646 lines
23 KiB
C++
646 lines
23 KiB
C++
#include "dbchandler.h"
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#include <QFile>
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#include <QRegularExpression>
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#include <QDebug>
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DBCHandler::DBCHandler(QObject *parent) : QObject(parent)
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{
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}
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void DBCHandler::loadDBCFile(QString filename)
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{
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QFile *inFile = new QFile(filename);
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QString line;
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QRegularExpression regex;
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QRegularExpressionMatch match;
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DBC_MESSAGE *currentMessage = NULL;
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qDebug() << "DBC File: " << filename;
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if (!inFile->open(QIODevice::ReadOnly | QIODevice::Text))
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{
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delete inFile;
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return;
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}
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qDebug() << "Starting DBC load";
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dbc_nodes.clear();
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dbc_messages.clear();
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DBC_NODE falseNode;
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falseNode.name = "Vector__XXX";
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falseNode.comment = "Default node if none specified";
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dbc_nodes.append(falseNode);
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while (!inFile->atEnd()) {
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line = QString(inFile->readLine().simplified());
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if (line.startsWith("BO_ "))
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{
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//qDebug() << "Found a BO line";
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regex.setPattern("^BO\\_ (\\w+) (\\w+) *: (\\w+) (\\w+)");
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match = regex.match(line);
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//captured 1 = the ID in decimal
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//captured 2 = The message name
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//captured 3 = the message length
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//captured 4 = the NODE responsible for this message
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if (match.hasMatch())
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{
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DBC_MESSAGE msg;
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msg.ID = match.captured(1).toInt(); //the ID is always stored in decimal format
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msg.name = match.captured(2);
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msg.len = match.captured(3).toInt();
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msg.sender = findNodeByName(match.captured(4));
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dbc_messages.append(msg);
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currentMessage = &dbc_messages.last();
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}
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}
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if (line.startsWith("SG_ "))
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{
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//qDebug() << "Found a SG line";
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regex.setPattern("^SG\\_ (\\w+) : (\\d+)\\|(\\d+)@(\\d+)([\\+|\\-]) \\(([0-9.+\\-eE]+),([0-9.+\\-eE]+)\\) \\[([0-9.+\\-eE]+)\\|([0-9.+\\-eE]+)\\] \\\"(.*)\\\" (.*)");
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match = regex.match(line);
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//captured 1 is the signal name
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//captured 2 is the starting bit
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//captured 3 is the length in bits
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//captured 4 is the byte order / value type
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//captured 5 specifies signed/unsigned for ints
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//captured 6 is the scaling factor
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//captured 7 is the offset
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//captured 8 is the minimum value
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//captured 9 is the maximum value
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//captured 10 is the unit
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//captured 11 is the receiving node
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if (match.hasMatch())
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{
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DBC_SIGNAL sig;
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sig.name = match.captured(1);
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sig.startBit = match.captured(2).toInt();
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sig.signalSize = match.captured(3).toInt();
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int val = match.captured(4).toInt();
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if (val < 2)
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{
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if (match.captured(5) == "+") sig.valType = UNSIGNED_INT;
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else sig.valType = SIGNED_INT;
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}
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switch (val)
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{
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case 0: //big endian mode
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sig.intelByteOrder = false;
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break;
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case 1: //little endian mode
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sig.intelByteOrder = true;
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break;
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case 2:
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sig.valType = SP_FLOAT;
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break;
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case 3:
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sig.valType = DP_FLOAT;
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break;
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case 4:
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sig.valType = STRING;
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break;
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}
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sig.factor = match.captured(6).toDouble();
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sig.bias = match.captured(7).toDouble();
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sig.min = match.captured(8).toDouble();
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sig.max = match.captured(9).toDouble();
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sig.unitName = match.captured(10);
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if (match.captured(11).contains(','))
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{
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QString tmp = match.captured(11).split(',')[0];
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sig.receiver = findNodeByName(tmp);
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}
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else sig.receiver = findNodeByName(match.captured(11));
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currentMessage->msgSignals.append(sig);
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}
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}
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if (line.startsWith("BU_:"))
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{
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//qDebug() << "Found a BU line";
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regex.setPattern("^BU\\_\\:(.*)");
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match = regex.match(line);
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//captured 1 = a list of node names separated by spaces. No idea how many yet
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if (match.hasMatch())
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{
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QStringList nodeStrings = match.captured(1).split(' ');
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qDebug() << "Found " << nodeStrings.count() << " node names";
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for (int i = 0; i < nodeStrings.count(); i++)
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{
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//qDebug() << nodeStrings[i];
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if (nodeStrings[i].length() > 1)
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{
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DBC_NODE node;
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node.name = nodeStrings[i];
