dbc/dbc_statement_handler.cpp

// SPDX-License-Identifier: MIT
#include "dbc_statement_handler.h"
#include <sstream>
#include <stdexcept>
#include <cctype>
#include <charconv>
#include <limits>

namespace {
  std::uint32_t ParseDecimal (const std::string &text,
                              std::uint32_t maximum,
                              const char *field) {
    std::uint32_t value = 0U;
    const auto parsed = std::from_chars (text.data(), text.data() + text.size(), value);
    if (text.empty() || parsed.ec != std::errc() ||
        parsed.ptr != text.data() + text.size() || value > maximum)
      throw std::runtime_error (std::string ("Invalid ") + field + ": " + text);
    return value;
  }

  /**
   * @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);
  }
  FrameInfo *FindFrameById (DbcDatabase &, std::uint32_t, bool);
  SignalInfo *FindSignalByName (FrameInfo &, const std::string &);
}

namespace {
std::vector<std::string> 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 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 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 DbcFrameHandler::ParseFrameLine (const std::string &line) {
  /*
   * Example:
   * BO_ 256 EngineData: 8 EEC1
   */

  std::istringstream stream (line);
  std::string keyword;
  std::string idText;
  if (!(stream >> keyword >> idText) || keyword != "BO_")
    throw std::runtime_error ("Missing CAN ID in frame definition.");

  const std::uint32_t rawCanId = ParseDecimal (
    idText, std::numeric_limits<std::uint32_t>::max(), "CAN ID");
  // Only bit 31 may accompany the actual 29-bit identifier.
  if ((rawCanId & 0x60000000U) != 0U)
    throw std::runtime_error ("CAN ID exceeds the 29-bit identifier range.");

  std::string nameText;
  if (!std::getline (stream, nameText, ':') || stream.eof())
    throw std::runtime_error ("Missing ':' in frame definition.");
  std::istringstream nameStream (nameText);
  FrameInfo frame;
  std::string extra;
  if (!(nameStream >> frame.name) || (nameStream >> extra))
    throw std::runtime_error ("Missing or invalid frame name.");

  std::string lengthText;
  if (!(stream >> lengthText))
    throw std::runtime_error ("Missing payload length in frame definition.");
  frame.dlc = static_cast<std::uint8_t> (ParseDecimal (
    lengthText, std::numeric_limits<std::uint8_t>::max(), "payload length"));
  if (!(stream >> frame.transmitter))
    throw std::runtime_error ("Missing transmitter in frame definition.");
  if (stream >> extra)
    throw std::runtime_error ("Unexpected trailing field in frame definition: " + extra);

  NormalizeCanId (rawCanId, frame.canId, frame.isExtended);
  frame.pgn = TryExtractPgn (frame.canId, frame.isExtended, frame.hasPgn);

  return frame;
}

SignalInfo DbcSignalHandler::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 DbcCommentHandler::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);
    }
  }
}

namespace {
FrameInfo *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 *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;
}
}

void DbcFrameHandler::Handle (const std::string &line, DbcParseContext &context) const {
  context.database.frames.push_back (ParseFrameLine (line));
  context.currentFrame = &context.database.frames.back();
}

void DbcSignalHandler::Handle (const std::string &line, DbcParseContext &context) const {
  // Preserve the existing signal syntax policy during this refactor.
  if (line.compare (0U, 4U, "SG_ ") != 0)
    return;
  if (context.currentFrame == nullptr)
    throw std::runtime_error ("Signal found before any frame definition.");
  context.currentFrame->signals.push_back (ParseSignalLine (line));
}

void DbcCommentHandler::Handle (const std::string &line, DbcParseContext &context) const {
  if (line.compare (0U, 4U, "CM_ ") == 0)
    ParseCommentLine (line, context.database);
}

DbcStatementDispatcher::DbcStatementDispatcher() {
  RegisterType<DbcFrameHandler> ("BO_");
  RegisterType<DbcSignalHandler> ("SG_");
  RegisterType<DbcCommentHandler> ("CM_");
}

bool DbcStatementDispatcher::Dispatch (const std::string &line,
                                       DbcParseContext &context) const {
  std::istringstream stream (line);
  std::string keyword;
  stream >> keyword;
  const auto handler = m_handlers.find (keyword);
  if (handler == m_handlers.end())
    return false;
  handler->second->Handle (line, context);
  return true;
}