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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 969 | runge | 1 | /*************************************************************************** |
| 2 | * Copyright (C) November 28, 2008 by Mattias Runge * |
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| 3 | * mattias@runge.se * |
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| 4 | * canidtranslator.cpp * |
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| 5 | * * |
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| 6 | * This program is free software; you can redistribute it and/or modify * |
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| 7 | * it under the terms of the GNU General Public License as published by * |
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| 8 | * the Free Software Foundation; either version 2 of the License, or * |
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| 9 | * (at your option) any later version. * |
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| 10 | * * |
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| 11 | * This program is distributed in the hope that it will be useful, * |
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| 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 14 | * GNU General Public License for more details. * |
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| 15 | * * |
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| 16 | * You should have received a copy of the GNU General Public License * |
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| 17 | * along with this program; if not, write to the * |
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| 18 | * Free Software Foundation, Inc., * |
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| 19 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 20 | ***************************************************************************/ |
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| 21 | |||
| 22 | #include "canidtranslator.h" |
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| 23 | |||
| 24 | CanIdTranslator* CanIdTranslator::myInstance = NULL; |
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| 25 | |||
| 26 | CanIdTranslator& CanIdTranslator::getInstance() |
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| 27 | { |
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| 28 | if (myInstance == NULL) |
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| 29 | { |
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| 30 | myInstance = new CanIdTranslator(); |
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| 31 | } |
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| 32 | |||
| 33 | return *myInstance; |
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| 34 | } |
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| 35 | |||
| 36 | void CanIdTranslator::deleteInstance() |
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| 37 | { |
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| 38 | delete myInstance; |
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| 39 | myInstance = NULL; |
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| 40 | } |
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| 41 | |||
| 42 | CanIdTranslator::CanIdTranslator() |
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| 43 | { |
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| 44 | SyslogStream &slog = SyslogStream::getInstance(); |
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| 45 | |||
| 46 | string filename = Settings::get("CanIdXMLFile"); |
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| 47 | |||
| 985 | runge | 48 | if (file_exists(filename)) |
| 49 | { |
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| 50 | xmlNode.load(filename.c_str()); |
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| 969 | runge | 51 | |
| 985 | runge | 52 | slog << "Loading definitions from " + filename + ".\n"; |
| 53 | } |
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| 54 | else |
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| 55 | { |
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| 56 | slog << "CanIdXMLFile is not defined in the config file, this will probably not work at all.\n"; |
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| 57 | } |
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| 969 | runge | 58 | } |
| 59 | |||
| 60 | string CanIdTranslator::lookupClassName(int classId) |
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| 61 | { |
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| 62 | XmlNode classesNode = xmlNode.findChild("classes"); |
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| 63 | vector<XmlNode> classNodes = classesNode.getChildren(); |
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| 64 | |||
| 65 | for (int n = 0; n < classNodes.size(); n++) |
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| 66 | { |
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| 67 | map<string, string> attributes = classNodes[n].getAttributes(); |
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| 68 | |||
| 69 | if (stoi(attributes["id"]) == classId) |
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| 70 | { |
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| 71 | return attributes["name"]; |
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| 72 | } |
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| 73 | } |
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| 74 | |||
| 75 | return ""; |
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| 76 | } |
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| 77 | |||
| 78 | int CanIdTranslator::resolveClassId(string className) |
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| 79 | { |
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| 80 | XmlNode classesNode = xmlNode.findChild("classes"); |
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| 81 | vector<XmlNode> classNodes = classesNode.getChildren(); |
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| 82 | |||
