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

/* eslint-env jest */
import DBC, { swapOrder } from '../../models/can/dbc';
import Signal from '../../models/can/signal';

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 DBC_WHEEL_SPEEDS = `
BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
`;

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: ''
});

function dbcIntSignalValue(dbc, signalSpec, hex) {
  const buffer = Uint8Array.from(Buffer.from(hex, 'hex'))
  const view = new DataView(buffer.buffer);
  return dbc.valueForIntSignal(signalSpec, view);
}

test('DBC parses steering control message', () => {
  const dbcParsed = new DBC(DBC_MESSAGE_DEF);
  const { signals } = dbcParsed.getMessageFrame(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.getMessageFrame(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.getMessageFrame(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.getMessageFrame(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.getMessageFrame(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.getMessageFrame(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 value = dbcIntSignalValue(
    dbc,
    dbc.getMessageFrame(228).signals.STEER_TORQUE,
    hex
  );

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

test('int32 parser produces correct value for wheel speeds', () => {
  const dbc = new DBC(DBC_WHEEL_SPEEDS);

  const hex = '36806cd8d8f1b0b7';
  const rearRight = dbcIntSignalValue(
    dbc,
    dbc.getMessageFrame(464).signals.WHEEL_SPEED_RR,
    hex
  );
  expect(rearRight).toBe(69.23);

  const rearLeft = dbcIntSignalValue(
    dbc,
    dbc.getMessageFrame(464).signals.WHEEL_SPEED_RL,
    hex
  );
  expect(rearLeft).toBe(69.42);

  const frontLeft = dbcIntSignalValue(
    dbc,
    dbc.getMessageFrame(464).signals.WHEEL_SPEED_FL,
    hex
  );
  expect(frontLeft).toBe(69.76);

  const frontRight = dbcIntSignalValue(
    dbc,
    dbc.getMessageFrame(464).signals.WHEEL_SPEED_FR,
    hex
  );
  expect(frontRight).toBe(69.66);
});

const DBC_BINARY_LE_SIGNAL = `
BO_ 768 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_1 : 37|1@1+ (1,0) [0|1] "" XXX
`;

test('int32 parsers produces correct value for binary little endian signal', () => {
  const dbc = new DBC(DBC_BINARY_LE_SIGNAL);
  const signalSpec = dbc.getMessageFrame(768).signals.NEW_SIGNAL_1;

  const hexDataSet = '0000000020000000';
  const hexDataNotSet = '0000000000000000';

  const setValue = dbcIntSignalValue(dbc, signalSpec, hexDataSet);
  const notSetValue = dbcIntSignalValue(dbc, signalSpec, hexDataNotSet);

  expect(setValue).toEqual(1);
  expect(notSetValue).toEqual(0);
});

const DBC_TWO_BIT_LE_SIGNAL = `
BO_ 768 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_1 : 35|2@1+ (1,0) [0|3] "" XXX
`;
test('int32 parser produces correct value for 2-bit little endian signal spanning words', () => {
  const dbc = new DBC(DBC_TWO_BIT_LE_SIGNAL);
  const signalSpec = dbc.getMessageFrame(768).signals.NEW_SIGNAL_1;

  const hexData = '00000001f8000000';

  const value = dbcIntSignalValue(dbc, signalSpec, hexData);
  expect(value).toEqual(3);
});

const DBC_FOUR_BIT_LE_SIGNAL = `
BO_ 768 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_1 : 6|4@1+ (1,0) [0|15] "" XXX
`;
test('int32 parser produces correct value for 4-bit little endian signal', () => {
  const dbc = new DBC(DBC_FOUR_BIT_LE_SIGNAL);
  const signalSpec = dbc.getMessageFrame(768).signals.NEW_SIGNAL_1;

  // this data is symmetric, the data bits are 1111
  const hexDataSymmetric = 'f00f000000000000';
  const symValue = dbcIntSignalValue(dbc, signalSpec, hexDataSymmetric);
  expect(symValue).toEqual(15);

