dbc_parser.cpp

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#include "dbc_parser.h"
 
#include <fstream>
#include <sstream>
#include <stdexcept>
#include <cctype>
 
namespace {
  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;
}
 
void DbcParser::NormalizeCanId (std::uint32_t rawCanId,
                                std::uint32_t &normalizedCanId,
                                bool &isExtended) {
  /*
   * DBC commonly stores extended identifiers with bit 31 set.
   * Example:
   * raw id = 0x80000000 | actual_29_bit_id
   */
  if ((rawCanId & 0x80000000U) != 0U) {
    isExtended = true;
    normalizedCanId = (rawCanId & 0x1FFFFFFFU);
  } else {
    isExtended = (rawCanId > 0x7FFU);
    normalizedCanId = rawCanId;
  }
}
 
std::uint32_t DbcParser::TryExtractPgn (std::uint32_t canId, bool isExtended, bool &hasPgn) {
  hasPgn = false;
 
  if (!isExtended)
    return 0U;
 
  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 EEC1
   */
 
  std::istringstream stream (line);
  std::string token;
  FrameInfo frame;
  std::uint32_t rawCanId = 0U;
 
  stream >> token;
  if (token != "BO_")
    throw std::runtime_error ("Invalid frame line: " + line);
 
  stream >> rawCanId;
  NormalizeCanId (rawCanId, frame.canId, frame.isExtended);
 
  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.isExtended, frame.hasPgn);
 
  return frame;
}
 
SignalInfo DbcParser::ParseSignalLine (const std::string &line) {
  /*
   * Example:
   * SG_ EngineSpeed : 0|16@1+ (0.125,0) [0|8000] "rpm" ECU1,ECU2
   */
 
  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 rawCanId = 0U;
    std::uint32_t canId = 0U;
    bool isExtended = false;
 
    stream >> rawCanId;
    NormalizeCanId (rawCanId, canId, isExtended);
 
    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, isExtended);
    if (frame != nullptr)
      frame->comment = line.substr (quoteBegin + 1U, quoteEnd - quoteBegin - 1U);
  } else if (token == "SG_") {
    std::uint32_t rawCanId = 0U;
    std::uint32_t canId = 0U;
    bool isExtended = false;
    std::string signalName;
 
    stream >> rawCanId;
    stream >> signalName;
 
    NormalizeCanId (rawCanId, canId, isExtended);
 
    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, isExtended);
    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,
                                     bool isExtended) {
  for (std::size_t index = 0U; index < database.frames.size(); ++index) {
    if ((database.frames[index].canId == canId) &&
        (database.frames[index].isExtended == isExtended))
      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;
}