| 83 | for (int n = 0; n < classNodes.size(); n++) |
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| 84 | { |
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| 85 | map<string, string> attributes = classNodes[n].getAttributes(); |
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| 86 | |||
| 87 | if (attributes["name"].compare(className) == 0) |
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| 88 | { |
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| 89 | return stoi(attributes["id"]); |
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| 90 | } |
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| 91 | } |
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| 92 | |||
| 93 | return -1; |
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| 94 | } |
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| 95 | |||
| 96 | string CanIdTranslator::lookupCommandName(int commandId, string moduleName) |
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| 97 | { |
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| 98 | XmlNode commandsNode = xmlNode.findChild("commands"); |
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| 99 | vector<XmlNode> commandNodes = commandsNode.getChildren(); |
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| 100 | |||
| 101 | for (int n = 0; n < commandNodes.size(); n++) |
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| 102 | { |
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| 103 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 104 | |||
| 981 | runge | 105 | if (commandId >= 128) |
| 969 | runge | 106 | { |
| 107 | if (stoi(attributes["id"]) == commandId && attributes["module"] == moduleName) |
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| 108 | { |
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| 109 | return attributes["name"]; |
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| 110 | } |
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| 111 | } |
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| 112 | else if (stoi(attributes["id"]) == commandId) |
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| 113 | { |
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| 114 | return attributes["name"]; |
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| 115 | } |
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| 116 | } |
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| 117 | |||
| 118 | return ""; |
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| 119 | } |
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| 120 | |||
| 121 | int CanIdTranslator::resolveCommandId(string commandName, string moduleName) |
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| 122 | { |
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| 123 | XmlNode commandsNode = xmlNode.findChild("commands"); |
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| 124 | vector<XmlNode> commandNodes = commandsNode.getChildren(); |
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| 125 | |||
| 126 | for (int n = 0; n < commandNodes.size(); n++) |
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| 127 | { |
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| 128 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 129 | |||
| 130 | if (attributes["name"].compare(commandName) == 0) |
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| 131 | { |
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| 132 | int commandId = stoi(attributes["id"]); |
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| 133 | |||
| 981 | runge | 134 | if (commandId >= 128) |
| 969 | runge | 135 | { |
| 136 | if (attributes["module"] == moduleName) |
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| 137 | { |
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| 138 | return commandId; |
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| 139 | } |
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| 140 | } |
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| 141 | else |
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| 142 | { |
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| 143 | return commandId; |
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| 144 | } |
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| 145 | } |
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| 146 | } |
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| 147 | |||
| 148 | return -1; |
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| 149 | } |
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| 150 | |||
| 986 | runge | 151 | string CanIdTranslator::lookupNMTCommandName(int commandId) |
| 152 | { |
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| 153 | XmlNode commandsNode = xmlNode.findChild("nmt_messages"); |
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| 154 | vector<XmlNode> commandNodes = commandsNode.getChildren(); |
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| 155 | |||
| 156 | for (int n = 0; n < commandNodes.size(); n++) |
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| 157 | { |
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| 158 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 159 | |||
| 160 | if (stoi(attributes["id"]) == commandId) |
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| 161 | { |
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| 162 | return attributes["name"]; |
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| 163 | } |
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| 164 | } |
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| 165 | |||
| 166 | return ""; |
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| 167 | } |
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| 168 | |||
| 169 | int CanIdTranslator::resolveNMTCommandId(string commandName) |
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| 170 | { |
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| 171 | XmlNode commandsNode = xmlNode.findChild("nmt_messages"); |
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| 172 | vector<XmlNode> commandNodes = commandsNode.getChildren(); |
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| 173 | |||
| 174 | for (int n = 0; n < commandNodes.size(); n++) |
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| 175 | { |
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| 176 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 177 | |||
| 178 | if (attributes["name"].compare(commandName) == 0) |
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| 179 | { |
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| 180 | return stoi(attributes["id"]); |
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| 181 | } |
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| 182 | } |
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| 183 | |||
| 184 | return -1; |
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| 185 | } |
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| 186 | |||
| 969 | runge | 187 | string CanIdTranslator::getDefineId(string name, string group) |
| 188 | { |
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| 189 | XmlNode definesNode = xmlNode.findChild("defines"); |
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| 190 | vector<XmlNode> defineNodes = definesNode.getChildren(); |
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| 191 | |||
| 192 | for (int n = 0; n < defineNodes.size(); n++) |
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| 193 | { |
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| 194 | map<string, string> attributes = defineNodes[n].getAttributes(); |
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| 195 | |||
| 196 | if (attributes["group"] == group && attributes["name"] == name) |
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| 197 | { |
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| 198 | return attributes["id"]; |
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| 199 | } |
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| 200 | } |
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| 201 | |||
| 202 | return ""; |
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| 203 | } |
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| 204 | |||
| 205 | string CanIdTranslator::lookupDirectionFlag(int directionFlag) |
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| 206 | { |
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| 207 | XmlNode definesNode = xmlNode.findChild("defines"); |
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| 208 | vector<XmlNode> defineNodes = definesNode.getChildren(); |
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| 209 | |||
| 210 | for (int n = 0; n < defineNodes.size(); n++) |
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| 211 | { |
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| 212 | map<string, string> attributes = defineNodes[n].getAttributes(); |
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| 213 | |||
| 214 | if (attributes["group"].compare("DirectionFlag") == 0 && stoi(attributes["id"]) == directionFlag) |
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| 215 | { |
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| 216 | return attributes["name"]; |
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| 217 | } |
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| 218 | } |
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| 219 | |||
| 220 | return ""; |
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| 221 | } |
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| 222 | |||
| 223 | int CanIdTranslator::resolveDirectionFlag(string directionName) |
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| 224 | { |
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| 225 | XmlNode definesNode = xmlNode.findChild("defines"); |
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| 226 | vector<XmlNode> defineNodes = definesNode.getChildren(); |
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| 227 | |||
| 228 | for (int n = 0; n < defineNodes.size(); n++) |
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| 229 | { |
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| 230 | map<string, string> attributes = defineNodes[n].getAttributes(); |
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| 231 | |||
| 232 | if (attributes["group"].compare("DirectionFlag") == 0 && attributes["name"].compare(directionName) == 0) |
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| 233 | { |
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| 234 | return stoi(attributes["id"]); |
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| 235 | } |
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| 236 | } |
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| 237 | |||
| 238 | return -1; |
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| 239 | } |
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| 240 | |||
| 241 | string CanIdTranslator::lookupModuleName(int moduleId) |
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| 242 | { |
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| 243 | XmlNode modulesNode = xmlNode.findChild("modules"); |
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| 244 | vector<XmlNode> moduleNodes = modulesNode.getChildren(); |
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| 245 | |||
| 246 | for (int n = 0; n < moduleNodes.size(); n++) |
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| 247 | { |
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| 248 | map<string, string> attributes = moduleNodes[n].getAttributes(); |
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| 249 | |||
| 250 | if (stoi(attributes["id"]) == moduleId) |
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| 251 | { |
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| 252 | return attributes["name"]; |
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| 253 | } |
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| 254 | } |
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| 255 | |||
| 256 | return ""; |
