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package main
import (
"flag"
"fmt"
"os"
"slices"
"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)
}
sigNames := nonEmpty(*tachSig, *speedSig, *an1Sig, *an2Sig, *an3Sig, *an4Sig)
// Parse signals in DBC file
sigDefs, err := parseSignals(*dbcFilename, sigNames)
if err != nil {
eprintf("Error parsing %s: %v\n", *dbcFilename, err)
}
fmt.Println(sigDefs)
}
func nonEmpty(ss ...string) []string {
r := make([]string, 0, len(ss))
for _, s := range ss {
if s != "" {
r = append(r, s)
}
}
return r
}
// Extract signals from the DBC file.
func parseSignals(filename string, names []string) ([]dbc.SignalDef, error) {
// Parse DBC file
msgDefs, err := parseDbcFile(filename)
if err != nil {
return nil, err
}
// Search for signals
sigPtrs := make([]*dbc.SignalDef, len(names))
for _, msg := range msgDefs {
for i := range names {
j := slices.IndexFunc(msg.Signals, func(sig dbc.SignalDef) bool { return sig.Name == dbc.Identifier(names[i]) })
if j < 0 {
continue
}
if sigPtrs[i] != nil {
return nil, ErrDupSig{msg.Signals[j]}
}
sigPtrs[i] = &msg.Signals[j]
}
}
// Check all signals are present
if i := slices.IndexFunc(sigPtrs, func(sp *dbc.SignalDef) bool { return sp == nil }); i >= 0 {
return nil, ErrNoSig{filename, names[i]}
}
// Dereference
signals := make([]dbc.SignalDef, len(sigPtrs))
for i := range sigPtrs {
signals[i] = *sigPtrs[i]
}
return signals, nil
}
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 tryAssignSignal(dst **dbc.SignalDef, sig dbc.SignalDef, targetName string) error {
if targetName != "" && string(sig.Name) == targetName {
if *dst != nil {
return fmt.Errorf("%v: duplicate signal '%s'", sig.Pos, sig.Name)
}
*dst = &sig
}
return 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...)
}
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