11#include " cereal/messaging/messaging.h"
22#include " selfdrive/pandad/panda.h"
3- #include " opendbc/can/common.h"
43
5- void can_list_to_can_capnp_cpp (const std::vector<can_frame> &can_list, std::string &out, bool sendcan , bool valid) {
4+ void can_list_to_can_capnp_cpp (const std::vector<can_frame> &can_list, std::string &out, bool sendCan , bool valid) {
65 MessageBuilder msg;
76 auto event = msg.initEvent (valid);
87
9- auto canData = sendcan ? event.initSendcan (can_list.size ()) : event.initCan (can_list.size ());
8+ auto canData = sendCan ? event.initSendcan (can_list.size ()) : event.initCan (can_list.size ());
109 int j = 0 ;
1110 for (auto it = can_list.begin (); it != can_list.end (); it++, j++) {
1211 auto c = canData[j];
@@ -19,33 +18,3 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
1918 kj::ArrayOutputStream output_stream (kj::ArrayPtr<capnp::byte>((unsigned char *)out.data (), msg_size));
2019 capnp::writeMessage (output_stream, msg);
2120}
22-
23- // Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
24- void can_capnp_to_can_list_cpp (const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
25- AlignedBuffer aligned_buf;
26- can_list.reserve (strings.size ());
27-
28- for (const auto &str : strings) {
29- // extract the messages
30- capnp::FlatArrayMessageReader reader (aligned_buf.align (str.data (), str.size ()));
31- cereal::Event::Reader event = reader.getRoot <cereal::Event>();
32-
33- auto frames = sendcan ? event.getSendcan () : event.getCan ();
34-
35- // Add new CanData entry
36- CanData &can_data = can_list.emplace_back ();
37- can_data.nanos = event.getLogMonoTime ();
38- can_data.frames .reserve (frames.size ());
39-
40- // Populate CAN frames
41- for (const auto &frame : frames) {
42- CanFrame &can_frame = can_data.frames .emplace_back ();
43- can_frame.src = frame.getSrc ();
44- can_frame.address = frame.getAddress ();
45-
46- // Copy CAN data
47- auto dat = frame.getDat ();
48- can_frame.dat .assign (dat.begin (), dat.end ());
49- }
50- }
51- }
0 commit comments