dbc_decoder.h

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#ifndef DBC_DECODER_H
#define DBC_DECODER_H
 
#include <cstdint>
#include <variant>
#include <vector>
 
#include "decode_database.h"
 
struct RawCanFrame {
    std::uint32_t canId;            
    bool isExtended;                
    std::vector<std::uint8_t> data; 
    RawCanFrame()
        : canId(0U), isExtended(false), data() {
    }
};
 
struct DecodedSignalValue {
    const DecodeSignal *definition;                     
    std::variant<std::int64_t, std::uint64_t> rawValue; 
    double physicalValue;                               
    bool valid;                                         
    DecodedSignalValue()
        : definition(nullptr), rawValue(std::uint64_t(0U)), physicalValue(0.0), valid(false) {
    }
};
 
struct DecodedFrameValue {
    const DecodeFrame *definition;           
    std::vector<DecodedSignalValue> signals; 
    bool valid;                              
    DecodedFrameValue()
        : definition(nullptr), signals(), valid(false) {
    }
};
 
class DbcDecoder {
public:
    const DecodeFrame *FindFrame(const DecodeDatabase &database,
                                 std::uint32_t canId,
                                 bool isExtended) const;
 
    DecodedFrameValue Decode(const DecodeDatabase &database,
                             const RawCanFrame &frame) const;
 
private:
    static bool ExtractUnsigned(const std::vector<std::uint8_t> &data,
                                const DecodeSignal &signal,
                                std::uint64_t &value);
 
    static bool ExtractIntel(const std::vector<std::uint8_t> &data,
                             std::uint32_t startBit,
                             std::uint32_t length,
                             std::uint64_t &value);
 
    static bool ExtractMotorola(const std::vector<std::uint8_t> &data,
                                std::uint32_t startBit,
                                std::uint32_t length,
                                std::uint64_t &value);
 
    static std::int64_t SignExtend(std::uint64_t value, std::uint32_t bitLength);
};
 
#endif /* DBC_DECODER_H */