wip

opendbc/can/common_dbc.h

@@ -0,0 +1,77 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+struct SignalPackValue {
+  std::string name;
+  double value;
+};
+
+struct SignalValue {
+  uint32_t address;
+  uint64_t ts_nanos;
+  std::string name;
+  double value;  // latest value
+  std::vector<double> all_values;  // all values from this cycle
+};
+
+enum SignalType {
+  DEFAULT,
+  COUNTER,
+  HONDA_CHECKSUM,
+  TOYOTA_CHECKSUM,
+  PEDAL_CHECKSUM,
+  VOLKSWAGEN_MQB_CHECKSUM,
+  XOR_CHECKSUM,
+  SUBARU_CHECKSUM,
+  CHRYSLER_CHECKSUM,
+  HKG_CAN_FD_CHECKSUM,
+};
+
+struct Signal {
+  std::string name;
+  int start_bit, msb, lsb, size;
+  bool is_signed;
+  double factor, offset;
+  bool is_little_endian;
+  SignalType type;
+  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+};
+
+struct Msg {
+  std::string name;
+  uint32_t address;
+  unsigned int size;
+  std::vector<Signal> sigs;
+};
+
+struct Val {
+  std::string name;
+  uint32_t address;
+  std::string def_val;
+  std::vector<Signal> sigs;
+};
+
+struct DBC {
+  std::string name;
+  std::vector<Msg> msgs;
+  std::vector<Val> vals;
+};
+
+typedef struct ChecksumState {
+  int checksum_size;
+  int counter_size;
+  int checksum_start_bit;
+  int counter_start_bit;
+  bool little_endian;
+  SignalType checksum_type;
+  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+} ChecksumState;
+
+DBC* dbc_parse(const std::string& dbc_path);
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false);
+const DBC* dbc_lookup(const std::string& dbc_name);
+std::vector<std::string> get_dbc_names();