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| 257 | } |
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| 258 | |||
| 259 | int CanIdTranslator::resolveModuleId(string moduleName) |
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| 260 | { |
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| 261 | XmlNode modulesNode = xmlNode.findChild("modules"); |
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| 262 | vector<XmlNode> moduleNodes = modulesNode.getChildren(); |
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| 263 | |||
| 264 | for (int n = 0; n < moduleNodes.size(); n++) |
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| 265 | { |
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| 266 | map<string, string> attributes = moduleNodes[n].getAttributes(); |
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| 267 | |||
| 268 | if (attributes["name"].compare(moduleName) == 0) |
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| 269 | { |
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| 270 | return stoi(attributes["id"]); |
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| 271 | } |
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| 272 | } |
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| 273 | |||
| 274 | return -1; |
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| 275 | } |
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| 276 | |||
| 991 | runge | 277 | void CanIdTranslator::makeNMTDataValid(int commandId, map<string, CanVariable> &data) |
| 969 | runge | 278 | { |
| 991 | runge | 279 | vector<XmlNode> commandNodes = xmlNode.findChild("nmt_messages").getChildren(); |
| 969 | runge | 280 | |
| 281 | for (int n = 0; n < commandNodes.size(); n++) |
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| 282 | { |
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| 283 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 284 | |||
| 991 | runge | 285 | if (stoi(attributes["id"]) == commandId) |
| 969 | runge | 286 | { |
| 287 | XmlNode varablesNode = commandNodes[n].findChild("variables"); |
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| 288 | |||
| 991 | runge | 289 | makeDataValid(varablesNode.getChildren(), data); |
| 969 | runge | 290 | |
| 991 | runge | 291 | return; |
| 969 | runge | 292 | } |
| 293 | } |
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| 991 | runge | 294 | } |
| 969 | runge | 295 | |
| 991 | runge | 296 | void CanIdTranslator::makeDataValid(int commandId, string moduleName, map<string, CanVariable> &data) |
| 297 | { |
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| 298 | vector<XmlNode> commandNodes = xmlNode.findChild("commands").getChildren(); |
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| 969 | runge | 299 | |
| 991 | runge | 300 | for (int n = 0; n < commandNodes.size(); n++) |
| 969 | runge | 301 | { |
| 991 | runge | 302 | map<string, string> attributes = commandNodes[n].getAttributes(); |
| 969 | runge | 303 | |
| 991 | runge | 304 | if ((stoi(attributes["id"]) == commandId) || (commandId >= 128 && (stoi(attributes["id"]) == commandId && attributes["module"] == moduleName))) |
| 969 | runge | 305 | { |
| 991 | runge | 306 | XmlNode varablesNode = commandNodes[n].findChild("variables"); |
| 969 | runge | 307 | |
| 991 | runge | 308 | makeDataValid(varablesNode.getChildren(), data); |
| 969 | runge | 309 | |
| 991 | runge | 310 | return; |
| 969 | runge | 311 | } |
| 991 | runge | 312 | } |
| 313 | } |
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| 981 | runge | 314 | |
| 991 | runge | 315 | void CanIdTranslator::makeDataValid(vector<XmlNode> variableNodes, map<string, CanVariable> &data) |
| 316 | { |
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| 317 | ///FIXME: Remove variables that do not exist in the xmlfile |
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| 318 | for (int c = 0; c < variableNodes.size(); c++) |
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| 319 | { |
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| 320 | map<string, string> attributes = variableNodes[c].getAttributes(); |
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| 981 | runge | 321 | |
| 991 | runge | 322 | if (data.find(attributes["name"]) != data.end()) |
| 323 | { |
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| 324 | data[attributes["name"]].setType(attributes["type"]); |
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| 325 | data[attributes["name"]].setUnit(attributes["unit"]); |
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| 326 | data[attributes["name"]].setBitLength(stoi(attributes["bit_length"])); |
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| 327 | data[attributes["name"]].setStartBit(stoi(attributes["start_bit"])); |
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| 981 | runge | 328 | } |
| 969 | runge | 329 | } |
| 991 | runge | 330 | } |
| 969 | runge | 331 | |
| 991 | runge | 332 | string CanIdTranslator::translateDataToHex(int commandId, string moduleName, map<string, CanVariable> &data) |
| 333 | { |
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| 334 | makeDataValid(commandId, moduleName, data); |
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| 969 | runge | 335 | |
| 991 | runge | 336 | return translateValidDataToHex(data); |
| 969 | runge | 337 | } |
| 338 | |||
| 991 | runge | 339 | |
| 969 | runge | 340 | map<string, CanVariable> CanIdTranslator::translateData(int commandId, string moduleName, string dataHex) |
| 341 | { |
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| 991 | runge | 342 | vector<XmlNode> commandNodes = xmlNode.findChild("commands").getChildren(); |
| 969 | runge | 343 | |
| 344 | for (int n = 0; n < commandNodes.size(); n++) |
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| 345 | { |
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| 346 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 347 | |||
| 991 | runge | 348 | if ((stoi(attributes["id"]) == commandId) || (commandId >= 128 && (stoi(attributes["id"]) == commandId && attributes["module"] == moduleName))) |