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dbc_nodes.append(node);
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}
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}
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}
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}
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if (line.startsWith("CM_ SG_ "))
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{
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//qDebug() << "Found an SG comment line";
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regex.setPattern("^CM\\_ SG\\_ *(\\w+) *(\\w+) *\\\"(.*)\\\";");
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match = regex.match(line);
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//captured 1 is the ID to match against to get to the message
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//captured 2 is the signal name from that message
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//captured 3 is the comment itself
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if (match.hasMatch())
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{
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//qDebug() << "Comment was: " << match.captured(3);
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DBC_MESSAGE *msg = findMsgByID(match.captured(1).toInt());
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if (msg != NULL)
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{
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DBC_SIGNAL *sig = findSignalByName(msg, match.captured(2));
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if (sig != NULL)
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{
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sig->comment = match.captured(3);
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}
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}
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}
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}
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if (line.startsWith("CM_ BO_ "))
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{
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//qDebug() << "Found a BO comment line";
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regex.setPattern("^CM\\_ BO\\_ *(\\w+) *\\\"(.*)\\\";");
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match = regex.match(line);
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//captured 1 is the ID to match against to get to the message
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//captured 2 is the comment itself
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if (match.hasMatch())
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{
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//qDebug() << "Comment was: " << match.captured(2);
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DBC_MESSAGE *msg = findMsgByID(match.captured(1).toInt());
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if (msg != NULL)
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{
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msg->comment = match.captured(2);
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}
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}
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}
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if (line.startsWith("CM_ BU_ "))
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{
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//qDebug() << "Found a BU comment line";
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regex.setPattern("^CM\\_ BU\\_ *(\\w+) *\\\"(.*)\\\";");
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match = regex.match(line);
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//captured 1 is the Node name
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//captured 2 is the comment itself
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if (match.hasMatch())
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{
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//qDebug() << "Comment was: " << match.captured(2);
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DBC_NODE *node = findNodeByName(match.captured(1));
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if (node != NULL)
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{
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node->comment = match.captured(2);
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}
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}
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}
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//VAL_ (1090) (VCUPresentParkLightOC) (1 "Error present" 0 "Error not present") ;
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if (line.startsWith("VAL_ "))
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{
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//qDebug() << "Found a value definition line";
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regex.setPattern("^VAL\\_ (\\w+) (\\w+) (.*);");
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match = regex.match(line);
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//captured 1 is the ID to match against
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//captured 2 is the signal name to match against
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//captured 3 is a series of values in the form (number "text") that is, all sep'd by spaces
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if (match.hasMatch())
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{
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//qDebug() << "Data was: " << match.captured(3);
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DBC_MESSAGE *msg = findMsgByID(match.captured(1).toInt());
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if (msg != NULL)
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{
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DBC_SIGNAL *sig = findSignalByName(msg, match.captured(2));
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if (sig != NULL)
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{
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QString tokenString = match.captured(3);
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DBC_VAL val;
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while (tokenString.length() > 2)
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{
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regex.setPattern("(\\d+) \\\"(.*?)\\\"(.*)");
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match = regex.match(tokenString);
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if (match.hasMatch())
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{
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val.value = match.captured(1).toInt();
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val.descript = match.captured(2);
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//qDebug() << "sig val " << val.value << " desc " <<val.descript;
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sig->valList.append(val);
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int rightSize = tokenString.length() - match.captured(1).length() - match.captured(2).length() - 4;
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if (rightSize > 0) tokenString = tokenString.right(rightSize);
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else tokenString = "";
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//qDebug() << "New token string: " << tokenString;
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}
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else tokenString = "";
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}
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}
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}
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}
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}
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/*
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if (line.startsWith("BA_DEF_ SG_ "))
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{
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qDebug() << "Found a SG attribute line";
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regex.setPattern("^BA\\_DEF\\_ SG\\_ +\\\"([A-Za-z0-9\-_]+)\\\" +(.+);");
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match = regex.match(line);
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//captured 1 is the Node name
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//captured 2 is the comment itself
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if (match.hasMatch())
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{
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qDebug() << "Comment was: " << match.captured(2);
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}
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}
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if (line.startsWith("BA_DEF_ BO_ "))
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{
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}
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if (line.startsWith("BA_DEF_ BU_ "))
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{
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}
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*/
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}
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inFile->close();
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delete inFile;
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}
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/*Yes, this is really hard to follow and all of the sections are mixed up in code
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* believe it or not I think this is actually the easiest, simplest way to do it.
