direct capnp to vector[CanData] conversion

opendbc/can/parser_pyx.pyx

@@ -4,7 +4,7 @@
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libc.stdint cimport uint32_t
+from libc.stdint cimport uint32_t, uintptr_t
 
 from .common cimport CANParser as cpp_CANParser
 from .common cimport dbc_lookup, Msg, DBC, CanData
@@ -67,13 +67,18 @@ cdef class CANParser:
     if self.can:
       del self.can
 
+  def update(self, data, sendcan=False):
+    if not hasattr(data, 'get_data_pointer'):
+      return self.update_strings(self, data, sendcan)
+
+    cdef uintptr_t pointer = data.get_data_pointer()
+    can_data = <vector[CanData]*> pointer
+    return self._update(can_data[0], sendcan)
+
   def update_strings(self, strings, sendcan=False):
     # input format:
     # [nanos, [[address, data, src], ...]]
     # [[nanos, [[address, data, src], ...], ...]]
-    for address in self.addresses:
-      self.vl_all[address].clear()
-
     cdef vector[CanData] can_data_array
 
     try:
@@ -95,6 +100,12 @@ cdef class CANParser:
     except TypeError:
       raise RuntimeError("invalid parameter")
 
+    return self._update(can_data_array, sendcan)
+
+  cdef _update(self, vector[CanData] &can_data_array, sendcan):
+    for address in self.addresses:
+      self.vl_all[address].clear()
+
     updated_addrs = self.can.update(can_data_array)
     for addr in updated_addrs:
       vl = self.vl[addr]

opendbc/car/chrysler/radar_interface.py

@@ -47,7 +47,7 @@ def update(self, can_strings):
     if self.rcp is None or self.CP.radarUnavailable:
       return super().update(None)
 
-    vls = self.rcp.update_strings(can_strings)
+    vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:

opendbc/car/ford/radar_interface.py

@@ -115,7 +115,7 @@ def update(self, can_strings):
     if self.rcp is None:
       return super().update(None)
 
-    vls = self.rcp.update_strings(can_strings)
+    vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:

opendbc/car/gm/radar_interface.py

@@ -45,7 +45,7 @@ def update(self, can_strings):
     if self.rcp is None:
       return super().update(None)
 
-    vls = self.rcp.update_strings(can_strings)
+    vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:

opendbc/car/honda/radar_interface.py

@@ -33,7 +33,7 @@ def update(self, can_strings):
     if self.radar_off_can:
       return super().update(None)
 
-    vls = self.rcp.update_strings(can_strings)
+    vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:

opendbc/car/hyundai/radar_interface.py

@@ -32,7 +32,7 @@ def update(self, can_strings):
     if self.radar_off_can or (self.rcp is None):
       return super().update(None)
 
-    vls = self.rcp.update_strings(can_strings)
+    vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:

opendbc/car/interfaces.py

@@ -227,7 +227,7 @@ def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarSta
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_packets)
+        cp.update(can_packets)
 
     # get CarState
     ret = self._update()

opendbc/car/toyota/radar_interface.py

@@ -41,7 +41,7 @@ def update(self, can_strings):
     if self.rcp is None:
       return super().update(None)
 
-    vls = self.rcp.update_strings(can_strings)
+    vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages: