mirror of
https://github.com/dragonpilot/dragonpilot.git
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Vehicle Researcher
683b6151ce
4f82d01e gitignore 5cb83454 Honda FCM: diagnostic signals d309cdce Added linter to opendbc (#203) d452706f add requirements.txt ec3b4595 deterministic dependency order a265d351 Azure pipelines ci (#202) bce9a2e1 packer depends on libdbc 5d5fdd6a no more python version of libdbc, everything through cython 541705bf move CANDefine to parser code da25c52a add test for can define 0ba7926b unify can packer and parser 25d88009 consistent naming a5c640a5 fix linter be210fef remove obsolete make file ffd9dca7 opendbc needs cereal b559f63d remove more make d0929496 seems to work now 41e80836 don't make 3254d1fc think scons works eb78f6aa scons sort of working 0ef1e35d fix gitignore e155e017 Can migration (#199) 3eded83a Honda: correct steering torque sensor sign to be consistent with standard convention (left+) 32f70e2f Fix outback endianness consistency (#196) a7da471f Update subaru_outback_2015_eyesight.dbc (#195) git-subtree-dir: opendbc git-subtree-split: 4f82d01ebc78109888954d9807d320e3c27896fd
113 lines
4.0 KiB
Python
Executable File
113 lines
4.0 KiB
Python
Executable File
#!/usr/bin/env python3
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from __future__ import print_function
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import os
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import sys
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import jinja2
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from collections import Counter
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from opendbc.can.dbc import dbc
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def process(in_fn, out_fn):
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dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
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#print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
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template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
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with open(template_fn, "r") as template_f:
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template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
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can_dbc = dbc(in_fn)
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msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
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for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
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def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
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def_vals = sorted(def_vals.items())
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if can_dbc.name.startswith(("honda_", "acura_")):
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checksum_type = "honda"
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checksum_size = 4
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counter_size = 2
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checksum_start_bit = 3
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counter_start_bit = 5
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little_endian = False
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elif can_dbc.name.startswith(("toyota_", "lexus_")):
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checksum_type = "toyota"
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checksum_size = 8
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counter_size = None
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checksum_start_bit = 7
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counter_start_bit = None
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little_endian = False
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elif can_dbc.name.startswith(("vw_", "volkswagen_", "audi_", "seat_", "skoda_")):
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checksum_type = "volkswagen"
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checksum_size = 8
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counter_size = 4
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checksum_start_bit = 0
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counter_start_bit = 0
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little_endian = True
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else:
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checksum_type = None
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checksum_size = None
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counter_size = None
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checksum_start_bit = None
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counter_start_bit = None
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little_endian = None
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# sanity checks on expected COUNTER and CHECKSUM rules, as packer and parser auto-compute those signals
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for address, msg_name, msg_size, sigs in msgs:
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dbc_msg_name = dbc_name + " " + msg_name
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for sig in sigs:
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if checksum_type is not None:
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# checksum rules
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if sig.name == "CHECKSUM":
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if sig.size != checksum_size:
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sys.exit("%s: CHECKSUM is not %d bits long" % (dbc_msg_name, checksum_size))
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if sig.start_bit % 8 != checksum_start_bit:
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sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
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if little_endian != sig.is_little_endian:
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sys.exit("%s: CHECKSUM has wrong endianess" % dbc_msg_name)
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# counter rules
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if sig.name == "COUNTER":
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if counter_size is not None and sig.size != counter_size:
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sys.exit("%s: COUNTER is not %d bits long" % (dbc_msg_name, counter_size))
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if counter_start_bit is not None and sig.start_bit % 8 != counter_start_bit:
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print(counter_start_bit, sig.start_bit)
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sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
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if little_endian != sig.is_little_endian:
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sys.exit("%s: COUNTER has wrong endianess" % dbc_msg_name)
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# pedal rules
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if address in [0x200, 0x201]:
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if sig.name == "COUNTER_PEDAL" and sig.size != 4:
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sys.exit("%s: PEDAL COUNTER is not 4 bits long" % dbc_msg_name)
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if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
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sys.exit("%s: PEDAL CHECKSUM is not 8 bits long" % dbc_msg_name)
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# Fail on duplicate message names
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c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
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for name, count in c.items():
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if count > 1:
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sys.exit("%s: Duplicate message name in DBC file %s" % (dbc_name, name))
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parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
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with open(out_fn, "w") as out_f:
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out_f.write(parser_code)
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def main():
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if len(sys.argv) != 3:
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print("usage: %s dbc_directory output_filename" % (sys.argv[0],))
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sys.exit(0)
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dbc_dir = sys.argv[1]
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out_fn = sys.argv[2]
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dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
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in_fn = os.path.join(dbc_dir, dbc_name + '.dbc')
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process(in_fn, out_fn)
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if __name__ == '__main__':
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main()
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