update to new opendbc api

commaai · Aug 1, 2024 · 5739e15 · 5739e15
1 parent 5b131a4
commit 5739e15
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Showing 3 changed files with 15 additions and 5 deletions.
diff --git a/3rdparty/opendbc b/3rdparty/opendbc
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -162,7 +162,7 @@ include_directories(
     ./3rdparty/lua-5.4.3/src
     ./3rdparty/QCodeEditor/include
     ./3rdparty/lz4
-    ./3rdparty/opendbc/can
+    ./3rdparty/opendbc/opendbc/can
     ./3rdparty/cereal/messaging
     ./3rdparty/cereal
 )

diff --git a/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp b/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp
@@ -175,6 +175,9 @@ bool RlogMessageParser::parseCanMessage(
   }
 
   std::set<uint8_t> updated_busses;
+  std::vector<CanData> can_data_list;
+  CanData &can_data = can_data_list.emplace_back();
+  can_data.nanos = last_nanos;
   for(auto elem : listValue) {
     auto value = elem.as<capnp::DynamicStruct>();
     uint8_t bus = value.get("src").as<uint8_t>();
@@ -185,12 +188,19 @@ bool RlogMessageParser::parseCanMessage(
 
     updated_busses.insert(bus);
     parsers[bus]->last_nanos = last_nanos;
-    parsers[bus]->UpdateCans(last_nanos, value);
-    parsers[bus]->UpdateValid(last_nanos);
+
+    auto dat = value.get("dat").as<capnp::Data>();
+    if (dat.size() > 64) continue; // shouldn't ever happen
+
+    auto &frame = can_data.frames.emplace_back();
+    frame.src = bus;
+    frame.address = value.get("address").as<uint32_t>();
+    frame.dat.assign(dat.begin(), dat.end());
   }
+
   for (uint8_t bus : updated_busses) {
     std::vector<SignalValue> signal_values;
-    parsers[bus]->query_latest(signal_values);
+    parsers[bus]->update(can_data_list, signal_values);
     for (auto& sg : signal_values) {
       // TODO: plot all updated values
       PJ::PlotData& _data_series = getSeries(topic_name + '/' + std::to_string(bus) + '/' +