @@ BO_ 200 SteeringWheelAngle_slow: 6 SZL
 
 BO_ 466 TransmissionDataDisplay: 8 EGS
  SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ GearRelated_TBD : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ GearAct : 12|4@1+ (1,-4) [0|15] "" XXX
  SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX
  SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX
  SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX
@@ -720,6 +725,7 @@ BO_ 843 Seat_back_lock_status_FA: 8 SM_FA
 BO_ 845 Status_seat_back_lock_BF: 8 SM_BF
 
 BO_ 847 Status_contact_handbrake: 8 JBBF
+ SG_ Handbrake_push : 0|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 858 Appointment_Condition_Based_Service: 8 CCC
 
@@ -853,7 +859,6 @@ BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC
 CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives";
 CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
 CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
-
 CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
 CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
 CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
@@ -871,7 +876,8 @@ CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2";
 CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC";
 
 CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale";
-
+CM_ SG_ 186 GearTar "Values corresponds to forward gears. TBD Add enums for park, reverse";
+CM_ SG_ 466 GearAct "TransmissionDataDisplay";
 CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD";
 
 CM_ SG_ 416 YawRate "Lateral Acceleration";

can/common.pxd

@@ -3,10 +3,8 @@
 
 from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
 from libcpp cimport bool
-from libcpp.map cimport map
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.unordered_set cimport unordered_set
 
 
 ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
@@ -54,7 +52,6 @@ cdef extern from "common_dbc.h":
     uint32_t address
     string name
 
-
   cdef struct MessageParseOptions:
     uint32_t address
     int check_frequency
@@ -72,7 +69,7 @@ cdef extern from "common_dbc.h":
 
 
 cdef extern from "common.h":
-  cdef const DBC* dbc_lookup(const string);
+  cdef const DBC* dbc_lookup(const string)
 
   cdef cppclass CANParser:
     bool can_valid

can/dbc.cc

@@ -7,8 +7,9 @@
 #include <sstream>
 #include <vector>
 #include <mutex>
-#include <cstring>
 #include <iterator>
+#include <cstring>
+#include <clocale>
 
 #include "opendbc/can/common.h"
 #include "opendbc/can/common_dbc.h"
@@ -106,6 +107,7 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
   std::map<uint32_t, std::vector<Signal>> signals;
   DBC* dbc = new DBC;
   dbc->name = dbc_name;
+  std::setlocale(LC_NUMERIC, "C");
 
   // used to find big endian LSB from MSB and size
   std::vector<int> be_bits;

can/packer_pyx.pyx

@@ -1,12 +1,10 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
+from libc.stdint cimport uint8_t
 from libcpp.vector cimport vector
 from libcpp.map cimport map
 from libcpp.string cimport string
-from libcpp cimport bool
-from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
 
 from .common cimport CANPacker as cpp_CANPacker
 from .common cimport dbc_lookup, SignalPackValue, DBC
@@ -36,7 +34,7 @@ cdef class CANPacker:
     cdef SignalPackValue spv
 
     for name, value in values.iteritems():
-      spv.name = name.encode('utf8')
+      spv.name = name.encode("utf8")
       spv.value = value
       values_thing.push_back(spv)
 
@@ -48,7 +46,7 @@ cdef class CANPacker:
       addr = name_or_addr
       size = self.address_to_size[name_or_addr]
     else:
-      addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
+      addr, size = self.name_to_address_and_size[name_or_addr.encode("utf8")]
 
     cdef vector[uint8_t] val = self.pack(addr, values)
     return [addr, 0, (<char *>&val[0])[:size], bus]

can/parser_pyx.pyx

@@ -5,14 +5,12 @@ from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.unordered_set cimport unordered_set
-from libc.stdint cimport uint32_t, uint64_t, uint16_t
-from libcpp cimport bool
+from libc.stdint cimport uint32_t
 from libcpp.map cimport map
 
 from .common cimport CANParser as cpp_CANParser
 from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
 
-import os
 import numbers
 from collections import defaultdict
 
@@ -46,7 +44,7 @@ cdef class CANParser:
 
     for i in range(self.dbc[0].msgs.size()):
       msg = self.dbc[0].msgs[i]
-      name = msg.name.decode('utf8')
+      name = msg.name.decode("utf8")
 
       msg_name_to_address[name] = msg.address
       self.address_to_msg_name[msg.address] = name
@@ -61,9 +59,9 @@ cdef class CANParser:
     for i in range(len(signals)):
       s = signals[i]
       if not isinstance(s[1], numbers.Number):
-        if name not in msg_name_to_address:
+        if s[1] not in msg_name_to_address:
           print(msg_name_to_address)
-          raise RuntimeError(f"could not find message {repr(name)} in DBC {self.dbc_name}")
+          raise RuntimeError(f"could not find message {repr(s[1])} in DBC {self.dbc_name}")
         s = (s[0], msg_name_to_address[s[1]])
         signals[i] = s
 
@@ -72,7 +70,7 @@ cdef class CANParser:
       if not isinstance(c[0], numbers.Number):
         if c[0] not in msg_name_to_address:
           print(msg_name_to_address)
-          raise RuntimeError(f"could not find message {repr(name)} in DBC {self.dbc_name}")
+          raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}")
         c = (msg_name_to_address[c[0]], c[1])
         checks[i] = c
 
@@ -81,7 +79,7 @@ cdef class CANParser:
       signal_addrs = {s[1] for s in signals}
       unchecked = signal_addrs - checked_addrs
       if len(unchecked):
-        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        err_msg = ", ".join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
         raise RuntimeError(f"Unchecked addrs: {err_msg}")
 
     cdef vector[SignalParseOptions] signal_options_v
@@ -106,7 +104,7 @@ cdef class CANParser:
 
   def update_strings(self, strings, sendcan=False):
     for v in self.vl_all.values():
-      for l in v.values():
+      for l in v.values():  # no-cython-lint
         l.clear()
 
     cdef vector[SignalValue] new_vals
@@ -154,7 +152,7 @@ cdef class CANDefine():
 
     for i in range(self.dbc[0].msgs.size()):
       msg = self.dbc[0].msgs[i]
-      name = msg.name.decode('utf8')
+      name = msg.name.decode("utf8")
       address = msg.address
       address_to_msg_name[address] = name
 
@@ -163,8 +161,8 @@ cdef class CANDefine():
     for i in range(self.dbc[0].vals.size()):
       val = self.dbc[0].vals[i]
 
-      sgname = val.name.decode('utf8')
-      def_val = val.def_val.decode('utf8')
+      sgname = val.name.decode("utf8")
+      def_val = val.def_val.decode("utf8")
       address = val.address
       msgname = address_to_msg_name[address]
 

generator/honda/honda_civic_ex_2022_can.dbc

@@ -12,6 +12,12 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 419 GEARBOX_ALT: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
@@ -87,3 +93,4 @@ CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
 
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
+VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;