cabana/src/__tests__/can/dbc.parse.test.js

import DBC, {swapOrder} from '../../models/can/dbc';
import Signal from '../../models/can/signal';
import Bitarray from '../../models/bitarray';

const DBC_MESSAGE_DEF = `BO_ 228 STEERING_CONTROL: 5 ADAS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS`;

const DBC_METADATA = `
VERSION ""


NS_ :
    NS_DESC_
    CM_
    BA_DEF_
    BA_
    VAL_
    CAT_DEF_
    CAT_
    FILTER
    BA_DEF_DEF_
    EV_DATA_
    ENVVAR_DATA_
    SGTYPE_
    SGTYPE_VAL_
    BA_DEF_SGTYPE_
    BA_SGTYPE_
    SIG_TYPE_REF_
    VAL_TABLE_
    SIG_GROUP_
    SIG_VALTYPE_
    SIGTYPE_VALTYPE_
    BO_TX_BU_
    BA_DEF_REL_
    BA_REL_
    BA_DEF_DEF_REL_
    BU_SG_REL_
    BU_EV_REL_
    BU_BO_REL_
    SG_MUL_VAL_

BS_:

BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB

`;

const DBC_SIGNAL_WITH_COMMENT = `
BO_ 228 STEERING_CONTROL: 5 ADAS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS


CM_ SG_ 228 STEER_TORQUE "steer torque is the amount of torque in Nm applied";`;

 const DBC_SIGNAL_WITH_MULTI_LINE_COMMENT = `
BO_ 228 STEERING_CONTROL: 5 ADAS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS


CM_ SG_ 228 STEER_TORQUE "steer torque is the
 amount of torque in Nm applied";`;

const DBC_MESSAGE_WITH_COMMENT = `
BO_ 228 STEERING_CONTROL: 5 ADAS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS


CM_ BO_ 228 "this message contains steer torque information";
`;

const DBC_MESSAGE_WITH_MULTI_LINE_COMMENT = `
BO_ 228 STEERING_CONTROL: 5 ADAS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS


CM_ BO_ 228 "this message contains
steer torque information";
`;

const DBC_SIGNALS_WITH_VAL = `
BO_ 228 STEERING_CONTROL: 5 ADAS
 SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
 SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
 SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS


VAL_ 228 STEER_TORQUE_REQUEST 1 "requesting torque" 0 "not requesting torque" ;
`;

const DBC_BOARD_UNITS = `
BU_: first_board_unit second_board_unit
`;

const DBC_BOARD_UNITS_WITH_COMMENT = `
BU_: first_board_unit second_board_unit
CM_ BU_ first_board_unit "first board unit comment";
`;

const DBC_BOARD_UNITS_WITH_COMMENT_LINES = `
BU_: first_board_unit second_board_unit
CM_ BU_ first_board_unit "first board unit
comment";
`;

const DBC_VALUE_TABLE = `
VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ;
VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
`;

const steerTorqueSignal = new Signal({
    name: 'STEER_TORQUE',
    startBit: 7,
    size: 16,
    isLittleEndian: false,
    isSigned: true,
    factor: 1,
    offset: 0,
    min: -3840,
    max: 3840,
    receiver: ['EPS'],
    unit: ""});

test('DBC parses steering control message', () => {
    const dbcParsed = new DBC(DBC_MESSAGE_DEF);
    const {signals} = dbcParsed.messages.get(228);

    expect(Object.keys(signals).length).toBe(6);
    expect(signals['STEER_TORQUE'].equals(steerTorqueSignal)).toBe(true);
});

test('DBC parses signal comment', () => {
    const dbcParsed = new DBC(DBC_SIGNAL_WITH_COMMENT);
    const {signals} = dbcParsed.messages.get(228);

    expect(signals.STEER_TORQUE.comment).toEqual("steer torque is the amount of torque in Nm applied");
});

test('DBC parses multi-line signal comment', () => {
    const dbcParsed = new DBC(DBC_SIGNAL_WITH_MULTI_LINE_COMMENT);
    const {signals} = dbcParsed.messages.get(228);

    expect(signals.STEER_TORQUE.comment).toEqual("steer torque is the\namount of torque in Nm applied");
});

