openpilot v0.3.7 release

old-commit-hash: daf54ad54d

selfdrive/can/parser.cc

@@ -18,7 +18,7 @@
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
-#include "parser_common.h"
+#include "common.h"
 
 #define DEBUG(...)
 // #define DEBUG printf
@@ -40,8 +40,6 @@ uint64_t read_u64_be(const uint8_t* v) {
           | (uint64_t)v[7]);
 }
 
-std::vector<const DBC*> g_dbc;
-
 bool honda_checksum(int address, uint64_t d, int l) {
   int target = (d >> l) & 0xF;
 
@@ -77,9 +75,9 @@ struct MessageState {
     for (int i=0; i < parse_sigs.size(); i++) {
       auto& sig = parse_sigs[i];
 
-      int64_t tmp = (dat >> sig.bo) & ((1 << sig.b2)-1);
+      int64_t tmp = (dat >> sig.bo) & ((1ULL << sig.b2)-1);
       if (sig.is_signed) {
-        tmp -= (tmp >> (sig.b2-1)) ? (1<<sig.b2) : 0; //signed
+        tmp -= (tmp >> (sig.b2-1)) ? (1ULL << sig.b2) : 0; //signed
       }
 
       DEBUG("parse %X %s -> %ld\n", address, sig.name, tmp);
@@ -123,6 +121,7 @@ struct MessageState {
 
 };
 
+
 class CANParser {
  public:
   CANParser(int abus, const std::string& dbc_name,
@@ -135,15 +134,10 @@ class CANParser {
     zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
     zmq_connect(subscriber, "tcp://127.0.0.1:8006");
 
-    for (auto dbci : g_dbc) {
-      if (dbci->name == dbc_name) {
-        dbc = dbci;
-        break;
-      }
-    }
+    dbc = dbc_lookup(dbc_name);
     assert(dbc);
 
-    for (auto &op : options) {
+    for (const auto& op : options) {
       MessageState state = {
         .address = op.address,
         // .check_frequency = op.check_frequency,
@@ -178,7 +172,7 @@ class CANParser {
       }
 
       // track requested signals for this message
-      for (auto &sigop : sigoptions) {
+      for (const auto& sigop : sigoptions) {
         if (sigop.address != op.address) continue;
 
         for (int i=0; i<msg->num_sigs; i++) {
@@ -230,8 +224,8 @@ class CANParser {
 
   void UpdateValid(uint64_t sec) {
     can_valid = true;
-    for (auto &kv : message_states) {
-      auto &state = kv.second;
+    for (const auto& kv : message_states) {
+      const auto& state = kv.second;
       if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
         if (state.seen > 0) {
           INFO("%X TIMEOUT\n", state.address);
@@ -279,8 +273,8 @@ class CANParser {
   std::vector<SignalValue> query(uint64_t sec) {
     std::vector<SignalValue> ret;
 
-    for (auto &kv : message_states) {
-      auto &state = kv.second;
+    for (const auto& kv : message_states) {
+      const auto& state = kv.second;
       if (sec != 0 && state.seen != sec) continue;
       
       for (int i=0; i<state.parse_sigs.size(); i++) {
@@ -311,10 +305,6 @@ class CANParser {
 
 }
 
-void dbc_register(const DBC* dbc) {
-  g_dbc.push_back(dbc);
-}
-
 extern "C" {
 
 void* can_init(int bus, const char* dbc_name,