326 lines
10 KiB
JavaScript
326 lines
10 KiB
JavaScript
global.__JEST__ = 1
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import DBC, {swapOrder} from '../../models/can/dbc';
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import Signal from '../../models/can/signal';
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import Bitarray from '../../models/bitarray';
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const DBC_MESSAGE_DEF = `BO_ 228 STEERING_CONTROL: 5 ADAS
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SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
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SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
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SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
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SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
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SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
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SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS`;
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const DBC_METADATA = `
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VERSION ""
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NS_ :
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NS_DESC_
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CM_
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BA_DEF_
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BA_
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VAL_
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CAT_DEF_
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CAT_
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FILTER
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BA_DEF_DEF_
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EV_DATA_
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ENVVAR_DATA_
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SGTYPE_
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SGTYPE_VAL_
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BA_DEF_SGTYPE_
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BA_SGTYPE_
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SIG_TYPE_REF_
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VAL_TABLE_
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SIG_GROUP_
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SIG_VALTYPE_
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SIGTYPE_VALTYPE_
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BO_TX_BU_
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BA_DEF_REL_
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BA_REL_
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BA_DEF_DEF_REL_
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BU_SG_REL_
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BU_EV_REL_
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BU_BO_REL_
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SG_MUL_VAL_
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BS_:
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BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
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`;
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const DBC_SIGNAL_WITH_COMMENT = `
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BO_ 228 STEERING_CONTROL: 5 ADAS
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SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
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SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
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SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
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SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
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SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
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SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS
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CM_ SG_ 228 STEER_TORQUE "steer torque is the amount of torque in Nm applied";`;
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const DBC_SIGNAL_WITH_MULTI_LINE_COMMENT = `
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BO_ 228 STEERING_CONTROL: 5 ADAS
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SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
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SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
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SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
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SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
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SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
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SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS
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CM_ SG_ 228 STEER_TORQUE "steer torque is the
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amount of torque in Nm applied";`;
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const DBC_MESSAGE_WITH_COMMENT = `
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BO_ 228 STEERING_CONTROL: 5 ADAS
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SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
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SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
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SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
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SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
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SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
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SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS
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CM_ BO_ 228 "this message contains steer torque information";
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`;
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const DBC_MESSAGE_WITH_MULTI_LINE_COMMENT = `
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BO_ 228 STEERING_CONTROL: 5 ADAS
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SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
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SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
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SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
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SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
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SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
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SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS
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CM_ BO_ 228 "this message contains
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steer torque information";
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`;
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const DBC_SIGNALS_WITH_VAL = `
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BO_ 228 STEERING_CONTROL: 5 ADAS
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SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
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SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
