mv can converter list to opendbc

opendbc/can/can_list_to_can_capnp.cc

@@ -0,0 +1,50 @@
+#include "cereal/messaging/messaging.h"
+#include "opendbc/can/common.h"
+
+void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
+  MessageBuilder msg;
+  auto event = msg.initEvent(valid);
+
+  auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
+  int j = 0;
+  for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
+    auto c = canData[j];
+    c.setAddress(it->address);
+    c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
+    c.setSrc(it->src);
+  }
+  const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
+  out.resize(msg_size);
+  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
+  capnp::writeMessage(output_stream, msg);
+}
+
+// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
+void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
+  AlignedBuffer aligned_buf;
+  can_list.reserve(strings.size());
+
+  for (const auto &str : strings) {
+    // extract the messages
+    capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
+    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
+
+    auto frames = sendcan ? event.getSendcan() : event.getCan();
+
+    // Add new CanData entry
+    CanData &can_data = can_list.emplace_back();
+    can_data.nanos = event.getLogMonoTime();
+    can_data.frames.reserve(frames.size());
+
+    // Populate CAN frames
+    for (const auto &frame : frames) {
+      CanFrame &can_frame = can_data.frames.emplace_back();
+      can_frame.src = frame.getSrc();
+      can_frame.address = frame.getAddress();
+
+      // Copy CAN data
+      auto dat = frame.getDat();
+      can_frame.dat.assign(dat.begin(), dat.end());
+    }
+  }
+}

opendbc/can/pandad_api_impl.pyx

@@ -0,0 +1,50 @@
+# distutils: language = c++
+# cython: language_level=3
+from cython.operator cimport dereference as deref, preincrement as preinc
+from libcpp.vector cimport vector
+from libcpp.string cimport string
+from libcpp cimport bool
+from libc.stdint cimport uint8_t, uint32_t, uint64_t
+
+cdef extern from "opendbc/can/common.h":
+  cdef struct CanFrame:
+    long src
+    uint32_t address
+    vector[uint8_t] dat
+
+  cdef struct CanData:
+    uint64_t nanos
+    vector[CanFrame] frames
+
+cdef extern from "can_list_to_can_capnp.cc":
+  void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid)
+  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
+
+def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+  cdef CanFrame *f
+  cdef vector[CanFrame] can_list
+
+  can_list.reserve(len(can_msgs))
+  for can_msg in can_msgs:
+    f = &(can_list.emplace_back())
+    f.address = can_msg[0]
+    f.dat = can_msg[1]
+    f.src = can_msg[2]
+
+  cdef string out
+  can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
+  return out
+
+def can_capnp_to_list(strings, msgtype='can'):
+  cdef vector[CanData] data
+  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
+
+  result = []
+  cdef CanData *d
+  cdef vector[CanData].iterator it = data.begin()
+  while it != data.end():
+    d = &deref(it)
+    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
+    result.append((d.nanos, frames))
+    preinc(it)
+  return result