95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
#pragma once
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#include <cstdio>
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#include <cstdlib>
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#include <functional>
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#include <limits>
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#include <string>
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#include <utility>
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#include <vector>
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#include "tools/cabana/core/color.h"
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#include "tools/cabana/core/message_id.h"
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const std::string UNTITLED = "untitled";
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const std::string DEFAULT_NODE_NAME = "XXX";
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constexpr int CAN_MAX_DATA_BYTES = 64;
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typedef std::vector<std::pair<double, std::string>> ValueDescription;
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namespace cabana {
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class Signal {
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public:
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Signal() = default;
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Signal(const Signal &other) = default;
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void update();
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bool getValue(const uint8_t *data, size_t data_size, double *val) const;
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std::string formatValue(double value, bool with_unit = true) const;
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bool operator==(const cabana::Signal &other) const;
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inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
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enum class Type {
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Normal = 0,
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Multiplexed,
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Multiplexor
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};
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Type type = Type::Normal;
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std::string name;
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int start_bit, msb, lsb, size;
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double factor = 1.0;
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double offset = 0;
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bool is_signed;
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bool is_little_endian;
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double min, max;
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std::string unit;
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std::string comment;
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std::string receiver_name;
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ValueDescription val_desc;
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int precision = 0;
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CabanaColor color;
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// Multiplexed
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int multiplex_value = 0;
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Signal *multiplexor = nullptr;
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};
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class Msg {
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public:
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Msg() = default;
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Msg(const Msg &other) { *this = other; }
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~Msg();
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cabana::Signal *addSignal(const cabana::Signal &sig);
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cabana::Signal *updateSignal(const std::string &sig_name, const cabana::Signal &sig);
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void removeSignal(const std::string &sig_name);
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Msg &operator=(const Msg &other);
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int indexOf(const cabana::Signal *sig) const;
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cabana::Signal *sig(const std::string &sig_name) const;
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std::string newSignalName();
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void update();
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inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
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uint32_t address;
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std::string name;
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uint32_t size;
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std::string comment;
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std::string transmitter;
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std::vector<cabana::Signal *> sigs;
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std::vector<uint8_t> mask;
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cabana::Signal *multiplexor = nullptr;
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};
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} // namespace cabana
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// Helper functions
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double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
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void updateMsbLsb(cabana::Signal &s);
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inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
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inline std::string doubleToString(double value) {
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char buf[64];
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snprintf(buf, sizeof(buf), "%.*g", std::numeric_limits<double>::digits10, value);
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return buf;
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}
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