def __init__(self, dbc_name, signals, checks=[], bus=0):
self.can_valid = True
self.vl = defaultdict(dict)
self.ts = defaultdict(dict)
sig_names = dict(
(name, ffi.new("char[]", name)) for name, _, _ in signals)
signal_options_c = ffi.new(
"SignalParseOptions[]", [{
'address': sig_address,
'name': sig_names[sig_name],
'default_value': sig_default,
} for sig_name, sig_address, sig_default in signals])
message_options = dict((address, 0) for _, address, _ in signals)
message_options.update(dict(checks))
message_options_c = ffi.new(
"MessageParseOptions[]", [{
'address': address,
'check_frequency': freq,
} for address, freq in message_options.iteritems()])
self.can = libdbc.can_init(bus, dbc_name,
len(message_options_c), message_options_c,
len(signal_options_c), signal_options_c)
self.p_can_valid = ffi.new("bool*")
value_count = libdbc.can_query(self.can, 0, self.p_can_valid, 0,
ffi.NULL)
self.can_values = ffi.new("SignalValue[%d]" % value_count)
self.update_vl(0)
def update_vl(self, sec):
can_values_len = libdbc.can_query(self.can, sec, self.p_can_valid,
len(self.can_values),
self.can_values)
assert can_values_len <= len(self.can_values)
self.can_valid = self.p_can_valid[0]
# print can_values_len
ret = set()
for i in range(
can_values_len): #2018.09.19 4:45PMEST remove type xrange
cv = self.can_values[i]
address = cv.address
# print hex(cv.address), ffi.string(cv.name)
name = ffi.string(cv.name)
self.vl[address][name] = cv.value
self.ts[address][name] = cv.ts
sig_name = self.address_to_msg_name[address]
self.vl[sig_name][name] = cv.value
self.ts[sig_name][name] = cv.ts
ret.add(address)
return ret
def update_vl(self, sec):
can_values_len = libdbc.can_query(self.can, sec, self.p_can_valid,
len(self.can_values),
self.can_values)
assert can_values_len <= len(self.can_values)
self.can_invalid_cnt += 1
if self.p_can_valid[0]:
self.can_invalid_cnt = 0
self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
ret = set()
for i in xrange(can_values_len):
cv = self.can_values[i]
address = cv.address
# print("{0} {1}".format(hex(cv.address), ffi.string(cv.name)))
name = ffi.string(cv.name)
self.vl[address][name] = cv.value
self.ts[address][name] = cv.ts
sig_name = self.address_to_msg_name[address]
self.vl[sig_name][name] = cv.value
self.ts[sig_name][name] = cv.ts
ret.add(address)
return ret
def update_vl(self, sec):
can_values_len = libdbc.can_query(self.can, sec, self.p_can_valid,
len(self.can_values),
self.can_values)
assert can_values_len <= len(self.can_values)
self.can_valid = self.p_can_valid[0]
# print can_values_len
ret = set()
for i in xrange(can_values_len):
cv = self.can_values[i]
address = cv.address
# print hex(cv.address), ffi.string(cv.name)
name = ffi.string(cv.name)
self.vl[address][name] = cv.value
self.ts[address][name] = cv.ts
ret.add(address)
return ret
def __init__(self,
dbc_name,
signals,
checks=None,
bus=0,
sendcan=False,
tcp_addr="127.0.0.1"):
if checks is None:
checks = []
self.can_valid = True
self.vl = defaultdict(dict)
self.ts = defaultdict(dict)
self.dbc_name = dbc_name
self.dbc = libdbc.dbc_lookup(dbc_name)
self.msg_name_to_addres = {}
self.address_to_msg_name = {}
num_msgs = self.dbc[0].num_msgs
for i in range(num_msgs):
msg = self.dbc[0].msgs[i]
name = ffi.string(msg.name)
address = msg.address
self.msg_name_to_addres[name] = address
self.address_to_msg_name[address] = name
# Convert message names into addresses
for i in range(len(signals)):
s = signals[i]
if not isinstance(s[1], numbers.Number):
s = (s[0], self.msg_name_to_addres[s[1]], s[2])
signals[i] = s
for i in range(len(checks)):
c = checks[i]
if not isinstance(c[0], numbers.Number):
c = (self.msg_name_to_addres[c[0]], c[1])
checks[i] = c
sig_names = dict(
(name, ffi.new("char[]", name)) for name, _, _ in signals)
signal_options_c = ffi.new(
"SignalParseOptions[]", [{
'address': sig_address,
'name': sig_names[sig_name],
'default_value': sig_default,
} for sig_name, sig_address, sig_default in signals])
message_options = dict((address, 0) for _, address, _ in signals)
message_options.update(dict(checks))
message_options_c = ffi.new(
"MessageParseOptions[]", [{
'address': msg_address,
'check_frequency': freq,
} for msg_address, freq in message_options.items()])
self.can = libdbc.can_init(bus, dbc_name,
len(message_options_c), message_options_c,
len(signal_options_c), signal_options_c,
sendcan, tcp_addr)
self.p_can_valid = ffi.new("bool*")
value_count = libdbc.can_query(self.can, 0, self.p_can_valid, 0,
ffi.NULL)
self.can_values = ffi.new("SignalValue[%d]" % value_count)
self.update_vl(0)