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*/
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void DBCHandler::saveDBCFile(QString filename)
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{
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QFile *outFile = new QFile(filename);
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QString nodesOutput, msgOutput, commentsOutput, valuesOutput;
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if (!outFile->open(QIODevice::WriteOnly | QIODevice::Text))
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{
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delete outFile;
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return;
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}
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//right now it outputs a standard hard coded boilerplate
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outFile->write("VERSION \"\"\n");
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outFile->write("\n");
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outFile->write("\n");
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outFile->write("NS_ :\n");
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outFile->write(" NS_DESC_\n");
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outFile->write(" CM_\n");
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outFile->write(" BA_DEF_\n");
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outFile->write(" BA_\n");
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outFile->write(" VAL_\n");
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outFile->write(" CAT_DEF_\n");
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outFile->write(" CAT_\n");
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outFile->write(" FILTER\n");
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outFile->write(" BA_DEF_DEF_\n");
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outFile->write(" EV_DATA_\n");
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outFile->write(" ENVVAR_DATA_\n");
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outFile->write(" SGTYPE_\n");
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outFile->write(" SGTYPE_VAL_\n");
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outFile->write(" BA_DEF_SGTYPE_\n");
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outFile->write(" BA_SGTYPE_\n");
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outFile->write(" SIG_TYPE_REF_\n");
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outFile->write(" VAL_TABLE_\n");
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outFile->write(" SIG_GROUP_\n");
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outFile->write(" SIG_VALTYPE_\n");
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outFile->write(" SIGTYPE_VALTYPE_\n");
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outFile->write(" BO_TX_BU_\n");
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outFile->write(" BA_DEF_REL_\n");
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outFile->write(" BA_REL_\n");
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outFile->write(" BA_DEF_DEF_REL_\n");
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outFile->write(" BU_SG_REL_\n");
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outFile->write(" BU_EV_REL_\n");
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outFile->write(" BU_BO_REL_\n");
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outFile->write(" SG_MUL_VAL_\n");
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outFile->write("\n");
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outFile->write("BS_: \n");
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nodesOutput.append("BU_: ");
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for (int x = 0; x < dbc_nodes.count(); x++)
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{
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DBC_NODE node = dbc_nodes[x];
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if (node.name.compare("Vector__XXX", Qt::CaseInsensitive) != 0)
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{
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nodesOutput.append(node.name + " ");
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if (node.comment.length() > 0)
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{
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commentsOutput.append("CM_ BU_ " + node.name + " \"" + node.comment + "\";\n");
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}
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}
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}
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nodesOutput.append("\n");
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outFile->write(nodesOutput.toUtf8());
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for (int x = 0; x < dbc_messages.count(); x++)
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{
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DBC_MESSAGE msg = dbc_messages[x];
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msgOutput.append("BO_ " + QString::number(msg.ID) + " " + msg.name + ": " + QString::number(msg.len) +
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" " + msg.sender->name + "\n");
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if (msg.comment.length() > 0)
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{
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commentsOutput.append("CM_ BO_ " + QString::number(msg.ID) + " \"" + msg.comment + "\";\n");
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}
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for (int s = 0; s < msg.msgSignals.count(); s++)
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{
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DBC_SIGNAL sig = msg.msgSignals[s];
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msgOutput.append(" SG_ " + sig.name + " : " + QString::number(sig.startBit) + "|" + QString::number(sig.signalSize) + "@");
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switch (sig.valType)
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{
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case UNSIGNED_INT:
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if (sig.intelByteOrder) msgOutput.append("1+");
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else msgOutput.append("0+");
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break;
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case SIGNED_INT:
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if (sig.intelByteOrder) msgOutput.append("1-");
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else msgOutput.append("0-");
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break;
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case SP_FLOAT:
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msgOutput.append("2-");
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break;
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case DP_FLOAT:
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msgOutput.append("3-");
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break;
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case STRING:
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msgOutput.append("4-");
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break;
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default:
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msgOutput.append("0-");
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break;
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}
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msgOutput.append(" (" + QString::number(sig.factor) + "," + QString::number(sig.bias) + ") [" +
