refact: refactored can dbc logic

modules/can/can_dbc.go

@@ -0,0 +1,169 @@
+package can
+
+import (
+	"fmt"
+	"os"
+	"sync"
+
+	"github.com/evilsocket/islazy/str"
+	"go.einride.tech/can"
+	"go.einride.tech/can/pkg/descriptor"
+)
+
+type DBC struct {
+	sync.RWMutex
+
+	path string
+	db   *descriptor.Database
+}
+
+func (dbc *DBC) Loaded() bool {
+	dbc.RLock()
+	defer dbc.RUnlock()
+
+	return dbc.db != nil
+}
+
+func (dbc *DBC) LoadFile(mod *CANModule, path string) error {
+	input, err := os.ReadFile(path)
+	if err != nil {
+		return fmt.Errorf("can't read %s: %v", path, err)
+	}
+	return dbc.LoadData(mod, path, input)
+}
+
+func (dbc *DBC) LoadData(mod *CANModule, name string, input []byte) error {
+	dbc.Lock()
+	defer dbc.Unlock()
+
+	mod.Debug("compiling %s ...", name)
+
+	result, err := dbcCompile(name, input)
+	if err != nil {
+		return fmt.Errorf("can't compile %s: %v", name, err)
+	}
+
+	for _, warning := range result.Warnings {
+		mod.Warning("%v", warning)
+	}
+
+	dbc.path = name
+	dbc.db = result.Database
+
+	mod.Info("%s loaded", name)
+	return nil
+}
+
+func (dbc *DBC) Parse(mod *CANModule, frame can.Frame, msg *Message) bool {
+	dbc.RLock()
+	defer dbc.RUnlock()
+
+	// did we load any DBC database?
+	if dbc.db == nil {
+		return false
+	}
+
+	// if the database contains this message id
+	if message, found := dbc.db.Message(frame.ID); found {
+		msg.Name = message.Name
+
+		// find source full info in DBC nodes
+		sourceName := message.SenderNode
+		sourceDesc := ""
+		if sender, found := dbc.db.Node(message.SenderNode); found {
+			sourceName = sender.Name
+			sourceDesc = sender.Description
+		}
+
+		// add CAN source if new
+		_, msg.Source = mod.Session.CAN.AddIfNew(sourceName, sourceDesc, frame.Data[:])
+
+		msg.Signals = make(map[string]string)
+
+		// parse signals
+		for _, signal := range message.Signals {
+			var value string
+
+			if signal.Length <= 32 && signal.IsFloat {
+				value = fmt.Sprintf("%f", signal.UnmarshalFloat(frame.Data))
+			} else if signal.Length == 1 {
+				value = fmt.Sprintf("%v", signal.UnmarshalBool(frame.Data))
+			} else if signal.IsSigned {
+				value = fmt.Sprintf("%d", signal.UnmarshalSigned(frame.Data))
+			} else {
+				value = fmt.Sprintf("%d", signal.UnmarshalUnsigned(frame.Data))
+			}
+
+			msg.Signals[signal.Name] = str.Trim(fmt.Sprintf("%s %s", value, signal.Unit))
+		}
+
+		return true
+	}
+
+	return false
+}
+
+func (dbc *DBC) MessagesBySender(senderId string) []*descriptor.Message {
+	dbc.RLock()
+	defer dbc.RUnlock()
+
+	fromSender := make([]*descriptor.Message, 0)
+
+	if dbc.db == nil {
+		return fromSender
+	}
+
+	for _, msg := range dbc.db.Messages {
+		if msg.SenderNode == senderId {
+			fromSender = append(fromSender, msg)
+		}
+	}
+
+	return fromSender
+}
+
+func (dbc *DBC) MessageById(frameID uint32) *descriptor.Message {
+	dbc.RLock()
+	defer dbc.RUnlock()
+
+	if dbc.db == nil {
+		return nil
+	}
+
+	if message, found := dbc.db.Message(frameID); found {
+		return message
+	}
+	return nil
+}
+
+func (dbc *DBC) Messages() []*descriptor.Message {
+	dbc.RLock()
+	defer dbc.RUnlock()
+
+	if dbc.db == nil {
+		return nil
+	}
+
+	return dbc.db.Messages
+}
+
+func (dbc *DBC) Senders() []string {
+	dbc.RLock()
+	defer dbc.RUnlock()
+
+	senders := make([]string, 0)
+	if dbc.db == nil {
+		return senders
+	}
+
+	uniq := make(map[string]bool)
+	for _, msg := range dbc.db.Messages {
+		uniq[msg.SenderNode] = true
+	}
+
+	for sender, _ := range uniq {
+		senders = append(senders, sender)
+	}
+
+	return senders
+}