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package main
import (
"flag"
"fmt"
"os"
"go.einride.tech/can/pkg/dbc"
"go.einride.tech/can/pkg/socketcan"
)
type Signals struct {
tach, speed, an1, an2, an3, an4 *dbc.SignalDef
}
// Flags
var (
// DBC file
dbcFilenameFlag = "dbc"
dbcFilename = flag.String(dbcFilenameFlag, "", "DBC file name")
// SocketCAN device
canDevFlag = "can"
canDev = flag.String(canDevFlag, "can0", "SocketCAN device")
// 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)
// Open CAN connection
fmt.Println("Opening connection to", *canDev)
conn, err := socketcan.Dial("can", *canDev)
if err != nil {
eprintf("%v\n", err)
}
defer conn.Close()
tx := socketcan.NewTransmitter(conn)
defer tx.Close()
// Parse DBC file and transmit encoding of each signal
if err := sendEncodings(*dbcFilename, sigNames, tx); err != nil {
eprintf("%v\n", err)
}
// Parse tables and transmit them
if err := sendTables(tblFilenames, tx); err != nil {
eprintf("%v\n", err)
}
}
// Return a map of non-empty strings keyed by their index in the given list.
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 the user provided a corresponding table for each signal they gave.
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] == "" {
// No corresponding table
return fmt.Errorf("Missing flag -%s", tableFlags[i])
}
}
return nil // all present signals have a matching table
}
// Parse DBC file and transmit encoding of each signal using Signal Control frames.
func sendEncodings(dbcFilename string, sigNames map[int]string, tx *socketcan.Transmitter) error {
// Parse DBC file
fmt.Println("Parsing", dbcFilename)
sigDefs, err := parseSignals(dbcFilename, sigNames)
if err != nil {
return err
}
// Transmit Signal Control frames
for k, sigDef := range sigDefs {
fmt.Printf("Transmitting encoding of signal %d: %s\n", k, sigDef.name)
fmt.Println(sigDef)
if err := sendEncoding(sigDef, k, tx); err != nil {
return err
}
}
return nil
}
// Parse each table and transmit them using Table Control frames.
func sendTables(tblFilenames map[int]string, tx *socketcan.Transmitter) error {
for k, filename := range tblFilenames {
fmt.Println("Parsing", filename)
tbl, err := parseTable(filename)
if err != nil {
return err
}
fmt.Printf("Transmitting table %d: %s\n", k, filename)
if err := sendTable(tx, tbl, k); err != nil {
return err
}
}
return nil
}
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