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SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
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SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
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SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] "" EPS
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SG_ COUNTER : 33|2@0+ (1,0) [0|3] "" EPS
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VAL_ 228 STEER_TORQUE_REQUEST 1 "requesting torque" 0 "not requesting torque" ;
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`;
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const DBC_BOARD_UNITS = `
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BU_: first_board_unit second_board_unit
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`;
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const DBC_BOARD_UNITS_WITH_COMMENT = `
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BU_: first_board_unit second_board_unit
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CM_ BU_ first_board_unit "first board unit comment";
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`;
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const DBC_BOARD_UNITS_WITH_COMMENT_LINES = `
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BU_: first_board_unit second_board_unit
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CM_ BU_ first_board_unit "first board unit
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comment";
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`;
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const DBC_VALUE_TABLE = `
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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" ;
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VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
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`;
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const steerTorqueSignal = new Signal({
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name: 'STEER_TORQUE',
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startBit: 7,
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size: 16,
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isLittleEndian: false,
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isSigned: true,
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factor: 1,
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offset: 0,
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min: -3840,
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max: 3840,
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receiver: ['EPS'],
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unit: ""});
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test('DBC parses steering control message', () => {
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const dbcParsed = new DBC(DBC_MESSAGE_DEF);
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const {signals} = dbcParsed.messages.get(228);
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expect(Object.keys(signals).length).toBe(6);
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expect(signals['STEER_TORQUE'].equals(steerTorqueSignal)).toBe(true);
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});
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test('DBC parses signal comment', () => {
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const dbcParsed = new DBC(DBC_SIGNAL_WITH_COMMENT);
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const {signals} = dbcParsed.messages.get(228);
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expect(signals.STEER_TORQUE.comment).toEqual("steer torque is the amount of torque in Nm applied");
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});
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test('DBC parses multi-line signal comment', () => {
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const dbcParsed = new DBC(DBC_SIGNAL_WITH_MULTI_LINE_COMMENT);
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const {signals} = dbcParsed.messages.get(228);
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expect(signals.STEER_TORQUE.comment).toEqual("steer torque is the\namount of torque in Nm applied");
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});
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test('DBC parses message comment', () => {
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const dbcParsed = new DBC(DBC_MESSAGE_WITH_COMMENT);
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const msg = dbcParsed.messages.get(228);
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expect(msg.comment).toEqual("this message contains steer torque information");
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});
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test('DBC parses multi-line message comment', () => {
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const dbcParsed = new DBC(DBC_MESSAGE_WITH_MULTI_LINE_COMMENT);
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const msg = dbcParsed.messages.get(228);
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expect(msg.comment).toEqual("this message contains\nsteer torque information");
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});
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test('DBC parses board unit names', () => {
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const dbcParsed = new DBC(DBC_BOARD_UNITS);
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expect(dbcParsed.boardUnits[0].name).toEqual("first_board_unit");
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expect(dbcParsed.boardUnits[1].name).toEqual("second_board_unit");
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});
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test('DBC parses board unit comments', () => {
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const dbcParsed = new DBC(DBC_BOARD_UNITS_WITH_COMMENT);
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expect(dbcParsed.boardUnits[0].comment).toEqual("first board unit comment");
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});
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test('DBC parses multi-line board unit comments', () => {
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const dbcParsed = new DBC(DBC_BOARD_UNITS_WITH_COMMENT_LINES);
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expect(dbcParsed.boardUnits[0].comment).toEqual("first board unit\ncomment");
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});
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test('DBC parses signal value descriptions', () => {
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const dbcParsed = new DBC(DBC_SIGNALS_WITH_VAL);
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const {signals} = dbcParsed.messages.get(228);
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const expectedTorqueRequestVals = new Map([['1', 'requesting torque'],
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['0', 'not requesting torque']]);
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expect(signals.STEER_TORQUE_REQUEST.valueDescriptions).toEqual(expectedTorqueRequestVals);
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});
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test('DBC parses value tables', () => {
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const dbcParsed = new DBC(DBC_VALUE_TABLE);
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const stateTableEntries = [['4', "DI_STATE_ENABLE"],
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['3', "DI_STATE_FAULT"],
