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102 lines
2.9 KiB
102 lines
2.9 KiB
#include <algorithm>
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#include <cassert>
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#include <cmath>
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#include <map>
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#include <stdexcept>
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#include <utility>
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#include "opendbc/can/common.h"
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void set_value(std::vector<uint8_t> &msg, const Signal &sig, int64_t ival) {
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int i = sig.lsb / 8;
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int bits = sig.size;
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if (sig.size < 64) {
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ival &= ((1ULL << sig.size) - 1);
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}
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while (i >= 0 && i < msg.size() && bits > 0) {
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int shift = (int)(sig.lsb / 8) == i ? sig.lsb % 8 : 0;
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int size = std::min(bits, 8 - shift);
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msg[i] &= ~(((1ULL << size) - 1) << shift);
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msg[i] |= (ival & ((1ULL << size) - 1)) << shift;
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bits -= size;
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ival >>= size;
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i = sig.is_little_endian ? i+1 : i-1;
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}
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}
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CANPacker::CANPacker(const std::string& dbc_name) {
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dbc = dbc_lookup(dbc_name);
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assert(dbc);
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for (const auto& msg : dbc->msgs) {
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for (const auto& sig : msg.sigs) {
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signal_lookup[std::make_pair(msg.address, sig.name)] = sig;
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}
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}
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}
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std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals) {
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auto msg_it = dbc->addr_to_msg.find(address);
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if (msg_it == dbc->addr_to_msg.end()) {
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LOGE("undefined address %d", address);
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return {};
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}
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std::vector<uint8_t> ret(msg_it->second->size, 0);
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// set all values for all given signal/value pairs
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bool counter_set = false;
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for (const auto& sigval : signals) {
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auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
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if (sig_it == signal_lookup.end()) {
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// TODO: do something more here. invalid flag like CANParser?
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LOGE("undefined signal %s - %d\n", sigval.name.c_str(), address);
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continue;
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}
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const auto &sig = sig_it->second;
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int64_t ival = (int64_t)(round((sigval.value - sig.offset) / sig.factor));
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if (ival < 0) {
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ival = (1ULL << sig.size) + ival;
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}
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set_value(ret, sig, ival);
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if (sigval.name == "COUNTER") {
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counters[address] = sigval.value;
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counter_set = true;
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}
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}
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// set message counter
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auto sig_it_counter = signal_lookup.find(std::make_pair(address, "COUNTER"));
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if (!counter_set && sig_it_counter != signal_lookup.end()) {
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const auto& sig = sig_it_counter->second;
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if (counters.find(address) == counters.end()) {
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counters[address] = 0;
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}
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set_value(ret, sig, counters[address]);
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counters[address] = (counters[address] + 1) % (1 << sig.size);
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}
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// set message checksum
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auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
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if (sig_it_checksum != signal_lookup.end()) {
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const auto &sig = sig_it_checksum->second;
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if (sig.calc_checksum != nullptr) {
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unsigned int checksum = sig.calc_checksum(address, sig, ret);
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set_value(ret, sig, checksum);
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}
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}
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return ret;
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}
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// This function has a definition in common.h and is used in PlotJuggler
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const Msg* CANPacker::lookup_message(uint32_t address) {
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return dbc->addr_to_msg.at(address);
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}
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