275 lines
9.0 KiB
Python
275 lines
9.0 KiB
Python
import math
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import numbers
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from collections import defaultdict, deque
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from dataclasses import dataclass, field
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from opendbc.car.carlog import carlog
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from opendbc.can.dbc import DBC, Signal
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MAX_BAD_COUNTER = 5
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CAN_INVALID_CNT = 5
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def get_raw_value(dat: bytes | bytearray, sig: Signal) -> int:
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ret = 0
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i = sig.msb // 8
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bits = sig.size
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while 0 <= i < len(dat) and bits > 0:
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lsb = sig.lsb if (sig.lsb // 8) == i else i * 8
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msb = sig.msb if (sig.msb // 8) == i else (i + 1) * 8 - 1
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size = msb - lsb + 1
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d = (dat[i] >> (lsb - (i * 8))) & ((1 << size) - 1)
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ret |= d << (bits - size)
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bits -= size
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i = i - 1 if sig.is_little_endian else i + 1
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return ret
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@dataclass
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class MessageState:
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address: int
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name: str
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size: int
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signals: list[Signal]
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ignore_alive: bool = False
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ignore_checksum: bool = False
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ignore_counter: bool = False
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frequency: float = 0.0
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timeout_threshold: float = 1e5 # default to 1Hz threshold
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vals: list[float] = field(default_factory=list)
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all_vals: list[list[float]] = field(default_factory=list)
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timestamps: deque[int] = field(default_factory=lambda: deque(maxlen=500))
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counter: int = 0
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counter_fail: int = 0
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first_seen_nanos: int = 0
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last_warning_log_nanos: int = 0
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def rate_limited_log(self, last_update_nanos: int, msg: str) -> None:
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if (last_update_nanos - self.last_warning_log_nanos) >= 1_000_000_000:
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carlog.warning(f"CANParser: {hex(self.address)} {self.name} {msg}")
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self.last_warning_log_nanos = last_update_nanos
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def parse(self, nanos: int, dat: bytes) -> bool:
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tmp_vals: list[float] = [0.0] * len(self.signals)
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checksum_failed = False
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counter_failed = False
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if self.first_seen_nanos == 0:
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self.first_seen_nanos = nanos
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for i, sig in enumerate(self.signals):
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tmp = get_raw_value(dat, sig)
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if sig.is_signed:
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tmp -= ((tmp >> (sig.size - 1)) & 0x1) * (1 << sig.size)
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if not self.ignore_checksum and sig.calc_checksum is not None:
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expected_checksum = sig.calc_checksum(self.address, sig, bytearray(dat))
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if tmp != expected_checksum:
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checksum_failed = True
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self.rate_limited_log(nanos, f"checksum failed: received {hex(tmp)}, calculated {hex(expected_checksum)}")
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if not self.ignore_counter and sig.type == 1: # COUNTER
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if not self.update_counter(tmp, sig.size):
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counter_failed = True
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tmp_vals[i] = tmp * sig.factor + sig.offset
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# must have good counter and checksum to update data
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if checksum_failed or counter_failed:
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return False
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if not self.vals:
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self.vals = [0.0] * len(self.signals)
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self.all_vals = [[] for _ in self.signals]
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for i, v in enumerate(tmp_vals):
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self.vals[i] = v
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self.all_vals[i].append(v)
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self.timestamps.append(nanos)
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if self.frequency < 1e-5 and len(self.timestamps) >= 3:
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dt = (self.timestamps[-1] - self.timestamps[0]) * 1e-9
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if (dt > 1.0 or len(self.timestamps) >= self.timestamps.maxlen) and dt != 0:
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self.frequency = min(len(self.timestamps) / dt, 100.0)
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self.timeout_threshold = (1_000_000_000 / self.frequency) * 10
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return True
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def update_counter(self, cur_count: int, cnt_size: int) -> bool:
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if ((self.counter + 1) & ((1 << cnt_size) - 1)) != cur_count:
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self.counter_fail = min(self.counter_fail + 1, MAX_BAD_COUNTER)
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elif self.counter_fail > 0:
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self.counter_fail -= 1
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self.counter = cur_count
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return self.counter_fail < MAX_BAD_COUNTER
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def valid(self, current_nanos: int, bus_timeout: bool) -> bool:
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if self.ignore_alive:
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return True
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if not self.timestamps:
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return False
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if (current_nanos - self.timestamps[-1]) > self.timeout_threshold:
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return False
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return True
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class VLDict(dict):
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def __init__(self, parser):
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super().__init__()
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self.parser = parser
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def __getitem__(self, key):
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if key not in self:
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self.parser._add_message(key)
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return super().__getitem__(key)
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class CANParser:
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def __init__(self, dbc_name: str, messages: list[tuple[str | int, int]], bus: int):
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self.dbc_name: str = dbc_name
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self.bus: int = bus
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self.dbc: DBC = DBC(dbc_name)
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self.vl: dict[int | str, dict[str, float]] = VLDict(self)
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self.vl_all: dict[int | str, dict[str, list[float]]] = {}
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self.ts_nanos: dict[int | str, dict[str, int]] = {}
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self.addresses: set[int] = set()
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self.message_states: dict[int, MessageState] = {}
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for name_or_addr, freq in messages:
