From 37e2ea9cf3e3cbf6988124da08ec6bb52ebe25e7 Mon Sep 17 00:00:00 2001
From: deanlee <deanlee3@gmail.com>
Date: Thu, 1 Aug 2024 16:03:31 +0800
Subject: [PATCH] dd

---
 opendbc/can/common.h       |  3 +-
 opendbc/can/common.pxd     |  2 +-
 opendbc/can/parser_pyx.pyx | 68 +++++++++++---------------------------
 3 files changed, 22 insertions(+), 51 deletions(-)

diff --git a/opendbc/can/common.h b/opendbc/can/common.h
index 354d485af7..e9ddca969e 100644
--- a/opendbc/can/common.h
+++ b/opendbc/can/common.h
@@ -65,7 +65,6 @@ class CANParser {
 private:
   const int bus;
   const DBC *dbc = NULL;
-  std::unordered_map<uint32_t, MessageState> message_states;
 
 public:
   bool can_valid = false;
@@ -75,11 +74,11 @@ class CANParser {
   uint64_t last_nonempty_nanos = 0;
   uint64_t bus_timeout_threshold = 0;
   uint64_t can_invalid_cnt = CAN_INVALID_CNT;
+  std::unordered_map<uint32_t, MessageState> message_states;
 
   CANParser(int abus, const std::string& dbc_name,
             const std::vector<std::pair<uint32_t, int>> &messages);
   CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
-  MessageState *messageState(uint32_t address) { return &message_states.at(address); }
   std::set<uint32_t> update(const std::vector<CanData> &can_data, bool sendcan);
 
 protected:
diff --git a/opendbc/can/common.pxd b/opendbc/can/common.pxd
index 284b8657f4..10508afa28 100644
--- a/opendbc/can/common.pxd
+++ b/opendbc/can/common.pxd
@@ -82,8 +82,8 @@ cdef extern from "common.h":
   cdef cppclass CANParser:
     bool can_valid
     bool bus_timeout
+    unordered_map[uint32_t, MessageState] message_states
     CANParser(int, string, vector[pair[uint32_t, int]]) except +
-    MessageState *messageState(uint32_t address)
     set[uint32_t] update(vector[CanData]&, bool) except +
 
   cdef cppclass CANPacker:
diff --git a/opendbc/can/parser_pyx.pyx b/opendbc/can/parser_pyx.pyx
index 4fe44130b5..55ca535fa7 100644
--- a/opendbc/can/parser_pyx.pyx
+++ b/opendbc/can/parser_pyx.pyx
@@ -7,52 +7,10 @@ from libcpp.vector cimport vector
 from libc.stdint cimport uint32_t
 
 from .common cimport CANParser as cpp_CANParser
-from .common cimport MessageState as cpp_MessageState
 from .common cimport dbc_lookup, DBC, CanData, CanFrame
 
 import numbers
 from collections import defaultdict
-from collections.abc import Mapping
-
-cdef class MessageState:
-  cdef cpp_MessageState *state
-  cdef list signal_names
-
-  @property
-  def names(self):
-    return self.signal_names
-
-  def value(self, name):
-    return self.state.values.at(name).value
-
-  def all_values(self, name):
-    return self.state.values.at(name).all_values
-
-  def ts_nanos(self, name):
-    return self.state.values.at(name).ts_nanos
-
-  @staticmethod
-  cdef create(cpp_MessageState *s):
-    state = MessageState()
-    state.state = s
-    state.signal_names = [it.first.decode("utf-8") for it in s.values]
-    return state
-
-
-class ValueDict(Mapping):
-  def __init__(self, MessageState state, fetch_func):
-    self.state = state
-    self.fetch_func = fetch_func
-
-  def __getitem__(self, key):
-    return self.fetch_func(self.state, key)
-
-  def __iter__(self):
-    return iter(self.state.names)
-
-  def __len__(self):
-    return len(self.state.names)
-
 
 cdef class CANParser:
   cdef:
@@ -88,14 +46,14 @@ cdef class CANParser:
 
     self.can = new cpp_CANParser(bus, dbc_name, message_v)
 
-    # Populate dictionaries with ValueDict
+    # Populate value dictionaries
+    self._update()
     for address, _ in message_v:
       m = self.dbc.addr_to_msg.at(address)
       name = m.name.decode("utf8")
-      state = MessageState.create(self.can.messageState(address))
-      self.vl[name] = self.vl[address] = ValueDict(state, MessageState.value)
-      self.vl_all[name] = self.vl_all[address] = ValueDict(state, MessageState.all_values)
-      self.ts_nanos[name] = self.ts_nanos[address] = ValueDict(state, MessageState.ts_nanos)
+      self.vl[name] = self.vl[address]
+      self.vl_all[name] = self.vl_all[address]
+      self.ts_nanos[name] = self.ts_nanos[address]
 
   def __dealloc__(self):
     if self.can:
@@ -127,7 +85,21 @@ cdef class CANParser:
     except TypeError:
       raise RuntimeError("invalid parameter")
 
-    return self.can.update(can_data_array, sendcan)
+    update_addresses = self.can.update(can_data_array, sendcan)
+    self._update()
+    return update_addresses
+
+  cdef _update(self):
+    for state in self.can.message_states:
+      address = state.first
+      vl = self.vl.setdefault(address, {})
+      vl_all = self.vl_all.setdefault(address, {})
+      ts_nanos = self.ts_nanos.setdefault(address, {})
+      for v in state.second.values:
+        name = <unicode>v.first
+        vl[name] = v.second.value
+        vl_all[name] = v.second.all_values
+        ts_nanos[name] = v.second.ts_nanos
 
   @property
   def can_valid(self):