mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-26 22:42:06 +08:00
Vehicle Researcher
07fbcc5dc2
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
old-commit-hash: 683b6151ce
113 lines
4.0 KiB
Python
Executable File
113 lines
4.0 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from __future__ import print_function
|
|
import os
|
|
import sys
|
|
|
|
import jinja2
|
|
|
|
from collections import Counter
|
|
from opendbc.can.dbc import dbc
|
|
|
|
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)
|
|
|
|
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
|
|
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
|
|
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, msg_size, 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 endianess" % 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 endianess" % 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)
|
|
|
|
def main():
|
|
if len(sys.argv) != 3:
|
|
print("usage: %s dbc_directory output_filename" % (sys.argv[0],))
|
|
sys.exit(0)
|
|
|
|
dbc_dir = sys.argv[1]
|
|
out_fn = sys.argv[2]
|
|
|
|
dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
|
|
in_fn = os.path.join(dbc_dir, dbc_name + '.dbc')
|
|
|
|
process(in_fn, out_fn)
|
|
|
|
if __name__ == '__main__':
|
|
main()
|
|
|