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QString::number(sig.min) + "|" + QString::number(sig.max) + "] \"" + sig.unitName
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+ "\" " + sig.receiver->name + "\n");
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if (sig.comment.length() > 0)
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{
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commentsOutput.append("CM_ SG_ " + QString::number(msg.ID) + " " + sig.name + " \"" + sig.comment + "\";\n");
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}
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if (sig.valList.count() > 0)
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{
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valuesOutput.append("VAL_ " + QString::number(msg.ID) + " " + sig.name);
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for (int v = 0; v < sig.valList.count(); v++)
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{
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DBC_VAL val = sig.valList[v];
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valuesOutput.append(" " + QString::number(val.value) + " \"" + val.descript +"\"");
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}
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valuesOutput.append(";\n");
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}
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}
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msgOutput.append("\n");
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//write it out every message so the string doesn't end up too huge
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outFile->write(msgOutput.toUtf8());
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msgOutput.clear(); //got to reset it after writing
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}
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//now write out all of the accumulated comments and value tables from above
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outFile->write(commentsOutput.toUtf8());
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outFile->write(valuesOutput.toUtf8());
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outFile->close();
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delete outFile;
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}
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DBC_NODE *DBCHandler::findNodeByName(QString name)
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{
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if (dbc_nodes.length() == 0) return NULL;
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for (int i = 0; i < dbc_nodes.length(); i++)
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{
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if (dbc_nodes[i].name.compare(name, Qt::CaseInsensitive) == 0)
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{
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return &dbc_nodes[i];
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}
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}
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return NULL;
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}
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DBC_NODE *DBCHandler::findNodeByIdx(int idx)
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{
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if (idx < 0) return NULL;
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if (idx >= dbc_nodes.count()) return NULL;
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return &dbc_nodes[idx];
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}
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DBC_MESSAGE *DBCHandler::findMsgByID(int id)
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{
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if (dbc_messages.length() == 0) return NULL;
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for (int i = 0; i < dbc_messages.length(); i++)
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{
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if (dbc_messages[i].ID == id)
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{
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return &dbc_messages[i];
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}
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}
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return NULL;
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}
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DBC_MESSAGE *DBCHandler::findMsgByIdx(int idx)
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{
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if (dbc_messages.length() == 0) return NULL;
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if (idx < 0) return NULL;
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if (idx >= dbc_messages.count()) return NULL;
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return &dbc_messages[idx];
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}
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DBC_MESSAGE *DBCHandler::findMsgByName(QString name)
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{
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if (dbc_messages.length() == 0) return NULL;
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for (int i = 0; i < dbc_messages.length(); i++)
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{
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if (dbc_messages[i].name.compare(name, Qt::CaseInsensitive) == 0)
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{
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return &dbc_messages[i];
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}
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}
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return NULL;
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}
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DBC_SIGNAL *DBCHandler::findSignalByName(DBC_MESSAGE *msg, QString name)
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{
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if (msg == NULL) return NULL;
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if (msg->msgSignals.length() == 0) return NULL;
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for (int i = 0; i < msg->msgSignals.length(); i++)
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{
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if (msg->msgSignals[i].name.compare(name, Qt::CaseInsensitive) == 0)
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{
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return &msg->msgSignals[i];
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}
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}
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return NULL;
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}
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DBC_SIGNAL *DBCHandler::findSignalByIdx(DBC_MESSAGE *msg, int idx)
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{
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if (msg == NULL) return NULL;
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if (msg->msgSignals.length() == 0) return NULL;
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if (idx < 0) return NULL;
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if (idx >= msg->msgSignals.count()) return NULL;
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return &msg->msgSignals[idx];
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}
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//Dumps the messages, signals, values structs out in order to debugging console. Used only for debugging
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//not really meant for general consumption.
