Merge branch 'master' into faw-hongqi-hs5

.pre-commit-config.yaml

@@ -37,6 +37,15 @@ repos:
         exclude: 'site_scons/'
         args:
         - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        args:
+        - --quiet
+        - --counting=detailed
+        - --linelength=240
+        - --filter=-legal,-build/include_order,-readability/casting,-whitespace/braces,-whitespace/indent,-whitespace/operators,-build/c++11,-readability/todo,-runtime/explicit,-runtime/int,-whitespace/comments,-readability/braces,-runtime/arrays,-runtime/references
 -   repo: local
     hooks:
     -   id: cppcheck

Dockerfile

@@ -46,7 +46,9 @@ ENV PYTHONPATH=/project
 
 WORKDIR /project
 # TODO: Add tag to cereal
-RUN git clone https://github.com/commaai/cereal.git /project/cereal && cd /project/cereal && git checkout d46f37c314bb92306207db44693b2f58c31f66b9
+RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
+    cd /project/cereal && \
+    git checkout 959ff79963b80829be9902d146c31fda44dbbd20
 
 COPY SConstruct .
 COPY ./site_scons /project/site_scons

README.md

@@ -5,7 +5,7 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind
 
 ## How to start reverse engineering cars
 
-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
 
 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
 

SConstruct

@@ -11,9 +11,6 @@ cereal_dir = Dir('.')
 python_path = sysconfig.get_paths()['include']
 cpppath = [
   '#',
-  '#cereal',
-  "#cereal/messaging",
-  "#opendbc/can",
   '/usr/lib/include',
   python_path
 ]

can/common.cc

@@ -1,4 +1,5 @@
-#include "common.h"
+#include "opendbc/can/common.h"
+
 
 unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
   int s = 0;
@@ -34,7 +35,7 @@ unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vec
 }
 
 unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
-  /* jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  // jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf
   uint8_t checksum = 0xFF;
   for (int j = 0; j < (d.size() - 1); j++) {
     uint8_t shift = 0x80;
@@ -123,64 +124,64 @@ unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const
   // Look up and apply the magic final CRC padding byte, which permutes by CAN
   // address, and additionally (for SOME addresses) by the message counter.
   uint8_t counter = d[1] & 0x0F;
-  switch(address) {
+  switch (address) {
     case 0x86:  // LWI_01 Steering Angle
-      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
+      crc ^= (uint8_t[]){0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86}[counter];
       break;
     case 0x9F:  // LH_EPS_03 Electric Power Steering
-      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
+      crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
       break;
     case 0xAD:  // Getriebe_11 Automatic Gearbox
-      crc ^= (uint8_t[]){0x3F,0x69,0x39,0xDC,0x94,0xF9,0x14,0x64,0xD8,0x6A,0x34,0xCE,0xA2,0x55,0xB5,0x2C}[counter];
+      crc ^= (uint8_t[]){0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64, 0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C}[counter];
       break;
     case 0xFD:  // ESP_21 Electronic Stability Program
-      crc ^= (uint8_t[]){0xB4,0xEF,0xF8,0x49,0x1E,0xE5,0xC2,0xC0,0x97,0x19,0x3C,0xC9,0xF1,0x98,0xD6,0x61}[counter];
+      crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
       break;
     case 0x106: // ESP_05 Electronic Stability Program
-      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+      crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
       break;
     case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
+      crc ^= (uint8_t[]){0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16}[counter];
       break;
     case 0x120: // TSK_06 Drivetrain Coordinator
-      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
       break;
     case 0x121: // Motor_20 Driver Throttle Inputs
-      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
       break;
     case 0x122: // ACC_06 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
+      crc ^= (uint8_t[]){0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D, 0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9}[counter];
       break;
     case 0x126: // HCA_01 Heading Control Assist
-      crc ^= (uint8_t[]){0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA}[counter];
+      crc ^= (uint8_t[]){0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA}[counter];
       break;
     case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
-      crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
+      crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
       break;
     case 0x12E: // ACC_07 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
+      crc ^= (uint8_t[]){0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21, 0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63}[counter];
       break;
     case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
-      crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
+      crc ^= (uint8_t[]){0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21, 0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05}[counter];
       break;
     case 0x30C: // ACC_02 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
+      crc ^= (uint8_t[]){0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F}[counter];
       break;
     case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
-      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      crc ^= (uint8_t[]){0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C}[counter];
       break;
     case 0x324: // ACC_04 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      crc ^= (uint8_t[]){0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27}[counter];
       break;
     case 0x3C0: // Klemmen_Status_01 ignition and starting status
-      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
+      crc ^= (uint8_t[]){0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3}[counter];
       break;
     case 0x65D: // ESP_20 Electronic Stability Program
-      crc ^= (uint8_t[]){0xAC,0xB3,0xAB,0xEB,0x7A,0xE1,0x3B,0xF7,0x73,0xBA,0x7C,0x9E,0x06,0x5F,0x02,0xD9}[counter];
+      crc ^= (uint8_t[]){0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7, 0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9}[counter];
       break;
     default:    // As-yet undefined CAN message, CRC check expected to fail
       printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address);
-      crc ^= (uint8_t[]){0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}[counter];
+      crc ^= (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}[counter];
       break;
   }
   crc = crc8_lut_8h2f[crc];
@@ -221,7 +222,6 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect
 }
 
 unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
-
   uint16_t crc = 0;
 
   for (int i = 2; i < d.size(); i++) {

can/common.h

@@ -1,17 +1,20 @@
 #pragma once
 
-#include <vector>
 #include <map>
+#include <string>
+#include <utility>
 #include <unordered_map>
+#include <vector>
 
-#include "common_dbc.h"
 #include <capnp/dynamic.h>
 #include <capnp/serialize.h>
 
 #ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
 #endif
 
+#include "opendbc/can/common_dbc.h"
+
 #define INFO printf
 #define WARN printf
 #define DEBUG(...)

can/dbc.cc

@@ -8,9 +8,10 @@
 #include <vector>
 #include <mutex>
 #include <cstring>
+#include <iterator>
 
-#include "common.h"
-#include "common_dbc.h"
+#include "opendbc/can/common.h"
+#include "opendbc/can/common_dbc.h"
 
 std::regex bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
 std::regex sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");

can/packer.cc

@@ -4,7 +4,7 @@
 #include <map>
 #include <cmath>
 
-#include "common.h"
+#include "opendbc/can/common.h"
 
 
 void set_value(std::vector<uint8_t> &msg, const Signal &sig, int64_t ival) {

can/packer.py

@@ -1,3 +1,2 @@
-# pylint: skip-file
-from opendbc.can.packer_pyx import CANPacker
+from opendbc.can.packer_pyx import CANPacker # pylint: disable=no-name-in-module, import-error
 assert CANPacker

can/parser.cc

@@ -32,7 +32,6 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
 
 
 bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
-
   for (int i = 0; i < parse_sigs.size(); i++) {
     auto &sig = parse_sigs[i];
 
@@ -94,7 +93,6 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
           const std::vector<MessageParseOptions> &options,
           const std::vector<SignalParseOptions> &sigoptions)
   : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
-
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
   init_crc_lookup_tables();