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package main
import (
"cmp"
bin "encoding/binary"
"encoding/csv"
"fmt"
"io"
"os"
"slices"
"strconv"
"go.einride.tech/can"
"git.samanthony.xyz/can_gauge_interface/sw/cal/canbus"
)
const (
tblCtrlId uint32 = 0x1272000
tblCtrlMask uint32 = 0x1FFFF00
maxTabRows = 32
)
type Table struct {
sigIndex uint8
rows []Row
}
type Row struct {
sigIndex, rowIndex uint8
key int32
val uint16
}
func parseTable(filename string, sigIndex uint8) (Table, error) {
f, err := os.Open(filename)
if err != nil {
eprintf("%v\n", err)
}
defer f.Close()
tbl := Table{sigIndex, nil}
rdr := csv.NewReader(f)
for {
err := parseRow(rdr, &tbl)
if err == io.EOF {
return tbl, nil
} else if err != nil {
return Table{}, fmt.Errorf("%s:%v", filename, err)
}
}
}
func parseRow(rdr *csv.Reader, tbl *Table) error {
row, err := rdr.Read()
if err != nil {
return err
}
if len(row) != 2 {
line, _ := rdr.FieldPos(0)
return fmt.Errorf("%d: malformed row", line)
}
key, err := strconv.ParseInt(row[0], 10, 32)
if err != nil {
line, col := rdr.FieldPos(0)
return fmt.Errorf("%d:%d: %v", line, col, err)
}
val, err := strconv.ParseUint(row[1], 10, 16)
if err != nil {
line, col := rdr.FieldPos(1)
return fmt.Errorf("%d:%d: %v", line, col, err)
}
if err := tbl.Insert(int32(key), uint16(val)); err != nil {
line, col := rdr.FieldPos(0)
return fmt.Errorf("%d:%d: %v", line, col, err)
}
return nil
}
func (tbl *Table) Insert(key int32, val uint16) error {
if len(tbl.rows) >= maxTabRows {
return fmt.Errorf("too many rows")
}
i, ok := slices.BinarySearchFunc(tbl.rows, key, cmpRowKey)
if ok {
return ErrDupKey{key}
}
tbl.rows = slices.Insert(tbl.rows, i, Row{tbl.sigIndex, uint8(i), key, val})
return nil
}
func cmpRowKey(row Row, key int32) int {
return cmp.Compare(row.key, key)
}
// Transmit a table in Table Control frames so the Interface can store it in its EEPROM.
func (tbl Table) Send(bus canbus.Bus) error {
// Send populated rows
var i int
for i = 0; i < len(tbl.rows); i++ {
if err := tbl.rows[i].Send(bus); err != nil {
return err
}
}
// Fill rest of table with last row
lastRow := tbl.rows[len(tbl.rows)-1]
for ; i < maxTabRows; i++ {
lastRow.rowIndex = uint8(i)
if err := lastRow.Send(bus); err != nil {
return err
}
}
return nil
}
// Transmit a Table Control frame containing one row of a table.
func (row Row) Send(bus canbus.Bus) error {
req := TableControlRequest{row.sigIndex, row.rowIndex}
reply := &Row{}
isReply := func(reply *Row) bool {
return reply.sigIndex == row.sigIndex && reply.rowIndex == row.rowIndex
}
return sendCtrlFrame(row, req, reply, bus, isReply, verifyTblCtrlReply)
}
// Verify that the response to a Table Control REMOTE REQUEST
// is the same as what was commanded to be written.
func verifyTblCtrlReply(cmd Row, reply *Row) bool {
return *reply == cmd
}
func (row Row) MarshalFrame() (can.Frame, error) {
var data [8]byte
if _, err := bin.Encode(data[0:4], bin.BigEndian, row.key); err != nil {
return can.Frame{}, err
}
if _, err := bin.Encode(data[4:6], bin.BigEndian, row.val); err != nil {
return can.Frame{}, err
}
return can.Frame{
ID: uint32(tblCtrlId) | uint32((row.sigIndex<<5)&0xE0) | uint32(row.rowIndex&0x1F),
Length: 6,
Data: data,
IsExtended: true,
}, nil
}
func (row *Row) UnmarshalFrame(frame can.Frame) error {
if !frame.IsExtended || frame.ID&tblCtrlMask != tblCtrlId {
return errWrongId
}
if frame.Length != 6 {
return fmt.Errorf("wrong DLC for Table Control frame: %d", frame.Length)
}
row.sigIndex = uint8((frame.ID & 0xE0) >> 5)
row.rowIndex = uint8(frame.ID & 0x1F)
if _, err := bin.Decode(frame.Data[0:4], bin.BigEndian, &row.key); err != nil {
return err
}
if _, err := bin.Decode(frame.Data[4:6], bin.BigEndian, &row.val); err != nil {
return err
}
return nil
}
// TableControlRequest is a Table Control REMOTE REQUEST frame.
type TableControlRequest struct {
sigIndex, rowIndex uint8
}
func (r TableControlRequest) MarshalFrame() (can.Frame, error) {
return can.Frame{
ID: tblCtrlId | uint32((r.sigIndex<<5)&0xE0) | uint32(r.rowIndex&0x1F),
IsRemote: true,
IsExtended: true,
}, nil
}
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