IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ 661a2de

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-08 14:37:51 -05:00
parent a6c27ac169
commit a1ef7d6c80
211 changed files with 7332 additions and 2756 deletions
Download Patch File Download Diff File Expand all files Collapse all files

389
tools/cabana/dbc/dbcfile.cc
View File

@@ -1,48 +1,86 @@
#include "tools/cabana/dbc/dbcfile.h"
#include <QFile>
#include <QFileInfo>
#include <QRegularExpression>
#include <algorithm>
#include <cassert>
#include <filesystem>
#include <fstream>
#include <regex>
#include <sstream>
#include <stdexcept>
DBCFile::DBCFile(const QString &dbc_file_name) {
QFile file(dbc_file_name);
if (file.open(QIODevice::ReadOnly)) {
name_ = QFileInfo(dbc_file_name).baseName();
filename = dbc_file_name;
parse(file.readAll());
} else {
throw std::runtime_error("Failed to open file.");
namespace {
std::string trim(const std::string &value) {
const auto first = value.find_first_not_of(" \t\r\n");
if (first == std::string::npos) return {};
return value.substr(first, value.find_last_not_of(" \t\r\n") - first + 1);
}
bool startsWith(const std::string &value, const char *prefix) {
return value.rfind(prefix, 0) == 0;
}
std::string unescapeComment(std::string value) {
for (size_t pos = 0; (pos = value.find("\\\"", pos)) != std::string::npos; ++pos) {
value.replace(pos, 2, "\"");
}
return trim(value);
}
DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
parse(content);
}
bool DBCFile::save() {
assert(!filename.isEmpty());
return writeContents(filename);
}
bool DBCFile::saveAs(const QString &new_filename) {
filename = new_filename;
return save();
}
bool DBCFile::writeContents(const QString &fn) {
QFile file(fn);
if (file.open(QIODevice::WriteOnly)) {
return file.write(generateDBC().toUtf8()) >= 0;
bool commentComplete(const std::string &line) {
bool escaped = false;
for (size_t i = 0; i < line.size(); ++i) {
if (line[i] == '\\' && !escaped) {
escaped = true;
continue;
}
if (line[i] == '"' && !escaped) {
size_t next = line.find_first_not_of(" \t\r\n", i + 1);
if (next != std::string::npos && line[next] == ';') return true;
}
escaped = false;
}
return false;
}
void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
} // namespace
DBCFile::DBCFile(const std::string &dbc_file_name) {
std::ifstream file(dbc_file_name, std::ios::binary);
if (!file) throw std::runtime_error("Failed to open file.");
filename = dbc_file_name;
name_ = std::filesystem::path(dbc_file_name).stem().string();
parse(std::string(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>()));
}
DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name) {
parse(content);
}
bool DBCFile::save() {
assert(!filename.empty());
return writeContents(filename);
}
bool DBCFile::saveAs(const std::string &new_filename) {
filename = new_filename;
return save();
}
bool DBCFile::writeContents(const std::string &fn) {
std::ofstream file(fn, std::ios::binary | std::ios::trunc);
if (!file) return false;
file << generateDBC();
return file.good();
}
void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size,
const std::string &node, const std::string &comment) {
auto &m = msgs[id.address];
m.address = id.address;
m.name = name;
m.size = size;
m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node;
m.comment = comment;
}
@@ -51,221 +89,180 @@ cabana::Msg *DBCFile::msg(uint32_t address) {
return it != msgs.end() ? &it->second : nullptr;
}
cabana::Msg *DBCFile::msg(const QString &name) {
cabana::Msg *DBCFile::msg(const std::string &name) {
auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
return it != msgs.end() ? &(it->second) : nullptr;
return it != msgs.end() ? &it->second : nullptr;
}
cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
auto m = msg(address);
return m ? (cabana::Signal *)m->sig(name) : nullptr;
return m ? m->sig(name) : nullptr;
}
void DBCFile::parse(const QString &content) {
void DBCFile::parse(const std::string &content) {
msgs.clear();
int line_num = 0;
QString line;
header.clear();
