From c72170ebef8ecf60d976ac23e92d424e97308ecd Mon Sep 17 00:00:00 2001
From: deanlee <deanlee3@gmail.com>
Date: Fri, 2 Aug 2024 04:14:36 +0800
Subject: [PATCH] update to new opendbc api

---
 3rdparty/opendbc                                 |  2 +-
 plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp | 16 +++++++++++++---
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/3rdparty/opendbc b/3rdparty/opendbc
index 93b983d49..a40652d34 160000
--- a/3rdparty/opendbc
+++ b/3rdparty/opendbc
@@ -1 +1 @@
-Subproject commit 93b983d49a2d6d5c67e15ce7650f55e4f121485d
+Subproject commit a40652d341ea3161a6a10001fa74284d9d650f8c
diff --git a/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp b/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp
index cd78ea0b7..75f101662 100644
--- 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 = cmsg.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) + '/' +