  // this data is asymmetric, the data bits are 1101
  const hexDataAsymmetric = 'f002000000000000';
  const aSymValue = dbcIntSignalValue(dbc, signalSpec, hexDataAsymmetric);
  expect(aSymValue).toEqual(11);
});

const DBC_FOUR_BIT_LE_SIGNAL_FOUR_BYTE_MESSAGE = `
BO_ 1265 CLU11: 4 CLU
 SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,LDWS_LKAS,SCC
 SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,LDWS_LKAS,SCC
 SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
 SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count"  EMS
 SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] ""  EMS
 SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH"  BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC
 SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC
 SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  AVM,BCM,LCA,PGS,SPAS
 SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,BCM,LCA,PGS,SPAS
 SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
 SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
 SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] ""  AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC
`;
test('int32 parser produces correct value for 4-bit little endian signal within a 4-byte message', () => {
  const dbc = new DBC(DBC_FOUR_BIT_LE_SIGNAL_FOUR_BYTE_MESSAGE);
  const frame = dbc.getMessageFrame(1265);
  const signalSpec = frame.signals.CF_Clu_AliveCnt1;

  const hexData = '2000662000000000';
  const value = dbcIntSignalValue(dbc, signalSpec, hexData);
  expect(value).toEqual(2);
});

const DBC_MESSAGE_WITH_LE_SIGNED_SIGNAL = `
BO_ 688 SAS11: 5 MDPS
 SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
 SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] ""  AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
 SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
 SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
 SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
 `;
test('int32 parser produces correct value for 2-byte signed little endian signal within a 5-byte message', () => {
  const dbc = new DBC(DBC_MESSAGE_WITH_LE_SIGNED_SIGNAL);
  const frame = dbc.getMessageFrame(688);
  const signalSpec = frame.signals.SAS_Angle;

  const hexData = '000000fafe000700';
  const value = dbcIntSignalValue(dbc, signalSpec, hexData);
  expect(value).toEqual(0.0);

  const hexData2 = '0b000907d8b30000';
  const value2 = dbcIntSignalValue(dbc, signalSpec, hexData2);
  expect(value2).toEqual(1.1);
});

const DBC_CHFFR_METRIC_COMMENT = `
BO_ 37 STEERING_CONTROL: 8 XXX
  SG_ STEER_ANGLE : 6|4@1+ (1,0) [0|15] "" XXX

CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
`;

test('dbc parser parses top-level comment with chffr metric', () => {
  const dbc = new DBC(DBC_CHFFR_METRIC_COMMENT);
  const { comments } = dbc;

  expect(comments.length).toEqual(1);
  expect(comments[0]).toEqual(
    'CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180'
  );
});

const DBC_64_BIT_STUFF = `
BO_ 468 LARGE_SIGNALS: 32 VSA
 SG_ LARGE_NORMAL : 7|64@0+ (1,0) [0|1.84467E+019] "" XXX
 SG_ LARGE_LITTLE : 64|64@1+ (1,0) [0|1.84467E+019] "" XXX
 SG_ LARGE_SIGNED : 135|64@0- (1,0) [0|1.84467E+019] "" XXX
 SG_ LARGE_OFFSET : 197|62@0+ (1,0) [0|4.61169E+018] "" XXX
`;

test('int64 parser produces correct values', () => {
  const dbc = new DBC(DBC_64_BIT_STUFF);
  const hex = '63d637b340535839' + 'a23f215451e52f7b' + 'a1adff50c4e8eedb' + 'fd071d2c474ac2d4';

  const normal = dbcIntSignalValue(dbc, dbc.getMessageFrame(468).signals.LARGE_NORMAL, hex).toString();
  expect(normal).toEqual("7193998697788823609");

  const little = dbcIntSignalValue(dbc, dbc.getMessageFrame(468).signals.LARGE_LITTLE, hex).toString();
  expect(little).toBe("8876565528037113762");

  const signed = dbcIntSignalValue(dbc, dbc.getMessageFrame(468).signals.LARGE_SIGNED, hex).toString();
  expect(signed).toBe("-6796495540266144037");

  const offset = dbcIntSignalValue(dbc, dbc.getMessageFrame(468).signals.LARGE_OFFSET, hex).toString();
  expect(offset).toBe("4397515637162427092");
});