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Refactor MessageState to Use Msg Struct and Simplify Initialization
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@deanlee
deanlee committed Oct 15, 2024
1 parent e642522 commit d073dec
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Showing 2 changed files with 35 additions and 71 deletions.
15 changes: 6 additions & 9 deletions opendbc/can/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,23 +41,20 @@ struct CanData {

class MessageState {
public:
std::string name;
uint32_t address;
unsigned int size;

std::vector<Signal> parse_sigs;
Msg msg;
std::vector<double> vals;
std::vector<std::vector<double>> all_vals;

uint64_t last_seen_nanos;
uint64_t check_threshold;
uint64_t last_seen_nanos = 0;
uint64_t check_threshold = 0;

uint8_t counter;
uint8_t counter_fail;
uint8_t counter = 0;
uint8_t counter_fail = 0;

bool ignore_checksum = false;
bool ignore_counter = false;

MessageState(const Msg *msg, uint64_t threshold, bool no_checksum = false, bool no_counter = false);
bool parse(uint64_t nanos, const std::vector<uint8_t> &dat);
bool update_counter_generic(int64_t v, int cnt_size);
};
Expand Down
91 changes: 29 additions & 62 deletions opendbc/can/parser.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,7 @@
#include <cstring>
#include <limits>
#include <stdexcept>
#include <sstream>

#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/mman.h>

#include "opendbc/can/common.h"

Expand All @@ -31,14 +26,20 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
return ret;
}

MessageState::MessageState(const Msg *msg_ptr, uint64_t threshold, bool no_checksum, bool no_counter)
: msg(*msg_ptr), check_threshold(threshold), ignore_checksum(no_checksum), ignore_counter(no_counter) {
assert(msg.size <= 64 && "The maximum message size is 64 bytes");
vals.resize(msg.sigs.size());
all_vals.resize(msg.sigs.size());
}

bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
std::vector<double> tmp_vals(parse_sigs.size());
std::vector<double> tmp_vals(msg.sigs.size());
bool checksum_failed = false;
bool counter_failed = false;

for (int i = 0; i < parse_sigs.size(); i++) {
const auto &sig = parse_sigs[i];
for (int i = 0; i < msg.sigs.size(); ++i) {
const auto &sig = msg.sigs[i];

int64_t tmp = get_raw_value(dat, sig);
if (sig.is_signed) {
Expand All @@ -48,7 +49,7 @@ bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
//DEBUG("parse 0x%X %s -> %ld\n", address, sig.name, tmp);

if (!ignore_checksum) {
if (sig.calc_checksum != nullptr && sig.calc_checksum(address, sig, dat) != tmp) {
if (sig.calc_checksum != nullptr && sig.calc_checksum(msg.address, sig, dat) != tmp) {
checksum_failed = true;
}
}
Expand All @@ -64,11 +65,11 @@ 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_100("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", msg.address, checksum_failed, counter_failed);
return false;
}

for (int i = 0; i < parse_sigs.size(); i++) {
for (int i = 0; i < msg.sigs.size(); ++i) {
vals[i] = tmp_vals[i];
all_vals[i].push_back(vals[i]);
}
Expand All @@ -82,7 +83,7 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
if (((counter + 1) & ((1 << cnt_size) -1)) != v) {
counter_fail = std::min(counter_fail + 1, MAX_BAD_COUNTER);
if (counter_fail > 1) {
INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, counter, (int)v);
INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", msg.address, counter_fail, counter, (int)v);
}
} else if (counter_fail > 0) {
counter_fail--;
Expand All @@ -93,67 +94,33 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {


CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector<std::pair<uint32_t, int>> &messages)
: bus(abus) {
dbc = dbc_lookup(dbc_name);
assert(dbc);

bus_timeout_threshold = std::numeric_limits<uint64_t>::max();
: bus(abus), dbc(dbc_lookup(dbc_name)), bus_timeout_threshold(std::numeric_limits<uint64_t>::max()) {
assert(dbc && "DBC lookup failed");

for (const auto& [address, frequency] : messages) {
// disallow duplicate message checks
if (message_states.find(address) != message_states.end()) {
std::stringstream is;
is << "Duplicate Message Check: " << address;
throw std::runtime_error(is.str());
throw std::runtime_error("Duplicate Message Check: " + std::to_string(address));
}

MessageState &state = message_states[address];
state.address = address;
// state.check_frequency = op.check_frequency,

// msg is not valid if a message isn't received for 10 consecutive steps
if (frequency > 0) {
state.check_threshold = (1000000000ULL / frequency) * 10;

uint64_t check_threshold = frequency > 0 ? (1000000000ULL / frequency) * 10 : 0;
if (check_threshold > 0) {
// bus timeout threshold should be 10x the fastest msg
bus_timeout_threshold = std::min(bus_timeout_threshold, state.check_threshold);
bus_timeout_threshold = std::min(bus_timeout_threshold, check_threshold);
}

const Msg *msg = dbc->addr_to_msg.at(address);
state.name = msg->name;
state.size = msg->size;
assert(state.size <= 64); // max signal size is 64 bytes

// track all signals for this message
state.parse_sigs = msg->sigs;
state.vals.resize(msg->sigs.size());
state.all_vals.resize(msg->sigs.size());
message_states.emplace(std::piecewise_construct, std::forward_as_tuple(address), std::forward_as_tuple(msg, check_threshold));
}
}

CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
: bus(abus) {
// Add all messages and signals

dbc = dbc_lookup(dbc_name);
assert(dbc);

: bus(abus), dbc(dbc_lookup(dbc_name)) {
assert(dbc && "DBC lookup failed");
for (const auto& msg : dbc->msgs) {
MessageState state = {
.name = msg.name,
.address = msg.address,
.size = msg.size,
.ignore_checksum = ignore_checksum,
.ignore_counter = ignore_counter,
};

for (const auto& sig : msg.sigs) {
state.parse_sigs.push_back(sig);
state.vals.push_back(0);
state.all_vals.push_back({});
}

message_states[state.address] = state;
message_states.emplace(std::piecewise_construct, std::forward_as_tuple(msg.address),
std::forward_as_tuple(&msg, 0, ignore_checksum, ignore_counter));
}
}

Expand Down Expand Up @@ -229,9 +196,9 @@ void CANParser::UpdateValid(uint64_t nanos) {
if (state.check_threshold > 0 && (missing || timed_out)) {
if (show_missing && !bus_timeout) {
if (missing) {
LOGE_100("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
LOGE_100("0x%X '%s' NOT SEEN", state.msg.address, state.msg.name.c_str());
} else if (timed_out) {
LOGE_100("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
LOGE_100("0x%X '%s' TIMED OUT", state.msg.address, state.msg.name.c_str());
}
}
_valid = false;
Expand All @@ -251,10 +218,10 @@ void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
continue;
}

for (int i = 0; i < state.parse_sigs.size(); i++) {
const Signal &sig = state.parse_sigs[i];
for (int i = 0; i < state.msg.sigs.size(); ++i) {
const Signal &sig = state.msg.sigs[i];
SignalValue &v = vals.emplace_back();
v.address = state.address;
v.address = state.msg.address;
v.ts_nanos = state.last_seen_nanos;
v.name = sig.name;
v.value = state.vals[i];
Expand Down

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