cal: parse dbc file

3 files changed, 125 insertions, 0 deletions

diff --git a/sw/cal/go.mod b/sw/cal/go.mod
new file mode 100644
index 0000000..16cb63c
--- /dev/null
+++ b/sw/cal/go.mod
@@ -0,0 +1,14 @@
+module git.samanthony.xyz/can_gauge_interface/sw/cal
+
+go 1.25.3
+
+require (
+	github.com/google/go-cmp v0.6.0 // indirect
+	github.com/josharian/native v1.1.0 // indirect
+	github.com/mdlayher/netlink v1.7.2 // indirect
+	github.com/mdlayher/socket v0.4.1 // indirect
+	go.einride.tech/can v0.16.1 // indirect
+	golang.org/x/net v0.38.0 // indirect
+	golang.org/x/sync v0.11.0 // indirect
+	golang.org/x/sys v0.31.0 // indirect
+)
diff --git a/sw/cal/go.sum b/sw/cal/go.sum
new file mode 100644
index 0000000..4005cd3
--- /dev/null
+++ b/sw/cal/go.sum
@@ -0,0 +1,16 @@
+github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
+github.com/josharian/native v1.1.0 h1:uuaP0hAbW7Y4l0ZRQ6C9zfb7Mg1mbFKry/xzDAfmtLA=
+github.com/josharian/native v1.1.0/go.mod h1:7X/raswPFr05uY3HiLlYeyQntB6OO7E/d2Cu7qoaN2w=
+github.com/mdlayher/netlink v1.7.2 h1:/UtM3ofJap7Vl4QWCPDGXY8d3GIY2UGSDbK+QWmY8/g=
+github.com/mdlayher/netlink v1.7.2/go.mod h1:xraEF7uJbxLhc5fpHL4cPe221LI2bdttWlU+ZGLfQSw=
+github.com/mdlayher/socket v0.4.1 h1:eM9y2/jlbs1M615oshPQOHZzj6R6wMT7bX5NPiQvn2U=
+github.com/mdlayher/socket v0.4.1/go.mod h1:cAqeGjoufqdxWkD7DkpyS+wcefOtmu5OQ8KuoJGIReA=
+go.einride.tech/can v0.16.1 h1:s9MqX1OR6ujGxvl+gOWAGL54MC3kaPE+cgxBCUfDrB8=
+go.einride.tech/can v0.16.1/go.mod h1:9pgqXNGpPfrd/WGXGmiKW8cUvIep/o+o76JgUKpQuWI=
+golang.org/x/net v0.38.0 h1:vRMAPTMaeGqVhG5QyLJHqNDwecKTomGeqbnfZyKlBI8=
+golang.org/x/net v0.38.0/go.mod h1:ivrbrMbzFq5J41QOQh0siUuly180yBYtLp+CKbEaFx8=
+golang.org/x/sync v0.11.0 h1:GGz8+XQP4FvTTrjZPzNKTMFtSXH80RAzG+5ghFPgK9w=
+golang.org/x/sync v0.11.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk=
+golang.org/x/sys v0.31.0 h1:ioabZlmFYtWhL+TRYpcnNlLwhyxaM9kWTDEmfnprqik=
+golang.org/x/sys v0.31.0/go.mod h1:BJP2sWEmIv4KK5OTEluFJCKSidICx8ciO85XgH3Ak8k=
diff --git a/sw/cal/main.go b/sw/cal/main.go
new file mode 100644
index 0000000..98e021c
--- /dev/null
+++ b/sw/cal/main.go
@@ -0,0 +1,95 @@
+package main
+
+import (
+	"flag"
+	"fmt"
+	"os"
+
+	"go.einride.tech/can/pkg/dbc"
+)
+
+const dev = "can0"
+
+type Signals struct {
+	tach, speed, an1, an2, an3, an4 *dbc.SignalDef
+}
+
+// Flags
+var (
+	// DBC file
+	dbcFilenameFlag = "dbc"
+	dbcFilename = flag.String(dbcFilenameFlag, "", "DBC file name")
+
+	// Signal names
+	tachSigFlag = "tachSig"
+	speedSigFlag = "speedSig"
+	an1SigFlag = "an1Sig"
+	an2SigFlag = "an2Sig"
+	an3SigFlag = "an3Sig"
+	an4SigFlag = "an4Sig"
+	tachSig = flag.String(tachSigFlag, "", "tachometer signal name")
+	speedSig = flag.String(speedSigFlag, "", "speedometer signal name")
+	an1Sig = flag.String(an1SigFlag, "", "analog channel 1 signal name")
+	an2Sig = flag.String(an2SigFlag, "", "analog channel 2 signal name")
+	an3Sig = flag.String(an3SigFlag, "", "analog channel 3 signal name")
+	an4Sig = flag.String(an4SigFlag, "", "analog channel 4 signal name")
+
+	// Calibration tables
+	// TODO
+)
+
+func main() {
+	// Parse command line args
+	flag.Parse()
+	if *dbcFilename == "" {
+		weprintf("Missing '%s' flag.\n", dbcFilenameFlag)
+		flag.Usage()
+		os.Exit(1)
+	}
+
+	// Parse DBC file
+	msgDefs, err := parseDbcFile(*dbcFilename)
+	if err != nil {
+		eprintf("Error parsing %s: %v\n", *dbcFilename, err)
+	}
+
+
+	for _, msg := range msgDefs {
+		for _, sig := range msg.Signals {
+			fmt.Println(sig)
+		}
+	}
+}
+
+func parseDbcFile(filename string) ([]*dbc.MessageDef, error) {
+	// Read file
+	buf, err := os.ReadFile(filename)
+	if err != nil {
+		return nil, err
+	}
+
+	// Parse file
+	parser := dbc.NewParser(filename, buf)
+	if err := parser.Parse(); err != nil {
+		return nil, err
+	}
+
+	// Filter message definitions
+	defs := parser.Defs()
+	msgDefs := make([]*dbc.MessageDef, 0, len(defs))
+	for _, def := range defs {
+		if msg, ok := def.(*dbc.MessageDef); ok {
+			msgDefs = append(msgDefs, msg)
+		}
+	}
+	return msgDefs, nil
+}
+
+func eprintf(format string, a ...any) {
+	weprintf(format, a...)
+	os.Exit(1)
+}
+
+func weprintf(format string, a ...any) {
+	fmt.Fprintf(os.Stderr, format, a...)
+}