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Merge branch 'upstream/opendbc/master' into palisade-2023-port-1
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@jason-wen-waysun
jason-wen-waysun committed Mar 27, 2023
2 parents 9499dac + b7d4a6e commit 34d99bd
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Showing 2 changed files with 77 additions and 9 deletions.
43 changes: 40 additions & 3 deletions can/tests/test_packer_parser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,6 @@ def test_parser_can_valid(self):
parser.update_string(dat)
self.assertTrue(parser.can_valid)


def test_packer_parser(self):

signals = [
Expand Down Expand Up @@ -152,7 +151,6 @@ def test_packer_parser(self):
for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
self.assertEqual(parser.vl["STEERING_CONTROL"][sig], parser.vl[228][sig])


def test_scale_offset(self):
"""Test that both scale and offset are correctly preserved"""
dbc_file = "honda_civic_touring_2016_can_generated"
Expand Down Expand Up @@ -247,7 +245,6 @@ def send_msg(blank=False):
send_msg()
self.assertFalse(parser.bus_timeout)


def test_updated(self):
"""Test updated value dict"""
dbc_file = "honda_civic_touring_2016_can_generated"
Expand Down Expand Up @@ -281,5 +278,45 @@ def test_updated(self):
if len(user_brake_vals):
self.assertEqual(vl_all[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"])

def test_timestamp_nanos(self):
"""Test message timestamp dict"""
dbc_file = "honda_civic_touring_2016_can_generated"

signals = [
("USER_BRAKE", "VSA_STATUS"),
("PEDAL_GAS", "POWERTRAIN_DATA"),
]
checks = [
("VSA_STATUS", 50),
("POWERTRAIN_DATA", 100),
]

parser = CANParser(dbc_file, signals, checks, 0)
packer = CANPacker(dbc_file)

# Check the default timestamp is zero
for msg in ("VSA_STATUS", "POWERTRAIN_DATA"):
ts_nanos = parser.ts_nanos[msg].values()
self.assertEqual(set(ts_nanos), {0})

# Check:
# - timestamp is only updated for correct messages
# - timestamp is correct for multiple runs
# - timestamp is from the latest message if updating multiple strings
for _ in range(10):
can_strings = []
log_mono_time = 0
for _ in range(10):
log_mono_time = int(random.uniform(1, 60) * 1e+9)
can_msg = packer.make_can_msg("VSA_STATUS", 0, {})
can_strings.append(can_list_to_can_capnp([can_msg], logMonoTime=log_mono_time))
parser.update_strings(can_strings)

ts_nanos = parser.ts_nanos["VSA_STATUS"].values()
self.assertEqual(set(ts_nanos), {log_mono_time})
ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values()
self.assertEqual(set(ts_nanos), {0})


if __name__ == "__main__":
unittest.main()
43 changes: 37 additions & 6 deletions vw_golf_mk4.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -1086,10 +1086,10 @@ BO_ 872 ACC_System: 8 XXX
SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_zul_Regelabw : 40|8@1+ (0.005,0) [0|1.265] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_max_AendGrad : 48|8@1+ (0.02,0) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX

BO_ 1386 ACC_GRA_Anziege: 8 XXX
BO_ 1386 ACC_GRA_Anzeige: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
Expand All @@ -1100,7 +1100,7 @@ BO_ 1386 ACC_GRA_Anziege: 8 XXX
SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_PrioDisp : 35|2@1+ (1,0) [0|3] "" XXX
SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
Expand Down Expand Up @@ -1153,8 +1153,8 @@ BO_ 644 Motor_Bremse: 6 XXX
SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP
SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX
SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX
SG_ MOB_Bremsstgr : 16|11@1+ (0.76,0) [0|100] "Unit_PerCent" Vector__XXX
SG_ MOB_Bremsmom : 27|13@1+ (1,0) [0|8190] "Unit_NewtoMeter" Bremse_MK25AESP
SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX
SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" Bremse_MK25AESP

BO_ 870 AWV: 5 XXX
SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Bremsbooster
Expand Down Expand Up @@ -1531,5 +1531,36 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";


VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ;
VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ;
VAL_ 872 ACS_Schubabsch 1 "SA_nicht_zulaessig" 0 "SA_zulaessig" ;
VAL_ 872 ACS_StSt_Info 3 "Systemfehler" 0 "Motorlauf_nn" 1 "Stoppverbot_Motoranlauf_nn" 2 "Motoranlauf_notwendig" ;
VAL_ 872 ACS_MomEingriff 1 "MomEingr_verhindern" 0 "keine_Beeinfl_MomEingr_Mot" ;
VAL_ 872 ACS_Typ_ACC 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 3 "frei" 2 "frei" ;
VAL_ 872 ACS_FreigSollB 0 "Sollbeschl_nicht_freigeg" 1 "Sollbeschl_freigeg" ;
VAL_ 872 ACS_Sollbeschl 2046 "ADR_nicht_aktiv" 2047 "Fehler" ;
VAL_ 872 ACS_Anhaltewunsch 0 "kein_Haltewunsch" 1 "Fzg_haelt_an" ;
VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;

VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";

VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;
VAL_ 1386 ACA_Fahrerhinw 1 "Ein" 0 "Aus" ;
VAL_ 1386 ACA_AnzDisplay 1 "Anzeige_erw" 0 "Anzeige_nicht_erw" ;
VAL_ 1386 ACA_Zeitluecke 3 "Zeitluecke3" 10 "Zeitluecke10" 4 "Zeitluecke4" 14 "Zeitluecke14" 11 "Zeitluecke11" 2 "Zeitluecke2" 13 "Zeitluecke13" 9 "Zeitluecke9" 1 "Zeitluecke1" 8 "Zeitluecke8" 5 "Zeitluecke5" 15 "Zeitluecke15" 0 "nicht_definiert" 12 "Zeitluecke12" 6 "Zeitluecke6" 7 "Zeitluecke7" ;
VAL_ 1386 ACA_V_Wunsch 255 "kein_Wert_im_Speicher" ;
VAL_ 1386 ACA_kmh_mph 0 "km_h" 1 "mph" ;
VAL_ 1386 ACA_Akustik1 0 "kein_Gong" 1 "Gong" ;
VAL_ 1386 ACA_Akustik2 0 "kein_Summer" 1 "Summer" ;
VAL_ 1386 ACA_PrioDisp 1 "mittlere_Prio" 3 "keine_Anzeige_Anf" 0 "hohe_Prio" 2 "niedrige_Prio" ;
VAL_ 1386 ACA_gemZeitl 6 "Zeitluecke6" 2 "Zeitluecke2" 7 "Zeitluecke7" 13 "Zeitluecke13" 11 "Zeitluecke11" 4 "Zeitluecke4" 8 "Zeitluecke8" 12 "Zeitluecke12" 10 "Zeitluecke10" 0 "Kein_Objekt_erfasst" 1 "Zeitluecke1" 3 "Zeitluecke3" 9 "Zeitluecke9" 15 "Zeitluecke15" 14 "Zeitluecke14" 5 "Zeitluecke5" ;
VAL_ 1386 ACA_ACC_Verz 0 "ACC_verzoegert_nicht" 1 "ACC_verzoegert" ;
VAL_ 1386 ACA_StaGRA 3 "GRA_aktiv" 4 "GRA_uebertreten" 2 "GRA_passiv" 0 "Hauptschalter_aus" 6 "frei" 7 "GRA_Fehler" 1 "Reserve" 5 "frei" ;
VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ;
VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ;
VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ;
VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ;

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