opendbc/can/process_dbc.py

131 lines
4.4 KiB
Python
Executable File

#!/usr/bin/env python3
import os
import sys
import jinja2
from collections import Counter
from opendbc.can.dbc import dbc
def process(in_fn, out_fn):
dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
# print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
with open(template_fn, "r") as template_f:
template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
can_dbc = dbc(in_fn)
# process counter and checksums first
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
def_vals = sorted(def_vals.items())
if can_dbc.name.startswith(("honda_", "acura_")):
checksum_type = "honda"
checksum_size = 4
counter_size = 2
checksum_start_bit = 3
counter_start_bit = 5
little_endian = False
elif can_dbc.name.startswith(("toyota_", "lexus_")):
checksum_type = "toyota"
checksum_size = 8
counter_size = None
checksum_start_bit = 7
counter_start_bit = None
little_endian = False
elif can_dbc.name.startswith(("vw_", "volkswagen_", "audi_", "seat_", "skoda_")):
checksum_type = "volkswagen"
checksum_size = 8
counter_size = 4
checksum_start_bit = 0
counter_start_bit = 0
little_endian = True
elif can_dbc.name.startswith(("subaru_global_")):
checksum_type = "subaru"
checksum_size = 8
counter_size = None
checksum_start_bit = 0
counter_start_bit = None
little_endian = True
elif can_dbc.name.startswith(("chrysler_", "stellantis_")):
checksum_type = "chrysler"
checksum_size = 8
counter_size = None
checksum_start_bit = 7
counter_start_bit = None
little_endian = False
else:
checksum_type = None
checksum_size = None
counter_size = None
checksum_start_bit = None
counter_start_bit = None
little_endian = None
# sanity checks on expected COUNTER and CHECKSUM rules, as packer and parser auto-compute those signals
for address, msg_name, _, sigs in msgs:
dbc_msg_name = dbc_name + " " + msg_name
for sig in sigs:
if checksum_type is not None:
# checksum rules
if sig.name == "CHECKSUM":
if sig.size != checksum_size:
sys.exit("%s: CHECKSUM is not %d bits long" % (dbc_msg_name, checksum_size))
if sig.start_bit % 8 != checksum_start_bit:
sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
if little_endian != sig.is_little_endian:
sys.exit("%s: CHECKSUM has wrong endianness" % dbc_msg_name)
# counter rules
if sig.name == "COUNTER":
if counter_size is not None and sig.size != counter_size:
sys.exit("%s: COUNTER is not %d bits long" % (dbc_msg_name, counter_size))
if counter_start_bit is not None and sig.start_bit % 8 != counter_start_bit:
print(counter_start_bit, sig.start_bit)
sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
if little_endian != sig.is_little_endian:
sys.exit("%s: COUNTER has wrong endianness" % dbc_msg_name)
# pedal rules
if address in [0x200, 0x201]:
if sig.name == "COUNTER_PEDAL" and sig.size != 4:
sys.exit("%s: PEDAL COUNTER is not 4 bits long" % dbc_msg_name)
if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
sys.exit("%s: PEDAL CHECKSUM is not 8 bits long" % dbc_msg_name)
# Fail on duplicate message names
c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
for name, count in c.items():
if count > 1:
sys.exit("%s: Duplicate message name in DBC file %s" % (dbc_name, name))
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals)
with open(out_fn, "a+") as out_f:
out_f.seek(0)
if out_f.read() != parser_code:
out_f.seek(0)
out_f.truncate()
out_f.write(parser_code)
def main():
if len(sys.argv) != 3:
print("usage: %s dbc_directory output_filename" % (sys.argv[0],))
sys.exit(0)
dbc_dir = sys.argv[1]
out_fn = sys.argv[2]
dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
in_fn = os.path.join(dbc_dir, dbc_name + '.dbc')
process(in_fn, out_fn)
if __name__ == '__main__':
main()