dbc_decoder.h

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#ifndef DBC_DECODER_H
#define DBC_DECODER_H
 
#include <vector>
#include <cstdint>
 
#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::int64_t rawValue;          
  double physicalValue;           
  bool valid;                     
  DecodedSignalValue()
    : definition (nullptr)
    , rawValue (0)
    , 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 */