Refactor CAN Parser

opendbc/can/common.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <map>
+#include <set>
 #include <string>
 #include <utility>
 #include <unordered_map>
@@ -46,8 +47,7 @@ class MessageState {
   unsigned int size;
 
   std::vector<Signal> parse_sigs;
-  std::vector<double> vals;
-  std::vector<std::vector<double>> all_vals;
+  std::map<std::string, SignalValue> values;
 
   uint64_t last_seen_nanos;
   uint64_t check_threshold;
@@ -80,11 +80,11 @@ class CANParser {
   CANParser(int abus, const std::string& dbc_name,
             const std::vector<std::pair<uint32_t, int>> &messages);
   CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
-  void update(const std::vector<CanData> &can_data, std::vector<SignalValue> &vals);
-  void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
+  MessageState *messageState(uint32_t address) { return &message_states.at(address); }
+  std::set<uint32_t> update(const std::vector<CanData> &can_data, bool sendcan);
 
 protected:
-  void UpdateCans(const CanData &can);
+  void UpdateCans(const CanData &can, std::set<uint32_t> &updated_addresses);
   void UpdateValid(uint64_t nanos);
 };
 

opendbc/can/common.pxd

@@ -3,7 +3,9 @@
 
 from libc.stdint cimport uint8_t, uint32_t, uint64_t
 from libcpp cimport bool
+from libcpp.map cimport map
 from libcpp.pair cimport pair
+from libcpp.set cimport set
 from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.unordered_map cimport unordered_map
@@ -54,9 +56,7 @@ cdef extern from "common_dbc.h":
     unordered_map[string, const Msg*] name_to_msg
 
   cdef struct SignalValue:
-    uint32_t address
     uint64_t ts_nanos
-    string name
     double value
     vector[double] all_values
 
@@ -68,6 +68,9 @@ cdef extern from "common_dbc.h":
 cdef extern from "common.h":
   cdef const DBC* dbc_lookup(const string) except +
 
+  cdef cppclass MessageState:
+    map[string, SignalValue] values
+
   cdef struct CanFrame:
     long src
     uint32_t address
@@ -81,7 +84,8 @@ cdef extern from "common.h":
     bool can_valid
     bool bus_timeout
     CANParser(int, string, vector[pair[uint32_t, int]]) except +
-    void update(vector[CanData]&, vector[SignalValue]&) except +
+    MessageState *messageState(uint32_t address)
+    set[uint32_t] update(vector[CanData]&, bool) except +
 
   cdef cppclass CANPacker:
    CANPacker(string)

opendbc/can/common_dbc.h

@@ -11,9 +11,7 @@ struct SignalPackValue {
 };
 
 struct SignalValue {
-  uint32_t address;
   uint64_t ts_nanos;
-  std::string name;
   double value;  // latest value
   std::vector<double> all_values;  // all values from this cycle
 };

opendbc/can/parser.cc

@@ -5,11 +5,6 @@
 #include <stdexcept>
 #include <sstream>
 
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-
 #include "opendbc/can/common.h"
 
 int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
@@ -31,13 +26,12 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
   return ret;
 }
 
-
 bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
   std::vector<double> tmp_vals(parse_sigs.size());
   bool checksum_failed = false;
   bool counter_failed = false;
 
-  for (int i = 0; i < parse_sigs.size(); i++) {
+  for (int i = 0; i < parse_sigs.size(); ++i) {
     const auto &sig = parse_sigs[i];
 
     int64_t tmp = get_raw_value(dat, sig);
@@ -68,9 +62,11 @@ bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
     return false;
   }
 
-  for (int i = 0; i < parse_sigs.size(); i++) {
-    vals[i] = tmp_vals[i];
-    all_vals[i].push_back(vals[i]);
+  for (int i = 0; i < parse_sigs.size(); ++i) {
+    auto &val = values[parse_sigs[i].name];
+    val.value = tmp_vals[i];
+    val.ts_nanos = nanos;
+    val.all_values.push_back(val.value);
   }
   last_seen_nanos = nanos;
 
@@ -126,8 +122,9 @@ CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector<st
 
     // track all signals for this message
     state.parse_sigs = msg->sigs;
-    state.vals.resize(msg->sigs.size());
-    state.all_vals.resize(msg->sigs.size());
+    for (auto &sig : msg->sigs) {
+      state.values[sig.name] = {};
+    }
   }
 }
 
@@ -147,17 +144,24 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool 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({});
-    }
-
+    state.parse_sigs = msg.sigs;
     message_states[state.address] = state;
+    // Initialize value entries for each signal in the message
+    for (auto &sig : msg.sigs) {
+      message_states[state.address].values[sig.name] = {};
+    }
   }
 }
 
-void CANParser::update(const std::vector<CanData> &can_data, std::vector<SignalValue> &vals) {
+std::set<uint32_t> CANParser::update(const std::vector<CanData> &can_data, bool sendcan) {
+    // Clear all_values
+  for (auto &state : message_states) {
+    for (auto &value : state.second.values) {
+      value.second.all_values.clear();
+    }
+  }
+
+  std::set<uint32_t> updated_addresses;
   uint64_t current_nanos = 0;
   for (const auto &c : can_data) {
     if (first_nanos == 0) {
@@ -168,13 +172,13 @@ void CANParser::update(const std::vector<CanData> &can_data, std::vector<SignalV
     }
     last_nanos = c.nanos;
 
-    UpdateCans(c);
+    UpdateCans(c, updated_addresses);
     UpdateValid(last_nanos);
   }
-  query_latest(vals, current_nanos);
+  return updated_addresses;
 }
 