test('DBC parses message comment', () => {
    const dbcParsed = new DBC(DBC_MESSAGE_WITH_COMMENT);
    const msg = dbcParsed.messages.get(228);

    expect(msg.comment).toEqual("this message contains steer torque information");
});

test('DBC parses multi-line message comment', () => {
    const dbcParsed = new DBC(DBC_MESSAGE_WITH_MULTI_LINE_COMMENT);
    const msg = dbcParsed.messages.get(228);

    expect(msg.comment).toEqual("this message contains\nsteer torque information");
});

test('DBC parses board unit names', () => {
    const dbcParsed = new DBC(DBC_BOARD_UNITS);
    expect(dbcParsed.boardUnits[0].name).toEqual("first_board_unit");
    expect(dbcParsed.boardUnits[1].name).toEqual("second_board_unit");
});

test('DBC parses board unit comments', () => {
    const dbcParsed = new DBC(DBC_BOARD_UNITS_WITH_COMMENT);
    expect(dbcParsed.boardUnits[0].comment).toEqual("first board unit comment");
});

test('DBC parses multi-line board unit comments', () => {
    const dbcParsed = new DBC(DBC_BOARD_UNITS_WITH_COMMENT_LINES);
    expect(dbcParsed.boardUnits[0].comment).toEqual("first board unit\ncomment");
});

test('DBC parses signal value descriptions', () => {
    const dbcParsed = new DBC(DBC_SIGNALS_WITH_VAL);
    const {signals} = dbcParsed.messages.get(228);

    const expectedTorqueRequestVals = new Map([['1', 'requesting torque'],
                                               ['0', 'not requesting torque']]);
    expect(signals.STEER_TORQUE_REQUEST.valueDescriptions).toEqual(expectedTorqueRequestVals);
});

test('DBC parses value tables', () => {
    const dbcParsed = new DBC(DBC_VALUE_TABLE);
    const stateTableEntries = [['4', "DI_STATE_ENABLE"],
                               ['3', "DI_STATE_FAULT"],
                               ['2', "DI_STATE_CLEAR_FAULT"],
                               ['1', "DI_STATE_STANDBY"],
                               ['0', "DI_STATE_PREAUTH"]]
    const stateTable = new Map(stateTableEntries);
    const speedUnitsEntries = [['1',"DI_SPEED_KPH"],
                               ['0',"DI_SPEED_MPH"]]
    const speedUnitsTable = new Map(speedUnitsEntries);

    const valueTableEntries = Array.from(dbcParsed.valueTables.entries());
    expect(valueTableEntries[0]).toEqual(['DI_state', stateTable]);
    expect(valueTableEntries[1]).toEqual(['DI_speedUnits', speedUnitsTable]);
});

test('swapOrder properly converts little endian to big endian', () => {
    const littleEndianHex = 'e2d62a0bd0d3b5e5';
    const bigEndianHex = 'e5b5d3d00b2ad6e2';

    const littleEndianHexSwapped = swapOrder(littleEndianHex, 16, 2);

    expect(littleEndianHexSwapped == bigEndianHex).toBe(true);
});

test('int32 parser produces correct value for steer torque signal', () => {
    const dbc = new DBC(DBC_MESSAGE_DEF);

    const hex = 'e2d62a0bd0d3b5e5';
    const buffer = Buffer.from(hex, 'hex');
    const bufferSwapped = Buffer.from(buffer).swap64();

    const bitArr = Bitarray.fromBytes(buffer);
    const bitsSwapped = Bitarray.fromBytes(bufferSwapped);
    const value = dbc.valueForInt32Signal(steerTorqueSignal, bitArr, bitsSwapped);

    expect(value).toBe(-7466);
});

test('int64 parser produces correct value for steer torque signal', () => {
    const dbc = new DBC(DBC_MESSAGE_DEF);

    const hex = 'e2d62a0bd0d3b5e5';
    const value = dbc.valueForInt64Signal(steerTorqueSignal, hex);

    expect(value).toBe(-7466);
});

const EXPECTED_DBC_TEXT = DBC_MESSAGE_DEF;