CANParser: Initialize value dicts directly from DBC Msg (#1381)

* init dict in __init__ * comment * 0.0 * test all transitions * this is more important and test same thing --------- Co-authored-by: Shane Smiskol <[email protected]>
commaai · Nov 2, 2024 · fa5e761 · fa5e761
1 parent a84fe18
commit fa5e761
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Showing 4 changed files with 23 additions and 12 deletions.
diff --git a/opendbc/can/common.h b/opendbc/can/common.h
@@ -72,7 +72,6 @@ class CANParser {
   bool can_valid = false;
   bool bus_timeout = false;
   uint64_t first_nanos = 0;
-  uint64_t last_nanos = 0;
   uint64_t last_nonempty_nanos = 0;
   uint64_t bus_timeout_threshold = 0;
   uint64_t can_invalid_cnt = CAN_INVALID_CNT;

diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc
@@ -158,6 +158,9 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
 }
 
 void CANParser::update(const std::vector<CanData> &can_data, std::vector<SignalValue> &vals) {
+  if (can_data.empty()) return;
+
+  // used to check for updated messages in earlier frames when we receive multiple at once
   uint64_t current_nanos = 0;
   for (const auto &c : can_data) {
     if (first_nanos == 0) {
@@ -166,10 +169,9 @@ void CANParser::update(const std::vector<CanData> &can_data, std::vector<SignalV
     if (current_nanos == 0) {
       current_nanos = c.nanos;
     }
-    last_nanos = c.nanos;
 
     UpdateCans(c);
-    UpdateValid(last_nanos);
+    UpdateValid(c.nanos);
   }
   query_latest(vals, current_nanos);
 }
@@ -241,13 +243,10 @@ void CANParser::UpdateValid(uint64_t nanos) {
   can_valid = (can_invalid_cnt < CAN_INVALID_CNT) && _counters_valid;
 }
 
-void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
-  if (last_ts == 0) {
-    last_ts = last_nanos;
-  }
+void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t current_nanos) {
   for (auto& kv : message_states) {
     auto& state = kv.second;
-    if (last_ts != 0 && state.last_seen_nanos < last_ts) {
+    if (state.last_seen_nanos < current_nanos) {
       continue;
     }
 

diff --git a/opendbc/can/parser_pyx.pyx b/opendbc/can/parser_pyx.pyx
@@ -8,7 +8,7 @@ from libcpp.vector cimport vector
 from libc.stdint cimport uint32_t
 
 from .common cimport CANParser as cpp_CANParser
-from .common cimport dbc_lookup, SignalValue, DBC, CanData
+from .common cimport dbc_lookup, Msg, SignalValue, DBC, CanData
 
 import numbers
 from collections import defaultdict
@@ -53,15 +53,16 @@ cdef class CANParser:
       self.addresses.add(address)
 
       name = m.name.decode("utf8")
-      self.vl[address] = {}
+      signal_names = [sig.name.decode("utf-8") for sig in (<Msg*>m).sigs]
+
+      self.vl[address] = {name: 0.0 for name in signal_names}
       self.vl[name] = self.vl[address]
       self.vl_all[address] = defaultdict(list)
       self.vl_all[name] = self.vl_all[address]
-      self.ts_nanos[address] = {}
+      self.ts_nanos[address] = {name: 0.0 for name in signal_names}
       self.ts_nanos[name] = self.ts_nanos[address]
 
     self.can = new cpp_CANParser(bus, dbc_name, message_v)
-    self.update_strings([])
 
   def __dealloc__(self):
     if self.can:

diff --git a/opendbc/can/tests/test_packer_parser.py b/opendbc/can/tests/test_packer_parser.py
@@ -68,6 +68,18 @@ def test_parser_can_valid(self):
       parser.update_strings([t, [msg]])
       assert parser.can_valid
 
+  def test_parser_updated_list(self):
+    msgs = [("CAN_FD_MESSAGE", 10), ]
+    parser = CANParser(TEST_DBC, msgs, 0)
+    packer = CANPacker(TEST_DBC)
+
+    msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
+    ret = parser.update_strings([0, [msg]])
+    assert ret == {245}
+
+    ret = parser.update_strings([])
+    assert len(ret) == 0
+
   def test_parser_counter_can_valid(self):
     """
     Tests number of allowed bad counters + ensures CAN stays invalid