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if isinstance(name_or_addr, numbers.Number):
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msg = self.dbc.addr_to_msg.get(int(name_or_addr))
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else:
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msg = self.dbc.name_to_msg.get(name_or_addr)
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if msg is None:
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raise RuntimeError(f"could not find message {name_or_addr!r} in DBC {dbc_name}")
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if msg.address in self.addresses:
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raise RuntimeError("Duplicate Message Check: %d" % msg.address)
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self._add_message(name_or_addr, freq)
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self.can_invalid_cnt: int = CAN_INVALID_CNT
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self.last_nonempty_nanos: int = 0
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self._last_update_nanos: int = 0
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def _add_message(self, name_or_addr: str | int, freq: int = None) -> None:
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if isinstance(name_or_addr, numbers.Number):
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msg = self.dbc.addr_to_msg.get(int(name_or_addr))
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else:
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msg = self.dbc.name_to_msg.get(name_or_addr)
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assert msg is not None
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assert msg.address not in self.addresses
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self.addresses.add(msg.address)
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signal_names = list(msg.sigs.keys())
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signals_dict = {s: 0.0 for s in signal_names}
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dict.__setitem__(self.vl, msg.address, signals_dict)
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dict.__setitem__(self.vl, msg.name, signals_dict)
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self.vl_all[msg.address] = defaultdict(list)
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self.vl_all[msg.name] = self.vl_all[msg.address]
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self.ts_nanos[msg.address] = {s: 0 for s in signal_names}
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self.ts_nanos[msg.name] = self.ts_nanos[msg.address]
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state = MessageState(
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address=msg.address,
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name=msg.name,
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size=msg.size,
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signals=list(msg.sigs.values()),
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ignore_alive=freq is not None and math.isnan(freq),
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)
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if freq is not None and freq > 0:
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state.frequency = freq
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else:
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# if frequency not specified, assume 1Hz until we learn it
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freq = 1
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state.timeout_threshold = (1_000_000_000 / freq) * 10
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self.message_states[msg.address] = state
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@property
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def bus_timeout(self) -> bool:
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ignore_alive = all(s.ignore_alive for s in self.message_states.values())
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bus_timeout_threshold = 500 * 1_000_000
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for st in self.message_states.values():
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if st.timeout_threshold > 0:
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bus_timeout_threshold = min(bus_timeout_threshold, st.timeout_threshold)
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return ((self._last_update_nanos - self.last_nonempty_nanos) > bus_timeout_threshold) and not ignore_alive
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@property
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def can_valid(self) -> bool:
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valid = True
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counters_valid = True
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bus_timeout = self.bus_timeout
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for state in self.message_states.values():
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if state.counter_fail >= MAX_BAD_COUNTER:
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counters_valid = False
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state.rate_limited_log(self._last_update_nanos, f"counter invalid, {state.counter_fail=} {MAX_BAD_COUNTER=}")
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if not state.valid(self._last_update_nanos, bus_timeout):
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valid = False
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state.rate_limited_log(self._last_update_nanos, "not valid (timeout or missing)")
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# TODO: probably only want to increment this once per update() call
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self.can_invalid_cnt = 0 if valid else min(self.can_invalid_cnt + 1, CAN_INVALID_CNT)
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return self.can_invalid_cnt < CAN_INVALID_CNT and counters_valid
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def update(self, strings, sendcan: bool = False):
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if strings and not isinstance(strings[0], list | tuple):
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strings = [strings]
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for addr in self.addresses:
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for k in self.vl_all[addr]:
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self.vl_all[addr][k].clear()
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updated_addrs: set[int] = set()
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for entry in strings:
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t = entry[0]
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frames = entry[1]
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bus_empty = True
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for address, dat, src in frames:
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if src != self.bus:
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continue
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bus_empty = False
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state = self.message_states.get(address)
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if state is None or len(dat) > 64:
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continue
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if state.parse(t, dat):
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updated_addrs.add(address)
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vl_addr = self.vl[address]
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vl_all_addr = self.vl_all[address]
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ts_addr = self.ts_nanos[address]
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for i, sig in enumerate(state.signals):
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vl_addr[sig.name] = state.vals[i]
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vl_all_addr[sig.name] = state.all_vals[i]
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ts_addr[sig.name] = state.timestamps[-1]
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if not bus_empty:
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self.last_nonempty_nanos = t
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self._last_update_nanos = t
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return updated_addrs
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class CANDefine:
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def __init__(self, dbc_name: str):
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dbc = DBC(dbc_name)
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dv = defaultdict(dict)
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for val in dbc.vals:
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sgname = val.name
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address = val.address
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msg = dbc.addr_to_msg.get(address)
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if msg is None:
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raise KeyError(address)
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msgname = msg.name
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parts = val.def_val.split()
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values = [int(v) for v in parts[::2]]
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defs = parts[1::2]
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dv[address][sgname] = dict(zip(values, defs, strict=True))
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dv[msgname][sgname] = dv[address][sgname]
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self.dv = dict(dv)
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