update to new opendbc api (#63)

* update to new opendbc api * rename to opendbc_repo, include capnp, fix dbc path * add symlink * fix mac * spacing --------- Co-authored-by: Shane Smiskol <[email protected]>
commaai · Aug 1, 2024 · f0071eb · f0071eb
1 parent 5b131a4
commit f0071eb
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Showing 9 changed files with 22 additions and 9 deletions.
diff --git a/.github/workflows/openpilot.yaml b/.github/workflows/openpilot.yaml
@@ -49,7 +49,7 @@ jobs:
     - name: setup dependencies
       run: |
         brew install cmake bzip2 capnp qt@5 zeromq protobuf@3 gnu-tar
-        sudo pip3 install --no-cache-dir -r 3rdparty/opendbc/requirements.txt
+        sudo pip3 install --no-cache-dir -r 3rdparty/opendbc_repo/requirements.txt
     - name: build
       run: |
         export PYTHONPATH=$PWD/3rdparty

diff --git a/.gitmodules b/.gitmodules
@@ -2,5 +2,5 @@
 	path = 3rdparty/cereal
 	url = ../../commaai/cereal.git
 [submodule "3rdparty/opendbc"]
-	path = 3rdparty/opendbc
+	path = 3rdparty/opendbc_repo
 	url = ../../commaai/opendbc.git
diff --git a/3rdparty/opendbc b/3rdparty/opendbc
diff --git a/3rdparty/opendbc b/3rdparty/opendbc
@@ -0,0 +1 @@
+opendbc_repo/opendbc
diff --git a/3rdparty/opendbc_repo b/3rdparty/opendbc_repo
diff --git a/Dockerfile b/Dockerfile
@@ -47,5 +47,5 @@ RUN pip3 install pkgconfig jinja2
 
 # installs scons, pycapnp, cython, etc.
 ENV PYTHONPATH /tmp/plotjuggler/3rdparty
-COPY 3rdparty/opendbc/requirements.txt /tmp/
+COPY 3rdparty/opendbc_repo/requirements.txt /tmp/
 RUN pip3 install Cython && pip3 install --no-cache-dir -r /tmp/requirements.txt
diff --git a/plotjuggler_plugins/DataLoadRlog/CMakeLists.txt b/plotjuggler_plugins/DataLoadRlog/CMakeLists.txt
@@ -8,7 +8,7 @@ if(Rlog_FOUND)
   add_definitions(${QT_DEFINITIONS})
   add_definitions(-DQT_PLUGIN)
   add_definitions(-DDYNAMIC_CAPNP)
-  add_definitions(-DDBC_FILE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/opendbc")
+  add_definitions(-DDBC_FILE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/opendbc/dbc")
 
   SET(SRC
     rlog_parser.cpp

diff --git a/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp b/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp
@@ -175,6 +175,9 @@ bool RlogMessageParser::parseCanMessage(
   }
 
   std::set<uint8_t> updated_busses;
+  std::vector<CanData> can_data_list;
+  CanData &can_data = can_data_list.emplace_back();
+  can_data.nanos = last_nanos;
   for(auto elem : listValue) {
     auto value = elem.as<capnp::DynamicStruct>();
     uint8_t bus = value.get("src").as<uint8_t>();
@@ -185,12 +188,19 @@ bool RlogMessageParser::parseCanMessage(
 
     updated_busses.insert(bus);
     parsers[bus]->last_nanos = last_nanos;
-    parsers[bus]->UpdateCans(last_nanos, value);
-    parsers[bus]->UpdateValid(last_nanos);
+
+    auto dat = value.get("dat").as<capnp::Data>();
+    if (dat.size() > 64) continue;  // shouldn't ever happen
+
+    auto &frame = can_data.frames.emplace_back();
+    frame.src = bus;
+    frame.address = value.get("address").as<uint32_t>();
+    frame.dat.assign(dat.begin(), dat.end());
   }
+
   for (uint8_t bus : updated_busses) {
     std::vector<SignalValue> signal_values;
-    parsers[bus]->query_latest(signal_values);
+    parsers[bus]->update(can_data_list, signal_values);
     for (auto& sg : signal_values) {
       // TODO: plot all updated values
       PJ::PlotData& _data_series = getSeries(topic_name + '/' + std::to_string(bus) + '/' +

diff --git a/plotjuggler_plugins/DataLoadRlog/rlog_parser.hpp b/plotjuggler_plugins/DataLoadRlog/rlog_parser.hpp
@@ -8,6 +8,8 @@
 #endif
 
 #include <capnp/schema-parser.h>
+#include <capnp/dynamic.h>
+#include <capnp/serialize.h>
 
 #include "common.h"
 #include "common_dbc.h"

diff --git a/plotjuggler_plugins/DataStreamCereal/CMakeLists.txt b/plotjuggler_plugins/DataStreamCereal/CMakeLists.txt
@@ -7,7 +7,7 @@ if(Cereal_FOUND AND Rlog_FOUND)
   add_definitions(${QT_DEFINITIONS})
   add_definitions(-DQT_PLUGIN)
   add_definitions(-DDYNAMIC_CAPNP)
-  add_definitions(-DDBC_FILE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/opendbc")
+  add_definitions(-DDBC_FILE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/opendbc/dbc")
 
   QT5_WRAP_UI ( UI_SRC  datastream_cereal.ui  )