dbc_decoder.cpp

Go to the documentation of this file.

 
#include "dbc_decoder.h"
 
const DecodeFrame *DbcDecoder::FindFrame(const DecodeDatabase &database,
                                         std::uint32_t canId,
                                         bool isExtended) const {
    const FrameKey key(canId, isExtended);
    const std::unordered_map<FrameKey, std::size_t, FrameKeyHasher>::const_iterator it =
            database.frameIndexByKey.find(key);
 
    if (it == database.frameIndexByKey.end())
        return nullptr;
 
    const std::size_t index = it->second;
    if (index >= database.frames.size())
        return nullptr;
 
    return &database.frames[index];
}
 
DecodedFrameValue DbcDecoder::Decode(const DecodeDatabase &database,
                                     const RawCanFrame &frame) const {
    DecodedFrameValue result;
    const DecodeFrame *definition = FindFrame(database, frame.canId, frame.isExtended);
 
    if (definition == nullptr)
        return result;
 
    result.definition = definition;
    result.valid = true;
 
    for (std::size_t signalIndex = 0U; signalIndex < definition->signals.size(); ++signalIndex) {
        const DecodeSignal &signal = definition->signals[signalIndex];
        DecodedSignalValue decoded;
        std::uint64_t unsignedValue = 0U;
 
        decoded.definition = &signal;
 
        if (!ExtractUnsigned(frame.data, signal, unsignedValue)) {
            decoded.valid = false;
            result.signals.push_back(decoded);
            continue;
        }
 
        if (signal.valueType == ValueType::Signed)
            decoded.rawValue = SignExtend(unsignedValue, signal.length);
        else
            decoded.rawValue = unsignedValue;
 
        decoded.physicalValue =
                std::visit([&signal](auto rawValue) {
                    return (static_cast<double>(rawValue) * signal.factor) + signal.offset;
                },
                           decoded.rawValue);
        decoded.valid = true;
 
        result.signals.push_back(decoded);
    }
 
    return result;
}
 
bool DbcDecoder::ExtractUnsigned(const std::vector<std::uint8_t> &data,
                                 const DecodeSignal &signal,
                                 std::uint64_t &value) {
    if ((signal.length == 0U) || (signal.length > 64U))
        return false;
 
    if (signal.byteOrder == ByteOrder::Intel)
        return ExtractIntel(data, signal.startBit, signal.length, value);
 
    return ExtractMotorola(data, signal.startBit, signal.length, value);
}
 
bool DbcDecoder::ExtractIntel(const std::vector<std::uint8_t> &data,
                              std::uint32_t startBit,
                              std::uint32_t length,
                              std::uint64_t &value) {
    value = 0U;
 
    for (std::uint32_t bitIndex = 0U; bitIndex < length; ++bitIndex) {
        const std::uint32_t absoluteBit = startBit + bitIndex;
        const std::uint32_t byteIndex = absoluteBit / 8U;
        const std::uint32_t bitInByte = absoluteBit % 8U;
 
        if (byteIndex >= data.size())
            return false;
 
        const std::uint64_t bitValue =
                (static_cast<std::uint64_t>((data[byteIndex] >> bitInByte) & 0x01U) << bitIndex);
 
        value |= bitValue;
    }
 
    return true;
}
 
bool DbcDecoder::ExtractMotorola(const std::vector<std::uint8_t> &data,
                                 std::uint32_t startBit,
                                 std::uint32_t length,
                                 std::uint64_t &value) {
    /*
   * DBC Motorola bit numbering:
   * - startBit points to the most significant bit of the signal
   * - inside a byte, bit numbering goes 7..0
   * - crossing byte boundary moves to the next byte, bit 7
   * Example: a signal starting at 7 follows 7..0, 15..8, 23..16.
   */
 
    value = 0U;
 
    std::size_t byteIndex = startBit / 8U;
    std::uint32_t bitInByte = startBit % 8U;
 
    for (std::uint32_t bitIndex = 0U; bitIndex < length; ++bitIndex) {
        if (byteIndex >= data.size())
            return false;
 
        value <<= 1U;
        value |= static_cast<std::uint64_t>((data[byteIndex] >> bitInByte) & 0x01U);
 
        if (bitInByte == 0U) {
            ++byteIndex;
            bitInByte = 7U;
        } else
            --bitInByte;
    }
 
    return true;
}
 
std::int64_t DbcDecoder::SignExtend(std::uint64_t value, std::uint32_t bitLength) {
    if ((bitLength == 0U) || (bitLength > 64U))
        return 0;
 
    const std::uint64_t signMask = std::uint64_t(1U) << (bitLength - 1U);
    const std::uint64_t valueMask = (bitLength == 64U)
                                            ? ~std::uint64_t(0U)
                                            : (std::uint64_t(1U) << bitLength) - 1U;
    value &= valueMask;
 
    if ((value & signMask) == 0U)
        return static_cast<std::int64_t>(value);
 
    // The complemented magnitude fits int64_t, including for INT64_MIN.
    return -1 - static_cast<std::int64_t>((~value) & valueMask);
}