From 32be07bf2260a5ea72fb89cd05b5f9d61cb0c4ee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 25 Aug 2023 13:41:32 -0700
Subject: [PATCH] Update cereal/opendbc (#58)

* Update submodules

* Fix rlog parser

* Update mac workflow

* Fix last_sec/first_sec

* UpdateValid

* mac ci comment
---
 .github/workflows/openpilot.yaml                 |  5 +++--
 3rdparty/cereal                                  |  2 +-
 3rdparty/opendbc                                 |  2 +-
 plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp | 15 ++++++++++-----
 4 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/openpilot.yaml b/.github/workflows/openpilot.yaml
index b477ce015..358ee6eb1 100644
--- a/.github/workflows/openpilot.yaml
+++ b/.github/workflows/openpilot.yaml
@@ -42,12 +42,13 @@ jobs:
         python-version: '3.8.x'
     - name: setup dependencies
       run: |
-        brew install cmake bzip2 capnp qt@5 zeromq protobuf gnu-tar
+        brew install cmake bzip2 capnp qt@5 zeromq protobuf@3 gnu-tar
         sudo pip3 install --no-cache-dir -r 3rdparty/opendbc/requirements.txt
     - name: build
       run: |
         export PYTHONPATH=$PWD/3rdparty
-        mkdir -p build && cd build && cmake .. && make -j8
+        # force usage of protobuf@3 instead of protobuf
+        mkdir -p build && cd build && cmake -DCMAKE_PREFIX_PATH="$(brew --prefix)/opt/protobuf@3" .. && make -j8
     - name: zip plugins
       run: eval "$ZIP"
     - name: upload
diff --git a/3rdparty/cereal b/3rdparty/cereal
index 4f5502c86..2077dd1a1 160000
--- a/3rdparty/cereal
+++ b/3rdparty/cereal
@@ -1 +1 @@
-Subproject commit 4f5502c8657813ccb538e9575ca1a7b258b17af9
+Subproject commit 2077dd1a1b0054713102aee8197434f8cfa07de7
diff --git a/3rdparty/opendbc b/3rdparty/opendbc
index 3c8186027..f58456225 160000
--- a/3rdparty/opendbc
+++ b/3rdparty/opendbc
@@ -1 +1 @@
-Subproject commit 3c81860270e918d1a08f14a833522fd798aa39ca
+Subproject commit f58456225fbdffdbdf8d0110f609aaeee63f47e1
diff --git a/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp b/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp
index cfe426a47..9431eede9 100644
--- a/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp
+++ b/plotjuggler_plugins/DataLoadRlog/rlog_parser.cpp
@@ -4,6 +4,8 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <vector>
+
 #include <QDir>
 #include <QString>
 
@@ -178,19 +180,22 @@ bool RlogMessageParser::parseCanMessage(
     uint8_t bus = value.get("src").as<uint8_t>();
     if (parsers.find(bus) == parsers.end()) {
       parsers[bus] = std::make_shared<CANParser>(bus, dbc_name, true, true);
-      parsers[bus]->last_sec = 1;
+      parsers[bus]->first_sec = last_sec;
     }
 
     updated_busses.insert(bus);
+    parsers[bus]->last_sec = last_sec;
     parsers[bus]->UpdateCans(last_sec, value);
+    parsers[bus]->UpdateValid(last_sec);
   }
   for (uint8_t bus : updated_busses) {
-    parsers[bus]->last_sec = last_sec;
-    for (auto& sg : parsers[bus]->query_latest()) {
+    std::vector<SignalValue> signal_values;
+    parsers[bus]->query_latest(signal_values);
+    for (auto& sg : signal_values) {
       // TODO: plot all updated values
       PJ::PlotData& _data_series = getSeries(topic_name + '/' + std::to_string(bus) + '/' +
           packer->lookup_message(sg.address)->name + '/' + sg.name);
-      _data_series.pushBack({time_stamp, (double)sg.value});
+      _data_series.pushBack({time_stamp, (double) sg.value});
     }
 
     // parser state
@@ -201,7 +206,7 @@ bool RlogMessageParser::parseCanMessage(
       {(double)p->bus_timeout_threshold, "bus_timeout_threshold"},
       {(double)p->first_sec, "first_sec"},
       {(double)p->last_sec, "last_sec"},
-      {(double)p->last_sec, "last_nonempty_sec"},
+      {(double)p->last_nonempty_sec, "last_nonempty_sec"},
       {(double)p->can_invalid_cnt, "can_invalid_cnt"},
     };
     for (auto k : parser_state) {