38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
#include <vector>
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#include <tuple>
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#include <string>
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#include "common/timing.h"
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "cereal/gen/cpp/car.capnp.h"
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typedef struct {
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long address;
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std::string dat;
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long busTime;
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long src;
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} can_frame;
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extern "C" {
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void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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event.setValid(valid);
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auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
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int j = 0;
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for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
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canData[j].setAddress(it->address);
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canData[j].setBusTime(it->busTime);
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canData[j].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
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canData[j].setSrc(it->src);
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}
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auto words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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out.append((const char *)bytes.begin(), bytes.size());
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}
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}
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