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* tabs to spaces python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces * use the new except syntax python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax * make relative imports absolute python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports * Queue renamed to queue in python 3 Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules * replace dict.has_key() with in python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key * make dict views compatible with python 3 python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with [] Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version. * Explicitly use truncating division python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division python 3 treats / as float division. When we want the result to be an integer, use // * replace map() with list comprehension where a list result is needed. In python 3, map() returns an iterator. python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter * replace filter() with list comprehension In python 3, filter() returns an interatoooooooooooor. python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter * wrap zip() in list() where we need the result to be a list python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip * clean out some lint Removes these pylint warnings: ************* Module selfdrive.car.chrysler.chryslercan W: 15, 0: Unnecessary semicolon (unnecessary-semicolon) W: 16, 0: Unnecessary semicolon (unnecessary-semicolon) W: 25, 0: Unnecessary semicolon (unnecessary-semicolon) ************* Module common.dbc W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string) ************* Module selfdrive.car.gm.interface R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type) R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type) ************* Module selfdrive.updated R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
68 lines
1.9 KiB
Python
68 lines
1.9 KiB
Python
import struct
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from selfdrive.can.libdbc_py import libdbc, ffi
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class CANPacker(object):
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def __init__(self, dbc_name):
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self.packer = libdbc.canpack_init(dbc_name)
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self.dbc = libdbc.dbc_lookup(dbc_name)
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self.sig_names = {}
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self.name_to_address_and_size = {}
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num_msgs = self.dbc[0].num_msgs
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for i in range(num_msgs):
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msg = self.dbc[0].msgs[i]
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name = ffi.string(msg.name)
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address = msg.address
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self.name_to_address_and_size[name] = (address, msg.size)
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self.name_to_address_and_size[address] = (address, msg.size)
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def pack(self, addr, values, counter):
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values_thing = []
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for name, value in values.items():
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if name not in self.sig_names:
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self.sig_names[name] = ffi.new("char[]", name)
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values_thing.append({
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'name': self.sig_names[name],
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'value': value
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})
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values_c = ffi.new("SignalPackValue[]", values_thing)
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return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c, counter)
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def pack_bytes(self, addr, values, counter=-1):
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addr, size = self.name_to_address_and_size[addr]
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val = self.pack(addr, values, counter)
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r = struct.pack(">Q", val)
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return addr, r[:size]
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def make_can_msg(self, addr, bus, values, counter=-1):
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addr, msg = self.pack_bytes(addr, values, counter)
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return [addr, 0, msg, bus]
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if __name__ == "__main__":
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## little endian test
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cp = CANPacker("hyundai_santa_fe_2019_ccan")
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s = cp.pack_bytes(0x340, {
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"CR_Lkas_StrToqReq": -0.06,
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#"CF_Lkas_FcwBasReq": 1,
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"CF_Lkas_MsgCount": 7,
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"CF_Lkas_HbaSysState": 0,
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#"CF_Lkas_Chksum": 3,
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})
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s = cp.pack_bytes(0x340, {
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"CF_Lkas_MsgCount": 1,
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})
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# big endian test
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#cp = CANPacker("honda_civic_touring_2016_can_generated")
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#s = cp.pack_bytes(0xe4, {
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# "STEER_TORQUE": -2,
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#})
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print([hex(ord(v)) for v in s[1]])
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print(s[1].encode("hex"))
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