Generate a protobuf sync message every 64 messages

.github/workflows/run-tests.yml

@@ -27,7 +27,7 @@ jobs:
           sudo apt-get install python3.6 -y
           sudo rm /usr/bin/python3
           sudo ln -s /usr/bin/python3.6 /usr/bin/python3
-          wget https://bootstrap.pypa.io/get-pip.py
+          wget https://bootstrap.pypa.io/pip/3.6/get-pip.py
           sudo python3 get-pip.py
           sudo apt-get install -qq -y libsubunit-dev
           sudo apt-get install python-apt

src/pipeline.cpp

@@ -194,6 +194,14 @@ void openxc::pipeline::publish(openxc_VehicleMessage* message,
     } else {
         debug("Trying to serialize unrecognized type: %d", message->type);
     }
+
+    // Send a SYNC Message Jan 2022!!!
+
+    static int msgCounter = 0;
+    if ((msgCounter & 0x3f) == 0x3f) {  // Send a sync message every 63 messages
+        sendSyncMessage(pipeline);
+    }
+    msgCounter++;
 }
 
 void openxc::pipeline::sendMessage(Pipeline* pipeline, uint8_t* message,
@@ -314,3 +322,14 @@ void openxc::pipeline::logStatistics(Pipeline* pipeline) {
         }
     }
 }
+
+
+void openxc::pipeline::sendSyncMessage(Pipeline* pipeline) {
+    unsigned char syncMessagePayload[] = {0x07, 'S', 'Y', 'N', 'C', 'M', 'S', 'G' };
+
+    MessageClass messageClass = MessageClass::CAN;
+
+    sendMessage(pipeline, syncMessagePayload, sizeof(syncMessagePayload), messageClass);
+    debug("Sent Sync Message");
+
+}

src/pipeline.h

@@ -97,6 +97,7 @@ void sendMessage(Pipeline* pipeline, uint8_t* message, int messageSize,
 void process(Pipeline* pipeline);
 
 void logStatistics(Pipeline* pipeline);
+void sendSyncMessage(Pipeline* pipeline);
 
 } // namespace interface
 } // namespace openxc