DBC parser initial commit.
This commit is contained in:
315
dbc_parser.cpp
Normal file
315
dbc_parser.cpp
Normal file
@@ -0,0 +1,315 @@
|
||||
#include "dbc_parser.h"
|
||||
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <stdexcept>
|
||||
#include <algorithm>
|
||||
#include <cctype>
|
||||
|
||||
namespace {
|
||||
/**
|
||||
* @brief Remove leading and trailing spaces.
|
||||
* @param text Input text.
|
||||
* @return Trimmed text.
|
||||
*/
|
||||
std::string TrimText (const std::string &text) {
|
||||
std::string::size_type begin = 0U;
|
||||
while ((begin < text.size()) && std::isspace (static_cast<unsigned char> (text[begin])))
|
||||
++begin;
|
||||
|
||||
std::string::size_type end = text.size();
|
||||
while ((end > begin) && std::isspace (static_cast<unsigned char> (text[end - 1U])))
|
||||
--end;
|
||||
|
||||
return text.substr (begin, end - begin);
|
||||
}
|
||||
}
|
||||
|
||||
DbcDatabase DbcParser::ParseFile (const std::string &filePath) const {
|
||||
std::ifstream input (filePath.c_str());
|
||||
if (!input.is_open())
|
||||
throw std::runtime_error ("Failed to open DBC file: " + filePath);
|
||||
|
||||
DbcDatabase database;
|
||||
FrameInfo *currentFrame = nullptr;
|
||||
|
||||
std::string line;
|
||||
while (std::getline (input, line)) {
|
||||
line = Trim (line);
|
||||
if (line.empty())
|
||||
continue;
|
||||
|
||||
if (IsFrameLine (line)) {
|
||||
FrameInfo frame = ParseFrameLine (line);
|
||||
database.frames.push_back (frame);
|
||||
currentFrame = &database.frames.back();
|
||||
} else if (IsSignalLine (line)) {
|
||||
if (currentFrame == nullptr)
|
||||
throw std::runtime_error ("Signal found before any frame definition.");
|
||||
|
||||
SignalInfo signal = ParseSignalLine (line);
|
||||
currentFrame->signals.push_back (signal);
|
||||
} else if (IsCommentLine (line))
|
||||
ParseCommentLine (line, database);
|
||||
}
|
||||
|
||||
return database;
|
||||
}
|
||||
|
||||
bool DbcParser::IsFrameLine (const std::string &line) {
|
||||
return (line.size() >= 4U) && (line.compare (0U, 4U, "BO_ ") == 0);
|
||||
}
|
||||
|
||||
bool DbcParser::IsSignalLine (const std::string &line) {
|
||||
return (line.size() >= 4U) && (line.compare (0U, 4U, "SG_ ") == 0);
|
||||
}
|
||||
|
||||
bool DbcParser::IsCommentLine (const std::string &line) {
|
||||
return (line.size() >= 4U) && (line.compare (0U, 4U, "CM_ ") == 0);
|
||||
}
|
||||
|
||||
std::string DbcParser::Trim (const std::string &text) {
|
||||
return TrimText (text);
|
||||
}
|
||||
|
||||
std::vector<std::string> DbcParser::SplitReceivers (const std::string &text) {
|
||||
std::vector<std::string> receivers;
|
||||
std::string token;
|
||||
std::istringstream stream (text);
|
||||
|
||||
while (std::getline (stream, token, ',')) {
|
||||
token = TrimText (token);
|
||||
if (!token.empty())
|
||||
receivers.push_back (token);
|
||||
}
|
||||
|
||||
return receivers;
|
||||
}
|
||||
|
||||
std::uint32_t DbcParser::TryExtractPgn (std::uint32_t canId, bool &hasPgn) {
|
||||
hasPgn = false;
|
||||
|
||||
/*
|
||||
* Very simplified J1939 PGN extraction.
|
||||
* Assumes 29-bit identifier.
