You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
212 lines
6.9 KiB
212 lines
6.9 KiB
import re
|
|
import os
|
|
from dataclasses import dataclass
|
|
from collections.abc import Callable
|
|
|
|
from opendbc import DBC_PATH
|
|
|
|
# TODO: these should just be passed in along with the DBC file
|
|
from opendbc.car.honda.hondacan import honda_checksum
|
|
from opendbc.car.toyota.toyotacan import toyota_checksum
|
|
from opendbc.car.subaru.subarucan import subaru_checksum
|
|
from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
|
|
from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
|
|
from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
|
|
from opendbc.car.tesla.teslacan import tesla_checksum
|
|
from opendbc.car.body.bodycan import body_checksum
|
|
|
|
|
|
|
|
class SignalType:
|
|
DEFAULT = 0
|
|
COUNTER = 1
|
|
HONDA_CHECKSUM = 2
|
|
TOYOTA_CHECKSUM = 3
|
|
BODY_CHECKSUM = 4
|
|
VOLKSWAGEN_MQB_MEB_CHECKSUM = 5
|
|
XOR_CHECKSUM = 6
|
|
SUBARU_CHECKSUM = 7
|
|
CHRYSLER_CHECKSUM = 8
|
|
HKG_CAN_FD_CHECKSUM = 9
|
|
FCA_GIORGIO_CHECKSUM = 10
|
|
TESLA_CHECKSUM = 11
|
|
|
|
|
|
@dataclass
|
|
class Signal:
|
|
name: str
|
|
start_bit: int
|
|
msb: int
|
|
lsb: int
|
|
size: int
|
|
is_signed: bool
|
|
factor: float
|
|
offset: float
|
|
is_little_endian: bool
|
|
type: int = SignalType.DEFAULT
|
|
calc_checksum: 'Callable[[int, Signal, bytearray], int] | None' = None
|
|
|
|
|
|
|
|
@dataclass
|
|
class Msg:
|
|
name: str
|
|
address: int
|
|
size: int
|
|
sigs: dict[str, Signal]
|
|
|
|
|
|
@dataclass
|
|
class Val:
|
|
name: str
|
|
address: int
|
|
def_val: str
|
|
sigs: dict[str, Signal] | None = None
|
|
|
|
|
|
BO_RE = re.compile(r"^BO_ (\w+) (\w+) *: (\w+) (\w+)")
|
|
SG_RE = re.compile(r"^SG_ (\w+) : (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[[0-9.+\-eE]+\|[0-9.+\-eE]+\] \".*\" .*")
|
|
SGM_RE = re.compile(r"^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[[0-9.+\-eE]+\|[0-9.+\-eE]+\] \".*\" .*")
|
|
VAL_RE = re.compile(r"^VAL_ (\w+) (\w+) (.*);")
|
|
VAL_SPLIT_RE = re.compile(r'["]+')
|
|
|
|
@dataclass
|
|
class DBC:
|
|
name: str
|
|
msgs: dict[int, Msg]
|
|
addr_to_msg: dict[int, Msg]
|
|
name_to_msg: dict[str, Msg]
|
|
vals: list[Val]
|
|
|
|
def __init__(self, name: str):
|
|
dbc_path = name
|
|
if not os.path.exists(dbc_path):
|
|
dbc_path = os.path.join(DBC_PATH, name + ".dbc")
|
|
|
|
self._parse(dbc_path)
|
|
|
|
def _parse(self, path: str):
|
|
self.name = os.path.basename(path).replace(".dbc", "")
|
|
with open(path) as f:
|
|
lines = f.readlines()
|
|
|
|
checksum_state = get_checksum_state(self.name)
|
|
be_bits = [j + i * 8 for i in range(64) for j in range(7, -1, -1)]
|
|
self.msgs: dict[int, Msg] = {}
|
|
self.addr_to_msg: dict[int, Msg] = {}
|
|
self.name_to_msg: dict[str, Msg] = {}
|
|
self.vals: list[Val] = []
|
|
address = 0
|
|
signals_temp: dict[int, dict[str, Signal]] = {}
|
|
for line_num, line in enumerate(lines, 1):
|
|
line = line.strip()
|
|
if line.startswith("BO_ "):
|
|
m = BO_RE.match(line)
|
|
if not m:
|
|
continue
|
|
address = int(m.group(1), 0)
|
|
msg_name = m.group(2)
|
|
size = int(m.group(3), 0)
|
|
sigs = {}
|
|
self.msgs[address] = Msg(msg_name, address, size, sigs)
|
|
self.addr_to_msg[address] = self.msgs[address]
|
|
self.name_to_msg[msg_name] = self.msgs[address]
|
|
signals_temp[address] = sigs
|
|
elif line.startswith("SG_ "):
|
|
m = SG_RE.search(line)
|
|
offset = 0
|
|
if not m:
|
|
m = SGM_RE.search(line)
|
|
if not m:
|
|
continue
|
|
offset = 1
|
|
sig_name = m.group(1)
|
