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parse can strings in a c++ helper function
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#include <capnp/serialize.h> | ||
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#include <string> | ||
#include <vector> | ||
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#include "opendbc/can/common.h" | ||
#include "cereal/gen/cpp/log.capnp.h" | ||
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void strings_to_candata(const std::vector<std::string> &strings, std::vector<CanData> &can_data, bool sendcan) { | ||
kj::Array<capnp::word> aligned_buf; | ||
can_data.reserve(strings.size()); | ||
for (const auto &s : strings) { | ||
const size_t buf_size = (s.length() / sizeof(capnp::word)) + 1; | ||
if (aligned_buf.size() < buf_size) { | ||
aligned_buf = kj::heapArray<capnp::word>(buf_size); | ||
} | ||
memcpy(aligned_buf.begin(), s.data(), s.length()); | ||
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// extract the messages | ||
capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size)); | ||
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>(); | ||
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auto &can = can_data.emplace_back(); | ||
can.nanos = event.getLogMonoTime(); | ||
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auto cans = sendcan ? event.getSendcan() : event.getCan(); | ||
can.frames.reserve(cans.size()); | ||
for (const auto cmsg : cans) { | ||
auto &frame = can.frames.emplace_back(); | ||
frame.src = cmsg.getSrc(); | ||
frame.address = cmsg.getAddress(); | ||
auto dat = cmsg.getDat(); | ||
frame.dat.resize(dat.size()); | ||
memcpy(frame.dat.data(), dat.begin(), dat.size()); | ||
} | ||
} | ||
} |