def process(in_fn, out_fn):
dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
# print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
with open(template_fn, "r") as template_f:
template = jinja2.Template(template_f.read(),
trim_blocks=True,
lstrip_blocks=True)
can_dbc = dbc(in_fn)
# process counter and checksums first
msgs = [(address, msg_name, msg_size,
sorted(msg_sigs,
key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
for address, ((msg_name, msg_size),
msg_sigs) in sorted(can_dbc.msgs.items())
if msg_sigs]
def_vals = {a: sorted(set(b))
for a, b in can_dbc.def_vals.items()} # remove duplicates
def_vals = sorted(def_vals.items())
if can_dbc.name.startswith(("honda_", "acura_")):
checksum_type = "honda"
checksum_size = 4
counter_size = 2
checksum_start_bit = 3
counter_start_bit = 5
little_endian = False
elif can_dbc.name.startswith(("toyota_", "lexus_")):
checksum_type = "toyota"
checksum_size = 8
counter_size = None
checksum_start_bit = 7
counter_start_bit = None
little_endian = False
elif can_dbc.name.startswith(
("vw_", "volkswagen_", "audi_", "seat_", "skoda_")):
checksum_type = "volkswagen"
checksum_size = 8
counter_size = 4
checksum_start_bit = 0
counter_start_bit = 0
little_endian = True
elif can_dbc.name.startswith(("subaru_global_")):
checksum_type = "subaru"
checksum_size = 8
counter_size = None
checksum_start_bit = 0
counter_start_bit = None
little_endian = True
elif can_dbc.name.startswith(("chrysler_")):
checksum_type = "chrysler"
checksum_size = 8
counter_size = None
checksum_start_bit = 7
counter_start_bit = None
little_endian = False
else:
checksum_type = None
checksum_size = None
counter_size = None
checksum_start_bit = None
counter_start_bit = None
little_endian = None
# sanity checks on expected COUNTER and CHECKSUM rules, as packer and parser auto-compute those signals
for address, msg_name, _, sigs in msgs:
dbc_msg_name = dbc_name + " " + msg_name
for sig in sigs:
if checksum_type is not None:
# checksum rules
if sig.name == "CHECKSUM":
if sig.size != checksum_size:
sys.exit("%s: CHECKSUM is not %d bits long" %
(dbc_msg_name, checksum_size))
if sig.start_bit % 8 != checksum_start_bit:
sys.exit("%s: CHECKSUM starts at wrong bit" %
dbc_msg_name)
if little_endian != sig.is_little_endian:
sys.exit("%s: CHECKSUM has wrong endianness" %
dbc_msg_name)
# counter rules
if sig.name == "COUNTER":
if counter_size is not None and sig.size != counter_size:
sys.exit("%s: COUNTER is not %d bits long" %
(dbc_msg_name, counter_size))
if counter_start_bit is not None and sig.start_bit % 8 != counter_start_bit:
print(counter_start_bit, sig.start_bit)
sys.exit("%s: COUNTER starts at wrong bit" %
dbc_msg_name)
if little_endian != sig.is_little_endian:
sys.exit("%s: COUNTER has wrong endianness" %
dbc_msg_name)
# pedal rules
if address in [0x200, 0x201]:
if sig.name == "COUNTER_PEDAL" and sig.size != 4:
sys.exit("%s: PEDAL COUNTER is not 4 bits long" %
dbc_msg_name)
if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
sys.exit("%s: PEDAL CHECKSUM is not 8 bits long" %
dbc_msg_name)
# Fail on duplicate message names
c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
for name, count in c.items():
if count > 1:
sys.exit("%s: Duplicate message name in DBC file %s" %
(dbc_name, name))
parser_code = template.render(dbc=can_dbc,
checksum_type=checksum_type,
msgs=msgs,
def_vals=def_vals,
len=len)
with open(out_fn, "w") as out_f:
out_f.write(parser_code)
from opendbc import DBC_PATH
from cereal import car, log
from common.realtime import Ratekeeper
from selfdrive.config import Conversions as CV
import cereal.messaging as messaging
from selfdrive.car import crc8_pedal
from selfdrive.car.honda.values import CAR
from selfdrive.car.honda.carstate import get_can_signals
from selfdrive.boardd.boardd import can_list_to_can_capnp
from opendbc.can.parser import CANParser
from selfdrive.car.honda.interface import CarInterface
from opendbc.can.dbc import dbc
honda = dbc(
os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
# Trick: set 0x201 (interceptor) in fingerprints for gas is controlled like if there was an interceptor
CP = CarInterface.get_params(CAR.CIVIC, {0: {0x201: 6}, 1: {}, 2: {}, 3: {}})
# Honda checksum
def can_cksum(mm):
s = 0
for c in mm:
s += (c >> 4)
s += c & 0xF
s = 8 - s
s %= 0x10
return s
