init dict in __init__

commaai · Oct 16, 2024 · ff4d3a3 · ff4d3a3
1 parent 2f0385d
commit ff4d3a3
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Showing 4 changed files with 15 additions and 11 deletions.
diff --git a/opendbc/can/common.h b/opendbc/can/common.h
@@ -72,7 +72,6 @@ class CANParser {
  bool can_valid = false;
  bool bus_timeout = false;
  uint64_t first_nanos = 0;
- uint64_t last_nanos = 0;
  uint64_t last_nonempty_nanos = 0;
  uint64_t bus_timeout_threshold = 0;
  uint64_t can_invalid_cnt = CAN_INVALID_CNT;

diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc
@@ -158,6 +158,8 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
 }
 
 void CANParser::update(const std::vector<CanData> &can_data, std::vector<SignalValue> &vals) {
+ if (can_data.empty()) return;
+
  uint64_t current_nanos = 0;
  for (const auto &c : can_data) {
  if (first_nanos == 0) {
@@ -166,10 +168,9 @@ void CANParser::update(const std::vector<CanData> &can_data, std::vector<SignalV
  if (current_nanos == 0) {
  current_nanos = c.nanos;
  }
- last_nanos = c.nanos;
 
  UpdateCans(c);
- UpdateValid(last_nanos);
+ UpdateValid(c.nanos);
  }
  query_latest(vals, current_nanos);
 }
@@ -242,12 +243,9 @@ void CANParser::UpdateValid(uint64_t nanos) {
 }
 
 void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
- if (last_ts == 0) {
- last_ts = last_nanos;
- }
  for (auto& kv : message_states) {
  auto& state = kv.second;
- if (last_ts != 0 && state.last_seen_nanos < last_ts) {
+ if (state.last_seen_nanos < last_ts) {
  continue;
  }
 

diff --git a/opendbc/can/parser_pyx.pyx b/opendbc/can/parser_pyx.pyx
@@ -8,7 +8,7 @@ from libcpp.vector cimport vector
 from libc.stdint cimport uint32_t
 
 from .common cimport CANParser as cpp_CANParser
-from .common cimport dbc_lookup, SignalValue, DBC, CanData, CanFrame
+from .common cimport dbc_lookup, Msg, SignalValue, DBC, CanData, CanFrame
 
 import numbers
 from collections import defaultdict
@@ -50,15 +50,16 @@ cdef class CANParser:
  self.addresses.push_back(address)
 
  name = m.name.decode("utf8")
- self.vl[address] = {}
+ signal_names = [sig.name.decode("utf-8") for sig in (<Msg*>m).sigs]
+
+ self.vl[address] = {name : 0 for name in signal_names}
  self.vl[name] = self.vl[address]
  self.vl_all[address] = defaultdict(list)
  self.vl_all[name] = self.vl_all[address]
- self.ts_nanos[address] = {}
+ self.ts_nanos[address] = {name : 0 for name in signal_names}
  self.ts_nanos[name] = self.ts_nanos[address]
 
  self.can = new cpp_CANParser(bus, dbc_name, message_v)
- self.update_strings([])
 
  def __dealloc__(self):
  if self.can:

diff --git a/opendbc/can/tests/test_packer_parser.py b/opendbc/can/tests/test_packer_parser.py
@@ -68,6 +68,12 @@ def test_parser_can_valid(self):
  parser.update_strings([t, [msg]])
  assert parser.can_valid
 
+ def test_parser_empty_list(self):
+ msgs = [("CAN_FD_MESSAGE", 10), ]
+ parser = CANParser(TEST_DBC, msgs, 0)
+ ret = parser.update_strings([])
+ assert len(ret) == 0
+
  def test_parser_counter_can_valid(self):
  """
  Tests number of allowed bad counters + ensures CAN stays invalid