100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
#ifndef DBC_DECODER_H
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#define DBC_DECODER_H
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#include <vector>
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#include <cstdint>
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#include "decode_database.h"
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/**
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* @brief Raw CAN frame used for runtime or trace decoding.
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*/
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struct RawCanFrame {
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std::uint32_t canId; /**< Normalized CAN ID. */
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bool isExtended; /**< true for extended frame. */
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std::vector<std::uint8_t> data; /**< Payload bytes. */
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RawCanFrame()
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: canId (0U)
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, isExtended (false)
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, data() {
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}
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};
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/**
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* @brief One decoded signal value.
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*/
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struct DecodedSignalValue {
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const DecodeSignal *definition; /**< Signal definition. */
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std::int64_t rawValue; /**< Extracted raw integer value. */
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double physicalValue; /**< Converted physical value. */
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bool valid; /**< true if decoding succeeded. */
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DecodedSignalValue()
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: definition (nullptr)
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, rawValue (0)
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, physicalValue (0.0)
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, valid (false) {
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}
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};
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/**
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* @brief Fully decoded frame.
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*/
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struct DecodedFrameValue {
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const DecodeFrame *definition; /**< Frame definition. */
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std::vector<DecodedSignalValue> signals; /**< Decoded signal values. */
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bool valid; /**< true if frame was matched. */
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DecodedFrameValue()
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: definition (nullptr)
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, signals()
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, valid (false) {
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}
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};
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/**
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* @brief Runtime CAN decoder using prebuilt decode database.
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*/
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class DbcDecoder {
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public:
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/**
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* @brief Find frame definition by CAN ID.
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* @param database Runtime decode database.
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* @param canId Normalized CAN ID.
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* @param isExtended true for extended frame.
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* @return Pointer to frame definition or nullptr.
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*/
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const DecodeFrame *FindFrame (const DecodeDatabase &database,
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std::uint32_t canId,
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bool isExtended) const;
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/**
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* @brief Decode one raw CAN frame.
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* @param database Runtime decode database.
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* @param frame Raw CAN frame.
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* @return Decoded frame value.
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*/
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DecodedFrameValue Decode (const DecodeDatabase &database,
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const RawCanFrame &frame) const;
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private:
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static bool ExtractUnsigned (const std::vector<std::uint8_t> &data,
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const DecodeSignal &signal,
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std::uint64_t &value);
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static bool ExtractIntel (const std::vector<std::uint8_t> &data,
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std::uint32_t startBit,
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std::uint32_t length,
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std::uint64_t &value);
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static bool ExtractMotorola (const std::vector<std::uint8_t> &data,
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std::uint32_t startBit,
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std::uint32_t length,
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std::uint64_t &value);
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static std::int64_t SignExtend (std::uint64_t value, std::uint32_t bitLength);
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};
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#endif /* DBC_DECODER_H */
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