std::istringstream input(content);
std::string raw_line;
cabana::Msg *current_msg = nullptr;
int multiplexor_cnt = 0;
int line_num = 0;
bool seen_first = false;
QTextStream stream((QString *)&content);
while (!stream.atEnd()) {
while (std::getline(input, raw_line)) {
++line_num;
QString raw_line = stream.readLine();
line = raw_line.trimmed();
const size_t first_nonspace = raw_line.find_first_not_of(" \t\r");
std::string line = first_nonspace == std::string::npos ? std::string() : raw_line.substr(first_nonspace);
const int statement_line = line_num;
if ((startsWith(line, "CM_ BO_") || startsWith(line, "CM_ SG_ ")) && !commentComplete(line)) {
std::string continuation;
while (std::getline(input, continuation)) {
++line_num;
line += "\n" + continuation;
if (commentComplete(line)) break;
}
}
bool seen = true;
try {
if (line.startsWith("BO_ ")) {
if (startsWith(line, "BO_ ")) {
multiplexor_cnt = 0;
current_msg = parseBO(line);
} else if (line.startsWith("SG_ ")) {
} else if (startsWith(line, "SG_ ")) {
parseSG(line, current_msg, multiplexor_cnt);
} else if (line.startsWith("VAL_ ")) {
} else if (startsWith(line, "VAL_ ")) {
parseVAL(line);
} else if (line.startsWith("CM_ BO_")) {
parseCM_BO(line, content, raw_line, stream);
} else if (line.startsWith("CM_ SG_ ")) {
parseCM_SG(line, content, raw_line, stream);
} else if (startsWith(line, "CM_ BO_")) {
parseCM_BO(line);
} else if (startsWith(line, "CM_ SG_ ")) {
parseCM_SG(line);
} else {
seen = false;
}
} catch (std::exception &e) {
throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString());
}
if (seen) {
seen_first = true;
} else if (!seen_first) {
header += raw_line + "\n";
} catch (const std::exception &e) {
throw std::runtime_error("[" + filename + ":" + std::to_string(statement_line) + "]" + e.what() + ": " + line);
}
if (seen) seen_first = true;
else if (!seen_first) header += raw_line + "\n";
}
for (auto &[_, m] : msgs) {
m.update();
}
for (auto &[_, message] : msgs) message.update();
}
cabana::Msg *DBCFile::parseBO(const QString &line) {
static QRegularExpression bo_regexp(R"(^BO_ (?<address>\w+) (?<name>\w+) *: (?<size>\w+) (?<transmitter>\w+))");
QRegularExpressionMatch match = bo_regexp.match(line);
if (!match.hasMatch())
throw std::runtime_error("Invalid BO_ line format");
uint32_t address = match.captured("address").toUInt();
if (msgs.count(address) > 0)
throw std::runtime_error(QString("Duplicate message address: %1").arg(address).toStdString());
// Create a new message object
cabana::Msg *msg = &msgs[address];
msg->address = address;
msg->name = match.captured("name");
msg->size = match.captured("size").toULong();
msg->transmitter = match.captured("transmitter").trimmed();
return msg;
cabana::Msg *DBCFile::parseBO(const std::string &line) {
static const std::regex pattern(R"(^BO_ ([[:alnum:]_]+) ([[:alnum:]_]+) *: ([[:alnum:]_]+) ([[:alnum:]_]+))");
std::smatch match;
if (!std::regex_search(line, match, pattern)) throw std::runtime_error("Invalid BO_ line format");
const uint32_t address = std::stoul(match[1].str());
if (msgs.count(address)) throw std::runtime_error("Duplicate message address: " + std::to_string(address));
auto &message = msgs[address];
message.address = address;
message.name = match[2].str();
message.size = std::stoul(match[3].str());
message.transmitter = trim(match[4].str());
return &message;
}
void DBCFile::parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(?<address>\w+) *\"(?<comment>(?:[^"\\]|\\.)*)\"\s*;)");
void DBCFile::parseSG(const std::string &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
static const std::regex pattern(R"dbc(^SG_ ([[:alnum:]_]+)(?: +([[:alnum:]_]+))? *: ([0-9]+)\|([0-9]+)@([0-9]+)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] "(.*)" (.*))dbc");
if (!current_msg) throw std::runtime_error("No Message");
std::smatch match;
if (!std::regex_search(line, match, pattern)) throw std::runtime_error("Invalid SG_ line format");
if (current_msg->sig(match[1].str())) throw std::runtime_error("Duplicate signal name");
