1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
|
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
tachTblFlag = "tachTbl"
speedTblFlag = "speedTbl"
an1TblFlag = "an1Tbl"
an2TblFlag = "an2Tbl"
an3TblFlag = "an3Tbl"
an4TblFlag = "an4Tbl"
tachTbl = flag.String(tachTblFlag, "", "tachometer calibration CSV file")
speedTbl = flag.String(speedTblFlag, "", "speedometer calibration CSV file")
an1Tbl = flag.String(an1TblFlag, "", "analog channel 1 calibration CSV file")
an2Tbl = flag.String(an2TblFlag, "", "analog channel 2 calibration CSV file")
an3Tbl = flag.String(an3TblFlag, "", "analog channel 3 calibration CSV file")
an4Tbl = flag.String(an4TblFlag, "", "analog channel 4 calibration CSV file")
)
func main() {
// Parse command line args
flag.Parse()
if *dbcFilename == "" {
weprintf("Missing '%s' flag.\n", dbcFilenameFlag)
flag.Usage()
os.Exit(1)
}
if err := checkTablesProvided(); err != nil {
eprintf("%v\n", err)
}
sigNames := nonEmpty(*tachSig, *speedSig, *an1Sig, *an2Sig, *an3Sig, *an4Sig)
tblFilenames := nonEmpty(*tachTbl, *speedTbl, *an1Tbl, *an2Tbl, *an3Tbl, *an4Tbl)
// Parse signals in DBC file
fmt.Println("Parsing", *dbcFilename)
sigDefs, err := parseSignals(*dbcFilename, sigNames)
if err != nil {
eprintf("%v\n", err)
}
// Parse calibration tables
for _, filename := range tblFilenames {
fmt.Println("Parsing", filename)
tbl, err := parseTable(filename)
if err != nil {
eprintf("%v\n", err)
}
}
fmt.Println(sigDefs)
}
func nonEmpty(ss ...string) map[int]string {
m := make(map[int]string)
for i := range ss {
if ss[i] != "" {
m[i] = ss[i]
}
}
return m
}
// Check that a calibration table was provided for each given signal.
func checkTablesProvided() error {
signals := []string{*tachSig, *speedSig, *an1Sig, *an2Sig, *an3Sig, *an4Sig}
tables := []string{*tachTbl, *speedTbl, *an1Tbl, *an2Tbl, *an3Tbl, *an4Tbl}
tableFlags := []string{tachTblFlag, speedTblFlag, an1TblFlag, an2TblFlag, an3TblFlag, an4TblFlag}
for i := range signals {
if signals[i] != "" && tables[i] == "" {
return fmt.Errorf("Missing flag -%s", tableFlags[i])
}
}
return nil
}
|