-void CANParser::UpdateCans(const CanData &can) {
+void CANParser::UpdateCans(const CanData &can, std::set<uint32_t> &updated_addresses) {
   //DEBUG("got %zu messages\n", can.frames.size());
 
   bool bus_empty = true;
@@ -202,7 +206,9 @@ void CANParser::UpdateCans(const CanData &can) {
     //  continue;
     //}
 
-    state_it->second.parse(can.nanos, frame.dat);
+    if (state_it->second.parse(can.nanos, frame.dat)) {
+      updated_addresses.insert(state_it->first);
+    }
   }
 
   // update bus timeout
@@ -240,26 +246,3 @@ void CANParser::UpdateValid(uint64_t nanos) {
   can_invalid_cnt = _valid ? 0 : (can_invalid_cnt + 1);
   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;
-  }
-  for (auto& kv : message_states) {
-    auto& state = kv.second;
-    if (last_ts != 0 && state.last_seen_nanos < last_ts) {
-      continue;
-    }
-
-    for (int i = 0; i < state.parse_sigs.size(); i++) {
-      const Signal &sig = state.parse_sigs[i];
-      SignalValue &v = vals.emplace_back();
-      v.address = state.address;
-      v.ts_nanos = state.last_seen_nanos;
-      v.name = sig.name;
-      v.value = state.vals[i];
-      v.all_values = state.all_vals[i];
-      state.all_vals[i].clear();
-    }
-  }
-}

opendbc/can/parser_pyx.pyx

@@ -1,24 +1,63 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 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, CanFrame
+from .common cimport MessageState as cpp_MessageState
+from .common cimport dbc_lookup, DBC, CanData, CanFrame
 
 import numbers
 from collections import defaultdict
+from collections.abc import Mapping
+
+cdef class MessageState:
+  cdef cpp_MessageState *state
+  cdef list signal_names
+
+  @property
+  def names(self):
+    return self.signal_names
+
+  def value(self, name):
+    return self.state.values.at(name).value
+
+  def all_values(self, name):
+    return self.state.values.at(name).all_values
+
+  def ts_nanos(self, name):
+    return self.state.values.at(name).ts_nanos
+
+  @staticmethod
+  cdef create(cpp_MessageState *s):
+    state = MessageState()
+    state.state = s
+    state.signal_names = [it.first.decode("utf-8") for it in s.values]
+    return state
+
+
+class ValueDict(Mapping):
+  def __init__(self, MessageState state, fetch_func):
+    self.state = state
+    self.fetch_func = fetch_func
+
+  def __getitem__(self, key):
+    return self.fetch_func(self.state, key)
+
+  def __iter__(self):
+    return iter(self.state.names)
+
+  def __len__(self):
+    return len(self.state.names)
 
 
 cdef class CANParser:
   cdef:
     cpp_CANParser *can
     const DBC *dbc
-    vector[uint32_t] addresses
 
   cdef readonly:
     dict vl
@@ -45,20 +84,18 @@ cdef class CANParser:
       except IndexError:
         raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}")
 
-      address = m.address
-      message_v.push_back((address, c[1]))
-      self.addresses.push_back(address)
-
-      name = m.name.decode("utf8")
-      self.vl[address] = {}
-      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[name] = self.ts_nanos[address]
+      message_v.push_back((m.address, c[1]))
 
     self.can = new cpp_CANParser(bus, dbc_name, message_v)
-    self.update_strings([])
+
+    # Populate dictionaries with ValueDict
+    for address, _ in message_v:
+      m = self.dbc.addr_to_msg.at(address)
+      name = m.name.decode("utf8")
+      state = MessageState.create(self.can.messageState(address))
+      self.vl[name] = self.vl[address] = ValueDict(state, MessageState.value)
+      self.vl_all[name] = self.vl_all[address] = ValueDict(state, MessageState.all_values)
+      self.ts_nanos[name] = self.ts_nanos[address] = ValueDict(state, MessageState.ts_nanos)
 
   def __dealloc__(self):
     if self.can:
@@ -68,16 +105,7 @@ cdef class CANParser:
     # input format:
     # [nanos, [[address, data, src], ...]]
     # [[nanos, [[address, data, src], ...], ...]]
-    for address in self.addresses:
-      self.vl_all[address].clear()
-
-    cur_address = -1
-    vl = {}
-    vl_all = {}
-    ts_nanos = {}
-    updated_addrs = set()
 
-    cdef vector[SignalValue] new_vals
     cdef CanFrame* frame
     cdef CanData* can_data
     cdef vector[CanData] can_data_array
@@ -99,29 +127,7 @@ cdef class CANParser:
     except TypeError:
       raise RuntimeError("invalid parameter")
 
-    self.can.update(can_data_array, new_vals)
-
-    cdef vector[SignalValue].iterator it = new_vals.begin()
-    cdef SignalValue* cv
-    while it != new_vals.end():
-      cv = &deref(it)
-
-      # Check if the address has changed
-      if cv.address != cur_address:
-        cur_address = cv.address
-        vl = self.vl[cur_address]
-        vl_all = self.vl_all[cur_address]
-        ts_nanos = self.ts_nanos[cur_address]
-        updated_addrs.add(cur_address)
-
-      # Cast char * directly to unicode
-      cv_name = <unicode>cv.name
-      vl[cv_name] = cv.value
-      vl_all[cv_name] = cv.all_values
-      ts_nanos[cv_name] = cv.ts_nanos
-      preinc(it)
-
-    return updated_addrs
+    return self.can.update(can_data_array, sendcan)
 
   @property
   def can_valid(self):