QString parse_line = line;
if (!parse_line.endsWith("\";")) {
int pos = stream.pos() - raw_line.length() - 1;
parse_line = content.mid(pos, content.indexOf("\";", pos));
}
auto match = msg_comment_regexp.match(parse_line);
if (!match.hasMatch())
throw std::runtime_error("Invalid message comment format");
if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
m->comment = match.captured("comment").trimmed().replace("\\\"", "\"");
}
void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
static QRegularExpression sg_regexp(R"(^SG_ (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
if (!current_msg)
throw std::runtime_error("No Message");
int offset = 0;
auto match = sg_regexp.match(line);
if (!match.hasMatch()) {
match = sgm_regexp.match(line);
offset = 1;
}
if (!match.hasMatch())
throw std::runtime_error("Invalid SG_ line format");
QString name = match.captured(1);
if (current_msg->sig(name) != nullptr)
throw std::runtime_error("Duplicate signal name");
cabana::Signal s{};
if (offset == 1) {
auto indicator = match.captured(2);
cabana::Signal signal{};
const std::string indicator = match[2].str();
if (!indicator.empty()) {
if (indicator == "M") {
++multiplexor_cnt;
// Only one signal within a single message can be the multiplexer switch.
if (multiplexor_cnt >= 2)
throw std::runtime_error("Multiple multiplexor");
s.type = cabana::Signal::Type::Multiplexor;
if (++multiplexor_cnt >= 2) throw std::runtime_error("Multiple multiplexor");
signal.type = cabana::Signal::Type::Multiplexor;
} else {
s.type = cabana::Signal::Type::Multiplexed;
s.multiplex_value = indicator.mid(1).toInt();
signal.type = cabana::Signal::Type::Multiplexed;
signal.multiplex_value = indicator.size() > 1 ? std::stoi(indicator.substr(1)) : 0;
}
}
s.name = name;
s.start_bit = match.captured(offset + 2).toInt();
s.size = match.captured(offset + 3).toInt();
s.is_little_endian = match.captured(offset + 4).toInt() == 1;
s.is_signed = match.captured(offset + 5) == "-";
s.factor = match.captured(offset + 6).toDouble();
s.offset = match.captured(offset + 7).toDouble();
s.min = match.captured(8 + offset).toDouble();
s.max = match.captured(9 + offset).toDouble();
s.unit = match.captured(10 + offset);
s.receiver_name = match.captured(11 + offset).trimmed();
current_msg->sigs.push_back(new cabana::Signal(s));
signal.name = match[1].str();
signal.start_bit = std::stoi(match[3].str());
signal.size = std::stoi(match[4].str());
signal.is_little_endian = match[5].str() == "1";
signal.is_signed = match[6].str() == "-";
signal.factor = std::stod(match[7].str());
signal.offset = std::stod(match[8].str());
signal.min = std::stod(match[9].str());
signal.max = std::stod(match[10].str());
signal.unit = match[11].str();
signal.receiver_name = trim(match[12].str());
current_msg->sigs.push_back(new cabana::Signal(signal));
}
void DBCFile::parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
QString parse_line = line;
if (!parse_line.endsWith("\";")) {
int pos = stream.pos() - raw_line.length() - 1;
parse_line = content.mid(pos, content.indexOf("\";", pos));
void DBCFile::parseCM_BO(const std::string &line) {
std::istringstream prefix(line.substr(7));
uint32_t address = 0;
prefix >> address;
const size_t first_quote = line.find('"');
const size_t last_quote = line.rfind('"');
if (!prefix || first_quote == std::string::npos || last_quote <= first_quote) {
throw std::runtime_error("Invalid message comment format");
}
auto match = sg_comment_regexp.match(parse_line);
if (!match.hasMatch())
if (auto message = msg(address)) message->comment = unescapeComment(line.substr(first_quote + 1, last_quote - first_quote - 1));
}
void DBCFile::parseCM_SG(const std::string &line) {
std::istringstream prefix(line.substr(7));
uint32_t address = 0;
std::string name;
prefix >> address >> name;
const size_t first_quote = line.find('"');
const size_t last_quote = line.rfind('"');
if (!prefix || name.empty() || first_quote == std::string::npos || last_quote <= first_quote) {
throw std::runtime_error("Invalid CM_ SG_ line format");