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void DBCHandler::listDebugging()
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{
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for (int i = 0; i < dbc_messages.length(); i++)
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{
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DBC_MESSAGE msg = dbc_messages.at(i);
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qDebug() << " ";
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qDebug() << "Msg ID: " << msg.ID << " Name: " << msg.name;
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for (int j = 0; j < msg.msgSignals.length(); j++)
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{
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DBC_SIGNAL sig;
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sig = msg.msgSignals.at(j);
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qDebug() << " Signal Name: " << sig.name;
|
|
qDebug() << " Start bit: " << sig.startBit;
|
|
qDebug() << " Bit Length: " << sig.signalSize;
|
|
if (sig.valList.length() > 1) qDebug() << " Values: ";
|
|
for (int k = 0; k < sig.valList.length(); k++)
|
|
{
|
|
DBC_VAL val = sig.valList.at(k);
|
|
qDebug() << " " << val.value << " Description: " << val.descript;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
The way that the DBC file format works is kind of weird... For intel format signals you count up
|
|
from the start bit to the end bit which is (startbit + signallength - 1). At each point
|
|
bits are numbered in a sawtooth manner. What that means is that the very first bit is 0 and you count up
|
|
from there all of the way to 63 with each byte being 8 bits so bit 0 is the lowest bit in the first byte
|
|
and 8 is the lowest bit in the next byte up. The whole thing looks like this:
|
|
Bits
|
|
7 6 5 4 3 2 1 0
|
|
|
|
0 7 6 5 4 3 2 1 0
|
|
b 1 15 14 13 12 11 10 9 8
|
|
y 2 23 22 21 20 19 18 17 16
|
|
t 3 31 30 29 28 27 26 25 24
|
|
e 4 39 38 37 36 35 34 33 32
|
|
s 5 47 46 45 44 43 42 41 40
|
|
6 55 54 53 52 51 50 49 48
|
|
7 63 62 61 60 59 58 57 56
|
|
|
|
For intel format you start at the start bit and keep counting up. If you have a signal size of 8
|
|
and start at bit 12 then the bits are 12, 13, 14, 15, 16, 17, 18, 19 which spans across two bytes.
|
|
In this format each bit is worth twice as much as the last and you just keep counting up.
|
|
Bit 12 is worth 1, 13 is worth 2, 14 is worth 4, etc all of the way to bit 19 is worth 128.
|
|
|
|
Motorola format turns most everything on its head. You count backward from the start bit but
|
|
only within the current byte. If you are about to exit the current byte you go one higher and then keep
|
|
going backward as before. Using the same example as for intel, start bit of 12 and a signal length of 8.
|
|
So, the bits are 12, 11, 10, 9, 8, 23, 22, 21. Yes, that's confusing. They now go in reverse value order too.
|
|
Bit 12 is worth 128, 11 is worth 64, etc until bit 21 is worth 1.
