cabana: parse chffr metrics
Andy Haden
parent
551cb39515
commit
4af116dd3c
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@ -323,3 +323,18 @@ test('int32 parser produces correct value for 4-bit little endian signal', () =>
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});
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const DBC_CHFFR_METRIC_COMMENT = `
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BO_ 37 STEERING_CONTROL: 8 XXX
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SG_ STEER_ANGLE : 6|4@1+ (1,0) [0|15] "" XXX
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CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
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`;
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test('dbc parser parses top-level comment with chffr metric', () => {
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const dbc = new DBC(DBC_CHFFR_METRIC_COMMENT);
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const { comments } = dbc;
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expect(comments.length).toEqual(1);
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expect(comments[0]).toEqual("CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180");
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})
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@ -12,6 +12,9 @@ import Frame from './frame';
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import BoardUnit from './BoardUnit';
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import DbcUtils from '../../utils/dbc';
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const DBC_COMMENT_RE = /^CM_ *"(.*)";/
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const DBC_COMMENT_MULTI_LINE_RE = /^CM_ *"(.*)/
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const MSG_RE = /^BO_ (\w+) (\w+) *: (\w+) (\w+)/
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const SIGNAL_RE = /^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([+|-]) \(([0-9.+-eE]+),([0-9.+-eE]+)\) \[([0-9.+-eE]+)\|([0-9.+-eE]+)\] "(.*)" (.*)/
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@ -35,6 +38,7 @@ const BOARD_UNIT_COMMENT_RE = /^CM_ BU_ *(\w+) *"(.*)";/;
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const BOARD_UNIT_COMMENT_MULTI_LINE_RE = /^CM_ BU_ *(\w+) *"(.*)/;
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// Follow ups are used to parse multi-line comment definitions
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const FOLLOW_UP_DBC_COMMENT = "FollowUpDbcComment";
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const FOLLOW_UP_SIGNAL_COMMENT = "FollowUpSignalComment";
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const FOLLOW_UP_MSG_COMMENT = "FollowUpMsgComment";
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const FOLLOW_UP_BOARD_UNIT_COMMENT = "FollowUpBoardUnitComment";
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@ -62,8 +66,8 @@ export function swapOrder(arr, wordSize, gSize) {
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export default class DBC {
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constructor(dbcString) {
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CloudLog.log('parsing DBC');
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this.boardUnits = [];
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this.comments = [];
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this.messages = new Map();
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if(dbcString !== undefined) {
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@ -147,8 +151,16 @@ export default class DBC {
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txt += signalsByMsgId.filter(([msgAddr, sig]) => sig.valueDescriptions.size > 0)
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.map(([msgAddr, sig]) => sig.valueDescriptionText(msgAddr))
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.join("\n");
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return txt + '\n';
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.join("\n") + '\n';
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txt += this.comments.map((comment) => `CM_ "${comment}"`)
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.join("\n");
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if(this.comments.length > 0) {
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console.log(this.comments.map((comment) => `CM_ "${comment}"`)
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.join("\n"));
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}
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return (txt.trim()) + '\n';
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}
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getMessageName(msgId) {
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@ -204,16 +216,20 @@ export default class DBC {
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let id = 0;
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let followUp = null;
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const lines = dbcString.split('\n')
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for(let i = 0; i < lines.length; i++) {
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const line = lines[i].trim();
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let line = lines[i].trim();
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if(line.length === 0) continue;
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if(followUp != null) {
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const {type, data} = followUp;
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const followUpLine = `\n${line.substr(0, line.length - 2)}`;
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const { type, data } = followUp;
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line = line.replace(/\" *;/, '');
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let followUpLine = `\n${line.substr(0, line.length)}`;
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if(line.indexOf('"') !== -1) {
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followUp = null;
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followUpLine = followUpLine.substr(0, followUpLine.length - 1);
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}
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if(type === FOLLOW_UP_SIGNAL_COMMENT) {
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const signal = data;
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signal.comment += followUpLine;
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@ -223,6 +239,10 @@ export default class DBC {
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} else if(type === FOLLOW_UP_BOARD_UNIT_COMMENT) {
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const boardUnit = data;
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boardUnit.comment += followUpLine;
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} else if(type === FOLLOW_UP_DBC_COMMENT) {
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const comment = data;
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const partialComment = this.comments[this.comments.length - 1];
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this.comments[this.comments.length - 1] = partialComment + followUpLine;
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}
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}
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@ -409,6 +429,24 @@ export default class DBC {
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if(hasFollowUp) {
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followUp = {type: FOLLOW_UP_BOARD_UNIT_COMMENT, data: boardUnit};
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}
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} else if(line.indexOf("CM_ ") === 0) {
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let matches = line.match(DBC_COMMENT_RE);
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let hasFollowUp = false;
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if(matches === null) {
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matches = line.match(DBC_COMMENT_MULTI_LINE_RE);
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if(matches === null) {
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warnings.push(`failed to parse dbc comment on line ${i + 1} -- ${line}`);
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continue;
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} else {
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hasFollowUp = true;
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}
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}
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let [comment] = matches.slice(1);
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this.comments.push(comment);
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if(hasFollowUp) {
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followUp = {type: FOLLOW_UP_DBC_COMMENT, data: comment};
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}
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}
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}
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@ -499,6 +537,26 @@ export default class DBC {
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return signalValuesByName;
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}
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getChffrMetricMappings() {
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const metricComment = this.comments.find((comment) => comment.indexOf('CHFFR_METRIC') === 0);
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if(!metricComment) {
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return null;
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}
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return metricComment
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.split(';')
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.map((metric) => metric.trim().split(' '))
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.reduce((metrics, [_, messageId, signalName, metricName, factor, offset ]) => {
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metrics[metricName] = {
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messageId: parseInt(messageId),
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signalName,
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factor: parseFloat(factor),
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offset: parseFloat(offset),
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};
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return metrics;
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}, {});
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}
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_newSymbols() {
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return `
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NS_DESC_
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