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