if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
}
if (auto sig = signal(address, name)) sig->comment = unescapeComment(line.substr(first_quote + 1, last_quote - first_quote - 1));
}
void DBCFile::parseVAL(const QString &line) {
static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
auto match = val_regexp.match(line);
if (!match.hasMatch())
throw std::runtime_error("invalid VAL_ line format");
if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
QStringList desc_list = match.captured(3).trimmed().split('"');
for (int i = 0; i < desc_list.size(); i += 2) {
auto val = desc_list[i].trimmed();
if (!val.isEmpty() && (i + 1) < desc_list.size()) {
auto desc = desc_list[i + 1].trimmed();
s->val_desc.push_back({val.toDouble(), desc});
}
void DBCFile::parseVAL(const std::string &line) {
static const std::regex header_pattern(R"(^VAL_ ([[:alnum:]_]+) ([[:alnum:]_]+) (.*))");
static const std::regex entry_pattern(R"dbc(([+-]?[0-9]+(?:\.[0-9]+)?)\s+"([^"]*)")dbc");
std::smatch match;
if (!std::regex_search(line, match, header_pattern)) throw std::runtime_error("invalid VAL_ line format");
if (auto sig = signal(std::stoul(match[1].str()), match[2].str())) {
const std::string entries = match[3].str();
for (std::sregex_iterator it(entries.begin(), entries.end(), entry_pattern), end; it != end; ++it) {
sig->val_desc.emplace_back(std::stod((*it)[1].str()), trim((*it)[2].str()));
}
}
}
QString DBCFile::generateDBC() {
QString dbc_string, comment, val_desc;
std::string DBCFile::generateDBC() {
std::string dbc_string, comment, val_desc;
for (const auto &[address, m] : msgs) {
const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
if (!m.comment.isEmpty()) {
comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
if (!m.comment.empty()) {
std::string escaped = m.comment;
for (size_t pos = 0; (pos = escaped.find('"', pos)) != std::string::npos; pos += 2) escaped.replace(pos, 1, "\\\"");
comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped + "\";\n";
}
for (auto sig : m.getSignals()) {
QString multiplexer_indicator;
if (sig->type == cabana::Signal::Type::Multiplexor) {
multiplexer_indicator = "M ";
} else if (sig->type == cabana::Signal::Type::Multiplexed) {
multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
}
dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
.arg(sig->name)
.arg(multiplexer_indicator)
.arg(sig->start_bit)
.arg(sig->size)
.arg(sig->is_little_endian ? '1' : '0')
.arg(sig->is_signed ? '-' : '+')
.arg(doubleToString(sig->factor))
.arg(doubleToString(sig->offset))
.arg(doubleToString(sig->min))
.arg(doubleToString(sig->max))
.arg(sig->unit)
.arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
if (!sig->comment.isEmpty()) {
comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
std::string mux;
if (sig->type == cabana::Signal::Type::Multiplexor) mux = "M ";
else if (sig->type == cabana::Signal::Type::Multiplexed) mux = "m" + std::to_string(sig->multiplex_value) + " ";
const std::string &receiver = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
dbc_string += " SG_ " + sig->name + " " + mux + ": " + std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
(sig->is_little_endian ? "1" : "0") + (sig->is_signed ? "-" : "+") +
" (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
" [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "] \"" + sig->unit + "\" " + receiver + "\n";
if (!sig->comment.empty()) {
std::string escaped = sig->comment;
for (size_t pos = 0; (pos = escaped.find('"', pos)) != std::string::npos; pos += 2) escaped.replace(pos, 1, "\\\"");
comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped + "\";\n";
}
if (!sig->val_desc.empty()) {
QStringList text;
for (auto &[val, desc] : sig->val_desc) {
text << QString("%1 \"%2\"").arg(val).arg(desc);
std::string text;
for (const auto &[value, description] : sig->val_desc) {
if (!text.empty()) text += " ";
text += doubleToString(value) + " \"" + description + "\"";
}
val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
}
}
dbc_string += "\n";