DbcBuilder.h

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#ifndef _NEW_EAGLE_DBCBUILDER_H
#define _NEW_EAGLE_DBCBUILDER_H

#include <ros/ros.h>

#include <string>

#include <can_dbc_parser/Dbc.h>

#include "LineParser.h"

namespace NewEagle
{
  struct DbcSignalValueType
  {
    uint32_t Id;
    std::string SignalName;
    NewEagle::DataType Type;
  };

  struct DbcAttribute
  {
    std::string AttributeName;
    uint32_t Id;
    std::string ObjectType;
    std::string SignalName;
    std::string Value;
  };

  class DbcBuilder
  {
    public:
      DbcBuilder();
      ~DbcBuilder();

      NewEagle::Dbc NewDbc(const std::string &dbcFile);

    private:
      std::string MessageToken;
      std::string SignalToken;
      std::string CommentToken;
      std::string EnumValueToken;
      std::string AttributeToken;
      std::string SignalValueTypeToken;
  };


      static NewEagle::DbcSignalValueType ReadSignalValueType(NewEagle::LineParser parser)
      {
        NewEagle::DbcSignalValueType signalValueType;

        signalValueType.Id = parser.ReadUInt("id");
        signalValueType.SignalName = parser.ReadCIdentifier();
        parser.SeekSeparator(':');
        signalValueType.Type = parser.ReadUInt("DataType") == 1 ? NewEagle::FLOAT : NewEagle::DOUBLE;

        return signalValueType;
      }

      static NewEagle::DbcAttribute ReadAttribute(NewEagle::LineParser parser)
      {
        NewEagle::DbcAttribute attribute;

        try
        {
          attribute.AttributeName = parser.ReadQuotedString();
          if (attribute.AttributeName == "GenSigStartValue")
          {
              attribute.ObjectType = parser.ReadCIdentifier();
              attribute.Id = parser.ReadUInt("id");
              if (attribute.ObjectType == "SG_")
              {
                attribute.SignalName = parser.ReadCIdentifier();

                std::ostringstream sstream;
                sstream << parser.ReadDouble();
                attribute.Value = sstream.str();
              }
          }
        }
        catch(std::exception& ex)
        {
          throw;
        }

        return attribute;
      }

      static NewEagle::DbcMessageComment ReadMessageComment(NewEagle::LineParser parser)
      {
        NewEagle::DbcMessageComment comment;
        comment.Id = parser.ReadUInt("id");
        comment.Comment = parser.ReadQuotedString();

        return comment;
      }

      static NewEagle::DbcSignalComment ReadSignalComment(NewEagle::LineParser parser)
      {
        NewEagle::DbcSignalComment comment;
        comment.Id = parser.ReadUInt("id");
        comment.SignalName = parser.ReadCIdentifier();
        comment.Comment = parser.ReadQuotedString();

        return comment;
      }

      static NewEagle::DbcMessage ReadMessage(NewEagle::LineParser parser)
      {
        uint32_t canId = parser.ReadUInt("message id");
        IdType idType = ((canId & 0x80000000u) > 0) ? NewEagle::EXT : NewEagle::STD;
        std::string name(parser.ReadCIdentifier("message name"));
        parser.SeekSeparator(':');
        uint8_t dlc = parser.ReadUInt("size");
        std::string sendingNode(parser.ReadCIdentifier("transmitter"));
        uint32_t id = (uint32_t)(canId & 0x3FFFFFFFu);

        NewEagle::DbcMessage msg(dlc, id, idType, name, canId);
        return msg;
      }

      static NewEagle::DbcSignal ReadSignal(NewEagle::LineParser parser)
      {
        std::string name = parser.ReadCIdentifier();
        char mux = parser.ReadNextChar("mux");
        NewEagle::MultiplexerMode multiplexMode = NewEagle::NONE;
        int32_t muxSwitch = 0;

        switch (mux) {
          case ':':
            multiplexMode = NewEagle::NONE;
            break;
          case 'M':
            multiplexMode = NewEagle::MUX_SWITCH;
            parser.SeekSeparator(':');
            break;
          case 'm':
            multiplexMode = NewEagle::MUX_SIGNAL;
            muxSwitch = parser.ReadInt();
            parser.SeekSeparator(':');
            break;
          default:
            throw std::runtime_error("Synxax Error: Expected \':\' " + parser.GetPosition());
        }

        int32_t startBit = parser.ReadUInt("start bit");

        parser.SeekSeparator('|');

        uint8_t length = (uint8_t)parser.ReadUInt("size");
        parser.SeekSeparator('@');

        char byteOrder = parser.ReadNextChar("byte order");

        NewEagle::ByteOrder endianness;

        switch (byteOrder) {
          case '1':
            endianness = NewEagle::LITTLE_END;
            break;
          case '0':
            endianness = NewEagle::BIG_END;
            break;
          default:
            throw std::runtime_error("Synxax Error: Byte Order - Expected 0 or 1, got " + byteOrder);
        }

        char valType = parser.ReadNextChar("value type");
        NewEagle::SignType sign;

        switch (valType) {
          case '+':
            sign = NewEagle::UNSIGNED;
            break;
          case '-':
            sign = NewEagle::SIGNED;
            break;
          default:
            throw std::runtime_error("Synxax Error: Value Type - Expected + or -, got " + valType);
        }

        // Set the default data type: INT.
        //  Might be changed what parsing SIG_VALTYPE_
        NewEagle::DataType type = NewEagle::INT;


        parser.SeekSeparator('(');
        double gain = parser.ReadDouble("factor");
        parser.SeekSeparator(',');
        double offset = parser.ReadDouble("offset");
        parser.SeekSeparator(')');

        parser.SeekSeparator('[');
        double minimum = parser.ReadDouble("minimum");
        parser.SeekSeparator('|');
        double maximum = parser.ReadDouble("maximum");
        parser.SeekSeparator(']');

        // Need to include Min, Max, DataType, MuxSwitch, Unit, Receiver
        // Find a way to include the DLC...
        NewEagle::DbcSignal* signal;

        if (NewEagle::MUX_SIGNAL == multiplexMode) {
          //NewEagle::DbcSignal signal(8, gain, offset, startBit, endianness, length, sign, name, multiplexMode, muxSwitch);
          signal = new NewEagle::DbcSignal(8, gain, offset, startBit, endianness, length, sign, name, multiplexMode, muxSwitch);
        }
        else {
          //NewEagle::DbcSignal signal(8, gain, offset, startBit, endianness, length, sign, name, multiplexMode);
          signal = new NewEagle::DbcSignal(8, gain, offset, startBit, endianness, length, sign, name, multiplexMode);
        }

        signal->SetDataType(type);
        return NewEagle::DbcSignal(*signal);
      }
}

#endif // _NEW_EAGLE_DBCBUILDER_H