|
|
*/
|
|
|
|
QString DBCHandler::processSignal(const CANFrame &frame, const DBC_SIGNAL &sig)
|
|
{
|
|
|
|
int64_t result = 0;
|
|
int bit;
|
|
int sigSize;
|
|
if (sig.valType == STRING)
|
|
{
|
|
QString buildString;
|
|
int startByte = sig.signalSize / 8;
|
|
int bytes = sig.signalSize / 8;
|
|
for (int x = 0; x < bytes; x++) buildString.append(frame.data[startByte + x]);
|
|
return buildString;
|
|
}
|
|
|
|
sigSize = sig.signalSize;
|
|
|
|
if (sig.intelByteOrder)
|
|
{
|
|
bit = sig.startBit;
|
|
for (int bitpos = 0; bitpos < sigSize; bitpos++)
|
|
{
|
|
if (frame.data[bit / 8] & (1 << (bit % 8)))
|
|
result += (1ULL << bitpos);
|
|
|
|
bit++;
|
|
}
|
|
}
|
|
else //motorola / big endian mode
|
|
{
|
|
bit = sig.startBit;
|
|
for (int bitpos = 0; bitpos < sigSize; bitpos++)
|
|
{
|
|
if (frame.data[bit / 8] & (1 << (bit % 8)))
|
|
result += (1ULL << (sigSize - bitpos - 1));
|
|
|
|
if ((bit % 8) == 0)
|
|
bit += 15;
|
|
else bit--;
|
|
|
|
}
|
|
}
|
|
|
|
if (sig.valType == SIGNED_INT)
|
|
{
|
|
int mask = (1 << (sig.signalSize - 1));
|
|
if ((result & mask) == mask) //is the highest bit possible for this signal size set?
|
|
{
|
|
/*
|
|
* if so we need to also set every bit higher in the result int too.
|
|
* This leads to the below two lines that are nasty. Here's the theory behind that...
|
|
* If the value is signed and the highest bit is set then it is negative. To create
|
|
* a negative value out of this even though the variable result is 64 bit we have to
|
|
* run 1's all of the way up to bit 63 in result. -1 is all ones for whatever size integer
|
|
* you have. So, it's 64 1's in this case.
|
|
* signedMask is done this way:
|
|
* first you take the signal size and shift 1 up that far. Then subtract one. Lets
|
|
* see that for a 16 bit signal:
|
|
* (1 << 16) - 1 = the first 16 bits set as 1's. So far so good. We then negate the whole
|
|
* thing which flips all bits. Thus signedMask ends up with 1's everwhere that the signal
|
|
* doesn't take up in the 64 bit signed integer result. Then, result has an OR operation on
|
|
* it with the old value and -1 masked so that the the 1 bits from -1 don't overwrite bits from the
|
|
* actual signal. This extends the sign bits out so that the integer result reads as the proper negative
|
|
* value. We dont need to do any of this if the sign bit wasn't set.
|
|
*/
|
|
int signedMask = ~((1 << sig.signalSize) - 1);
|
|
result = (-1 & signedMask) | result;
|
|
}
|
|
}
|
|
|
|
double endResult = ((double)result * sig.factor) + sig.bias;
|
|
result = (int) endResult;
|
|
|
|
QString outputString;
|
|
|
|
outputString = sig.name + ": ";
|
|
|
|
if (sig.valList.count() > 0) //if this is a value list type then look it up and display the proper string
|
|
{
|
|
for (int x = 0; x < sig.valList.count(); x++)
|
|
{
|
|
if (sig.valList.at(x).value == result) outputString += sig.valList.at(x).descript;
|
|
}
|
|
}
|
|
else //otherwise display the actual number and unit (if it exists)
|
|
{
|
|
outputString += QString::number(endResult) + sig.unitName;
|
|
}
|
|
|
|
return outputString;
|
|
}
|
|
|
|
//given a byte it will reverse the bit order in that byte
|
|
unsigned char DBCHandler::reverseBits(unsigned char b) {
|
|
b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
|
|
b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
|
|
b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
|
|
return b;
|
|
}
|
|
|
|
unsigned char DBCHandler::processByte(unsigned char input, int start, int end)
|
|
{
|
|
unsigned char output = 0, size = end - start + 1;
|
|
//first knock it down so that bottom is is start
|
|
output = input >> start;
|
|
//then mask off all bits above the proper ending
|
|
output &= ((1 << size) - 1);
|
|
return output;
|
|
}
|