7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
89 lines
2.8 KiB
Python
89 lines
2.8 KiB
Python
import time
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from cereal import log
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NO_TRAVERSAL_LIMIT = 2**64 - 1
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# Cache schema fields for faster access (avoids string lookup on each field access)
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_cached_reader_fields = None # (address_field, dat_field, src_field) for reading
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_cached_writer_fields = None # (address_field, dat_field, src_field) for writing
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def _get_reader_fields(schema):
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"""Get cached schema field objects for reading."""
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global _cached_reader_fields
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if _cached_reader_fields is None:
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fields = schema.fields
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_cached_reader_fields = (fields['address'], fields['dat'], fields['src'])
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return _cached_reader_fields
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def _get_writer_fields(schema):
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"""Get cached schema field objects for writing."""
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global _cached_writer_fields
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if _cached_writer_fields is None:
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fields = schema.fields
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_cached_writer_fields = (fields['address'], fields['dat'], fields['src'])
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return _cached_writer_fields
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def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
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"""Convert list of CAN messages to Cap'n Proto serialized bytes.
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Args:
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can_msgs: List of tuples [(address, data_bytes, src), ...]
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msgtype: 'can' or 'sendcan'
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valid: Whether the event is valid
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Returns:
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Cap'n Proto serialized bytes
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"""
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global _cached_writer_fields
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dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
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can_data = dat.init(msgtype, len(can_msgs))
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# Cache schema fields on first call
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if _cached_writer_fields is None and len(can_msgs) > 0:
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_cached_writer_fields = _get_writer_fields(can_data[0].schema)
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if _cached_writer_fields is not None:
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addr_f, dat_f, src_f = _cached_writer_fields
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for i, msg in enumerate(can_msgs):
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f = can_data[i]
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f._set_by_field(addr_f, msg[0])
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f._set_by_field(dat_f, msg[1])
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f._set_by_field(src_f, msg[2])
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return dat.to_bytes()
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def can_capnp_to_list(strings, msgtype='can'):
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"""Convert Cap'n Proto serialized bytes to list of CAN messages.
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Args:
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strings: Tuple/list of serialized Cap'n Proto bytes
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msgtype: 'can' or 'sendcan'
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Returns:
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List of tuples [(nanos, [(address, data, src), ...]), ...]
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"""
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global _cached_reader_fields
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result = []
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for s in strings:
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with log.Event.from_bytes(s, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as event:
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frames = getattr(event, msgtype)
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# Cache schema fields on first frame for faster access
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if _cached_reader_fields is None and len(frames) > 0:
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_cached_reader_fields = _get_reader_fields(frames[0].schema)
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if _cached_reader_fields is not None:
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addr_f, dat_f, src_f = _cached_reader_fields
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frame_list = [(f._get_by_field(addr_f), f._get_by_field(dat_f), f._get_by_field(src_f)) for f in frames]
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else:
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frame_list = []
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result.append((event.logMonoTime, frame_list))
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return result
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