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['2', "DI_STATE_CLEAR_FAULT"],
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['1', "DI_STATE_STANDBY"],
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['0', "DI_STATE_PREAUTH"]]
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const stateTable = new Map(stateTableEntries);
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const speedUnitsEntries = [['1',"DI_SPEED_KPH"],
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['0',"DI_SPEED_MPH"]]
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const speedUnitsTable = new Map(speedUnitsEntries);
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const valueTableEntries = Array.from(dbcParsed.valueTables.entries());
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expect(valueTableEntries[0]).toEqual(['DI_state', stateTable]);
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expect(valueTableEntries[1]).toEqual(['DI_speedUnits', speedUnitsTable]);
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});
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test('swapOrder properly converts little endian to big endian', () => {
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const littleEndianHex = 'e2d62a0bd0d3b5e5';
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const bigEndianHex = 'e5b5d3d00b2ad6e2';
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const littleEndianHexSwapped = swapOrder(littleEndianHex, 16, 2);
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expect(littleEndianHexSwapped == bigEndianHex).toBe(true);
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});
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test('int32 parser produces correct value for steer torque signal', () => {
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const dbc = new DBC(DBC_MESSAGE_DEF);
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const hex = 'e2d62a0bd0d3b5e5';
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const buffer = Buffer.from(hex, 'hex');
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const bufferSwapped = Buffer.from(buffer).swap64();
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const bitArr = Bitarray.fromBytes(buffer);
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const bitsSwapped = Bitarray.fromBytes(bufferSwapped);
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const value = dbc.valueForInt32Signal(steerTorqueSignal, bitArr, bitsSwapped);
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expect(value).toBe(-7466);
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});
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test('int64 parser produces correct value for steer torque signal', () => {
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const dbc = new DBC(DBC_MESSAGE_DEF);
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const hex = 'e2d62a0bd0d3b5e5';
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const value = dbc.valueForInt64Signal(steerTorqueSignal, hex);
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expect(value).toBe(-7466);
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});
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function dbcInt32SignalValue(dbc, signalSpec, hex) {
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const buffer = Buffer.from(hex, 'hex');
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const bufferSwapped = Buffer.from(buffer).swap64();
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const bits = Bitarray.fromBytes(buffer);
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const bitsSwapped = Bitarray.fromBytes(bufferSwapped);
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return dbc.valueForInt32Signal(signalSpec, bits, bitsSwapped);
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}
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const DBC_BINARY_LE_SIGNAL = `
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BO_ 768 NEW_MSG_1: 8 XXX
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SG_ NEW_SIGNAL_1 : 37|1@1+ (1,0) [0|1] "" XXX
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`;
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test('int32 parsers produces correct value for binary little endian signal', () => {
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const dbc = new DBC(DBC_BINARY_LE_SIGNAL)
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const signalSpec = dbc.messages.get(768).signals['NEW_SIGNAL_1'];
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const hexDataSet = '0000000020000000';
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const hexDataNotSet = '0000000000000000';
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const setValue = dbcInt32SignalValue(dbc, signalSpec, hexDataSet);
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const notSetValue = dbcInt32SignalValue(dbc, signalSpec, hexDataNotSet);
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expect(setValue).toEqual(1);
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expect(notSetValue).toEqual(0);
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});
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const DBC_TWO_BIT_LE_SIGNAL = `
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BO_ 768 NEW_MSG_1: 8 XXX
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SG_ NEW_SIGNAL_1 : 35|2@1+ (1,0) [0|3] "" XXX
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`;
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test('int32 parser produces correct value for 2-bit little endian signal spanning words', () => {
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const dbc = new DBC(DBC_TWO_BIT_LE_SIGNAL);
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const signalSpec = dbc.messages.get(768).signals['NEW_SIGNAL_1'];
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const hexData = '00000001f8000000';
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const value = dbcInt32SignalValue(dbc, signalSpec, hexData);
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expect(value).toEqual(3);
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});
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const DBC_FOUR_BIT_LE_SIGNAL = `
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BO_ 768 NEW_MSG_1: 8 XXX
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SG_ NEW_SIGNAL_1 : 6|4@1+ (1,0) [0|15] "" XXX
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`;
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test('int32 parser produces correct value for 4-bit little endian signal', () => {
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const dbc = new DBC(DBC_FOUR_BIT_LE_SIGNAL);
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const signalSpec = dbc.messages.get(768).signals['NEW_SIGNAL_1'];
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// this data is symmetric, the data bits are 1111
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const hexDataSymmetric = 'f00f000000000000';
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const symValue = dbcInt32SignalValue(dbc, signalSpec, hexDataSymmetric);
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expect(symValue).toEqual(15);
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// this data is asymmetric, the data bits are 1101
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const hexDataAsymmetric = 'f002000000000000';
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const aSymValue = dbcInt32SignalValue(dbc, signalSpec, hexDataAsymmetric);
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expect(aSymValue).toEqual(11);
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});
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