mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-10-01 03:53:41 +08:00
Robbe Derks
dbe4641e04
* squash all PR commits for easy rebase * merged all panda rx can into one message * fix buffers in can_send * more cleanup and minor fixes * fix even more stuff * fix non-allocated send buffer * make connecting more robust * fix bus offset * fix controls_mismatch? * simplify mismatch check * C++ style struct * fix connect loop * update ref Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 585c16cd2aba6e2504c2427aaf1855b97035eb41
26 lines
883 B
C++
26 lines
883 B
C++
#include "cereal/messaging/messaging.h"
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#include "panda.h"
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extern "C" {
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void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
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MessageBuilder msg;
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auto event = msg.initEvent(valid);
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auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
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int j = 0;
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for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
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auto c = canData[j];
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c.setAddress(it->address);
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c.setBusTime(it->busTime);
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c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
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c.setSrc(it->src);
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}
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const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
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out.resize(msg_size);
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kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
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capnp::writeMessage(output_stream, msg);
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}
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}
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