|
||||
*/
|
||||
if ((canId & 0x1FFFFFFFU) != canId)
|
||||
return 0U;
|
||||
|
||||
const std::uint32_t pf = (canId >> 16U) & 0xFFU;
|
||||
const std::uint32_t ps = (canId >> 8U) & 0xFFU;
|
||||
const std::uint32_t dp = (canId >> 24U) & 0x01U;
|
||||
|
||||
std::uint32_t pgn = 0U;
|
||||
|
||||
if (pf < 240U)
|
||||
pgn = (dp << 16U) | (pf << 8U);
|
||||
else
|
||||
pgn = (dp << 16U) | (pf << 8U) | ps;
|
||||
|
||||
hasPgn = true;
|
||||
return pgn;
|
||||
}
|
||||
|
||||
FrameInfo DbcParser::ParseFrameLine (const std::string &line) {
|
||||
/*
|
||||
* Example:
|
||||
* BO_ 256 EngineData: 8 Vector__XXX
|
||||
*/
|
||||
|
||||
std::istringstream stream (line);
|
||||
std::string token;
|
||||
FrameInfo frame;
|
||||
|
||||
stream >> token;
|
||||
if (token != "BO_")
|
||||
throw std::runtime_error ("Invalid frame line: " + line);
|
||||
|
||||
stream >> frame.canId;
|
||||
stream >> token;
|
||||
|
||||
if (token.empty())
|
||||
throw std::runtime_error ("Missing frame name: " + line);
|
||||
|
||||
if (token[token.size() - 1U] == ':')
|
||||
token.erase (token.size() - 1U, 1U);
|
||||
|
||||
frame.name = token;
|
||||
|
||||
{
|
||||
unsigned int dlcValue = 0U;
|
||||
stream >> dlcValue;
|
||||
frame.dlc = static_cast<std::uint8_t> (dlcValue);
|
||||
}
|
||||
|
||||
stream >> frame.transmitter;
|
||||
frame.pgn = TryExtractPgn (frame.canId, frame.hasPgn);
|
||||
|
||||
return frame;
|
||||
}
|
||||
|
||||
SignalInfo DbcParser::ParseSignalLine (const std::string &line) {
|
||||
/*
|
||||
* Example:
|
||||
* SG_ EngineSpeed : 0|16@1+ (0.125,0) [0|8000] "rpm" Vector__XXX
|
||||
*/
|
||||
|
||||
SignalInfo signal;
|
||||
|
||||
std::string work = TrimText (line);
|
||||
if (work.compare (0U, 4U, "SG_ ") != 0)
|
||||
throw std::runtime_error ("Invalid signal line: " + line);
|
||||
|
||||
work.erase (0U, 4U);
|
||||
|
||||
const std::string::size_type colonPos = work.find (':');
|
||||
if (colonPos == std::string::npos)
|
||||
throw std::runtime_error ("Signal line missing ':' : " + line);
|
||||
|
||||
signal.name = TrimText (work.substr (0U, colonPos));
|
||||
std::string rest = TrimText (work.substr (colonPos + 1U));
|
||||
|
||||
const std::string::size_type pipePos = rest.find ('|');
|
||||
const std::string::size_type atPos = rest.find ('@');
|
||||
const std::string::size_type signPos = rest.find_first_of ("+-", atPos);
|
||||
const std::string::size_type factorBegin = rest.find ('(');
|
||||
const std::string::size_type factorComma = rest.find (',', factorBegin);
|
||||
const std::string::size_type factorEnd = rest.find (')', factorComma);
|
||||
const std::string::size_type rangeBegin = rest.find ('[');
|
||||
const std::string::size_type rangeSep = rest.find ('|', rangeBegin);
|
||||
const std::string::size_type rangeEnd = rest.find (']', rangeSep);
|
||||
const std::string::size_type unitBegin = rest.find ('"', rangeEnd);
|
||||
const std::string::size_type unitEnd = rest.find ('"', unitBegin + 1U);
|
||||
|
||||
if ((pipePos == std::string::npos) ||
|
||||
(atPos == std::string::npos) ||
|
||||
(signPos == std::string::npos) ||
|
||||
(factorBegin == std::string::npos) ||
|
||||
(factorComma == std::string::npos) ||
|
||||
(factorEnd == std::string::npos) ||
|
||||
(rangeBegin == std::string::npos) ||
|
||||
(rangeSep == std::string::npos) ||
|
||||
(rangeEnd == std::string::npos) ||
|
||||
(unitBegin == std::string::npos) ||
|
||||
(unitEnd == std::string::npos))
|
||||
throw std::runtime_error ("Unsupported signal syntax: " + line);
|
||||
|
||||
signal.startBit = static_cast<std::uint32_t> (
|
||||
std::stoul (TrimText (rest.substr (0U, pipePos)))
|
||||
);
|
||||
|
||||