|
start_bit = int(m.group(2 + offset))
|
|
size = int(m.group(3 + offset))
|
|
is_little_endian = m.group(4 + offset) == "1"
|
|
is_signed = m.group(5 + offset) == "-"
|
|
factor = float(m.group(6 + offset))
|
|
offset_val = float(m.group(7 + offset))
|
|
|
|
if is_little_endian:
|
|
lsb = start_bit
|
|
msb = start_bit + size - 1
|
|
else:
|
|
idx = be_bits.index(start_bit)
|
|
lsb = be_bits[idx + size - 1]
|
|
msb = start_bit
|
|
|
|
sig = Signal(sig_name, start_bit, msb, lsb, size, is_signed, factor, offset_val, is_little_endian)
|
|
set_signal_type(sig, checksum_state, self.name, line_num)
|
|
signals_temp[address][sig_name] = sig
|
|
elif line.startswith("VAL_ "):
|
|
m = VAL_RE.search(line)
|
|
if not m:
|
|
continue
|
|
val_addr = int(m.group(1), 0)
|
|
sgname = m.group(2)
|
|
defs = m.group(3)
|
|
words = [w.strip() for w in VAL_SPLIT_RE.split(defs) if w.strip()]
|
|
words = [w.upper().replace(" ", "_") for w in words]
|
|
val_def = " ".join(words).strip()
|
|
self.vals.append(Val(sgname, val_addr, val_def))
|
|
for addr, sigs in signals_temp.items():
|
|
self.msgs[addr].sigs = sigs
|
|
|
|
|
|
# ***** checksum functions *****
|
|
|
|
def tesla_setup_signal(sig: Signal, dbc_name: str, line_num: int) -> None:
|
|
if sig.name.endswith("Counter"):
|
|
sig.type = SignalType.COUNTER
|
|
elif sig.name.endswith("Checksum"):
|
|
sig.type = SignalType.TESLA_CHECKSUM
|
|
sig.calc_checksum = tesla_checksum
|
|
|
|
|
|
@dataclass
|
|
class ChecksumState:
|
|
checksum_size: int
|
|
counter_size: int
|
|
checksum_start_bit: int
|
|
counter_start_bit: int
|
|
little_endian: bool
|
|
checksum_type: int
|
|
calc_checksum: Callable[[int, Signal, bytearray], int] | None
|
|
setup_signal: Callable[[Signal, str, int], None] | None = None
|
|
|
|
|
|
def get_checksum_state(dbc_name: str) -> ChecksumState | None:
|
|
if dbc_name.startswith(("honda_", "acura_")):
|
|
return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
|
|
elif dbc_name.startswith(("toyota_", "lexus_")):
|
|
return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
|
|
elif dbc_name.startswith("hyundai_canfd_generated"):
|
|
return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
|
|
elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
|
|
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
|
|
elif dbc_name.startswith("vw_pq"):
|
|
return ChecksumState(8, 4, 0, -1, True, SignalType.XOR_CHECKSUM, xor_checksum)
|
|
elif dbc_name.startswith("subaru_global_"):
|
|
return ChecksumState(8, -1, 0, -1, True, SignalType.SUBARU_CHECKSUM, subaru_checksum)
|
|
elif dbc_name.startswith("chrysler_"):
|
|
return ChecksumState(8, -1, 7, -1, False, SignalType.CHRYSLER_CHECKSUM, chrysler_checksum)
|
|
elif dbc_name.startswith("fca_giorgio"):
|
|
return ChecksumState(8, -1, 7, -1, False, SignalType.FCA_GIORGIO_CHECKSUM, fca_giorgio_checksum)
|
|
elif dbc_name.startswith("comma_body"):
|
|
return ChecksumState(8, 4, 7, 3, False, SignalType.BODY_CHECKSUM, body_checksum)
|
|
elif dbc_name.startswith("tesla_model3_party"):
|
|
return ChecksumState(8, -1, 0, -1, True, SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
|
|
return None
|
|
|
|
|
|
def set_signal_type(sig: Signal, chk: ChecksumState | None, dbc_name: str, line_num: int) -> None:
|
|
sig.calc_checksum = None
|
|
if chk:
|
|
if chk.setup_signal:
|
|
chk.setup_signal(sig, dbc_name, line_num)
|
|
if sig.name == "CHECKSUM":
|
|
sig.type = chk.checksum_type
|
|
sig.calc_checksum = chk.calc_checksum
|
|
elif sig.name == "COUNTER":
|
|
sig.type = SignalType.COUNTER
|
|
|