70 lines
2.2 KiB
Cython
70 lines
2.2 KiB
Cython
# distutils: language = c++
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# cython: c_string_encoding=ascii, language_level=3
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from libc.stdint cimport uint32_t, uint64_t
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from libcpp.vector cimport vector
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from libcpp.map cimport map
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from libcpp.string cimport string
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from libcpp cimport bool
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from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
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from .common cimport CANPacker as cpp_CANPacker
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from .common cimport dbc_lookup, SignalPackValue, DBC
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cdef class CANPacker:
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cdef:
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cpp_CANPacker *packer
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const DBC *dbc
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map[string, (int, int)] name_to_address_and_size
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map[int, int] address_to_size
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def __init__(self, dbc_name):
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self.dbc = dbc_lookup(dbc_name)
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if not self.dbc:
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raise RuntimeError(f"Can't lookup {dbc_name}")
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self.packer = new cpp_CANPacker(dbc_name)
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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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self.name_to_address_and_size[string(msg.name)] = (msg.address, msg.size)
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self.address_to_size[msg.address] = msg.size
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cdef uint64_t pack(self, addr, values, counter):
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cdef vector[SignalPackValue] values_thing
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cdef SignalPackValue spv
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names = []
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for name, value in values.iteritems():
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n = name.encode('utf8')
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names.append(n) # TODO: find better way to keep reference to temp string around
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spv.name = n
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spv.value = value
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values_thing.push_back(spv)
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return self.packer.pack(addr, values_thing, counter)
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cdef inline uint64_t ReverseBytes(self, uint64_t x):
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return (((x & 0xff00000000000000ull) >> 56) |
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((x & 0x00ff000000000000ull) >> 40) |
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((x & 0x0000ff0000000000ull) >> 24) |
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((x & 0x000000ff00000000ull) >> 8) |
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((x & 0x00000000ff000000ull) << 8) |
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((x & 0x0000000000ff0000ull) << 24) |
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((x & 0x000000000000ff00ull) << 40) |
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((x & 0x00000000000000ffull) << 56))
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cpdef make_can_msg(self, name_or_addr, bus, values, counter=-1):
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cdef int addr, size
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if type(name_or_addr) == int:
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addr = name_or_addr
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size = self.address_to_size[name_or_addr]
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else:
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addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
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cdef uint64_t val = self.pack(addr, values, counter)
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val = self.ReverseBytes(val)
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return [addr, 0, (<char *>&val)[:size], bus]
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