signal.length = static_cast<std::uint32_t> (
|
||||
std::stoul (TrimText (rest.substr (pipePos + 1U, atPos - pipePos - 1U)))
|
||||
);
|
||||
|
||||
{
|
||||
if ((atPos + 1U) >= rest.size())
|
||||
throw std::runtime_error ("Invalid endianness in signal: " + line);
|
||||
|
||||
const char endianChar = rest[atPos + 1U];
|
||||
signal.isLittleEndian = (endianChar == '1');
|
||||
}
|
||||
|
||||
{
|
||||
const char signChar = rest[signPos];
|
||||
signal.isSigned = (signChar == '-');
|
||||
}
|
||||
|
||||
signal.factor = std::stod (
|
||||
TrimText (rest.substr (factorBegin + 1U, factorComma - factorBegin - 1U))
|
||||
);
|
||||
|
||||
signal.offset = std::stod (
|
||||
TrimText (rest.substr (factorComma + 1U, factorEnd - factorComma - 1U))
|
||||
);
|
||||
|
||||
signal.minimum = std::stod (
|
||||
TrimText (rest.substr (rangeBegin + 1U, rangeSep - rangeBegin - 1U))
|
||||
);
|
||||
|
||||
signal.maximum = std::stod (
|
||||
TrimText (rest.substr (rangeSep + 1U, rangeEnd - rangeSep - 1U))
|
||||
);
|
||||
|
||||
signal.unit = rest.substr (unitBegin + 1U, unitEnd - unitBegin - 1U);
|
||||
|
||||
{
|
||||
const std::string receiversText = TrimText (rest.substr (unitEnd + 1U));
|
||||
signal.receivers = SplitReceivers (receiversText);
|
||||
}
|
||||
|
||||
return signal;
|
||||
}
|
||||
|
||||
void DbcParser::ParseCommentLine (const std::string &line, DbcDatabase &database) {
|
||||
/*
|
||||
* Examples:
|
||||
* CM_ BO_ 256 "Frame comment";
|
||||
* CM_ SG_ 256 EngineSpeed "Signal comment";
|
||||
*/
|
||||
|
||||
std::istringstream stream (line);
|
||||
std::string token;
|
||||
stream >> token;
|
||||
|
||||
if (token != "CM_")
|
||||
return;
|
||||
|
||||
stream >> token;
|
||||
|
||||
if (token == "BO_") {
|
||||
std::uint32_t canId = 0U;
|
||||
stream >> canId;
|
||||
|
||||
const std::string::size_type quoteBegin = line.find ('"');
|
||||
const std::string::size_type quoteEnd = line.rfind ('"');
|
||||
|
||||
if ((quoteBegin == std::string::npos) ||
|
||||
(quoteEnd == std::string::npos) ||
|
||||
(quoteEnd <= quoteBegin))
|
||||
return;
|
||||
|
||||
FrameInfo *frame = FindFrameById (database, canId);
|
||||
if (frame != nullptr)
|
||||
frame->comment = line.substr (quoteBegin + 1U, quoteEnd - quoteBegin - 1U);
|
||||
} else if (token == "SG_") {
|
||||
std::uint32_t canId = 0U;
|
||||
std::string signalName;
|
||||
|
||||
stream >> canId;
|
||||
stream >> signalName;
|
||||
|
||||
const std::string::size_type quoteBegin = line.find ('"');
|
||||
const std::string::size_type quoteEnd = line.rfind ('"');
|
||||
|
||||
if ((quoteBegin == std::string::npos) ||
|
||||
(quoteEnd == std::string::npos) ||
|
||||
(quoteEnd <= quoteBegin))
|
||||
return;
|
||||
|
||||
FrameInfo *frame = FindFrameById (database, canId);
|
||||
if (frame != nullptr) {
|
||||
SignalInfo *signal = FindSignalByName (*frame, signalName);
|
||||
if (signal != nullptr)
|
||||
signal->comment = line.substr (quoteBegin + 1U, quoteEnd - quoteBegin - 1U);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
FrameInfo *DbcParser::FindFrameById (DbcDatabase &database, std::uint32_t canId) {
|
||||
for (std::size_t index = 0U; index < database.frames.size(); ++index) {
|
||||
if (database.frames[index].canId == canId)
|
||||
return &database.frames[index];
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
SignalInfo *DbcParser::FindSignalByName (FrameInfo &frame, const std::string &signalName) {
|
||||
for (std::size_t index = 0U; index < frame.signals.size(); ++index) {
|
||||
if (frame.signals[index].name == signalName)
|
||||
return &frame.signals[index];
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
Reference in New Issue
Block a user