| 969 | runge | 349 | { |
| 350 | XmlNode varablesNode = commandNodes[n].findChild("variables"); |
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| 351 | |||
| 991 | runge | 352 | return translateData(varablesNode.getChildren(), dataHex); |
| 986 | runge | 353 | } |
| 354 | } |
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| 969 | runge | 355 | |
| 991 | runge | 356 | map<string, CanVariable> variables; |
| 986 | runge | 357 | return variables; |
| 358 | } |
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| 969 | runge | 359 | |
| 986 | runge | 360 | map<string, CanVariable> CanIdTranslator::translateNMTData(int commandId, string dataHex) |
| 361 | { |
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| 991 | runge | 362 | vector<XmlNode> commandNodes = xmlNode.findChild("nmt_messages").getChildren(); |
| 969 | runge | 363 | |
| 986 | runge | 364 | for (int n = 0; n < commandNodes.size(); n++) |
| 365 | { |
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| 366 | map<string, string> attributes = commandNodes[n].getAttributes(); |
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| 969 | runge | 367 | |
| 986 | runge | 368 | if (stoi(attributes["id"]) == commandId) |
| 369 | { |
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| 370 | XmlNode varablesNode = commandNodes[n].findChild("variables"); |
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| 969 | runge | 371 | |
| 991 | runge | 372 | return translateData(varablesNode.getChildren(), dataHex); |
| 969 | runge | 373 | } |
| 374 | } |
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| 375 | |||
| 991 | runge | 376 | map<string, CanVariable> variables; |
| 969 | runge | 377 | return variables; |
| 378 | } |
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| 379 | |||
| 991 | runge | 380 | string CanIdTranslator::translateNMTDataToHex(int commandId, map<string, CanVariable> &data) |
| 969 | runge | 381 | { |
| 991 | runge | 382 | makeNMTDataValid(commandId, data); |
| 969 | runge | 383 | |
| 991 | runge | 384 | return translateValidDataToHex(data); |
| 385 | } |
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| 969 | runge | 386 | |
| 991 | runge | 387 | string CanIdTranslator::translateValidDataToHex(map<string, CanVariable> &data) |
| 388 | { |
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| 986 | runge | 389 | string bin = "0000000000000000000000000000000000000000000000000000000000000000"; |
| 991 | runge | 390 | int highestBit = 0; |
| 986 | runge | 391 | |
| 991 | runge | 392 | for (map<string, CanVariable>::iterator iter = data.begin(); iter != data.end(); iter++) |
| 986 | runge | 393 | { |
| 394 | if (iter->second.getType() == "uint") |
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| 395 | { |
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| 991 | runge | 396 | if (iter->second.getStartBit() + iter->second.getBitLength() > highestBit) |
| 397 | highestBit = iter->second.getStartBit() + iter->second.getBitLength(); |
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| 986 | runge | 398 | |
| 399 | unsigned int a = stoi(iter->second.getValue()); |
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| 400 | |||
| 401 | bin.replace(iter->second.getStartBit(), iter->second.getBitLength(), uint2bin(a, iter->second.getBitLength())); |
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| 402 | } |
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| 403 | else if (iter->second.getType() == "float") |
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| 404 | { |
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| 991 | runge | 405 | if (iter->second.getStartBit() + iter->second.getBitLength() > highestBit) |
| 406 | highestBit = iter->second.getStartBit() + iter->second.getBitLength(); |
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| 986 | runge | 407 | |
| 408 | bin.replace(iter->second.getStartBit(), iter->second.getBitLength(), float2bin(stof(iter->second.getValue()), iter->second.getBitLength())); |
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| 409 | } |
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| 410 | else if (iter->second.getType() == "ascii") |
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| 411 | { |
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| 412 | for (int n = 0; n < iter->second.getValue().length(); n++) |
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| 413 | { |
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| 991 | runge | 414 | if (iter->second.getStartBit()+n*8 + 8 > highestBit) |
| 415 | highestBit = iter->second.getStartBit()+n*8 + 8; |
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| 986 | runge | 416 | |
| 417 | bin.replace(iter->second.getStartBit()+n*8, 8, uint2bin((unsigned int)iter->second.getValue()[n], 8)); |
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| 418 | } |
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| 419 | } |
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| 420 | else if (iter->second.getType() == "hexstring") |
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| 421 | { |
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| 422 | for (int n = 0; n < iter->second.getValue().length(); n++) |
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| 423 | { |
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| 991 | runge | 424 | if (iter->second.getStartBit()+n*4 + 4 > highestBit) |
| 425 | highestBit = iter->second.getStartBit()+n*4 + 4; |
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| 986 | runge | 426 | |
| 427 | string character; |
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| 428 | character += iter->second.getValue()[n]; |
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| 429 | |||
| 430 | bin.replace(iter->second.getStartBit()+n*4, 4, hex2bin(character)); |
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| 431 | } |
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| 432 | } |
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| 433 | } |
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| 434 | |||
| 997 | runge | 435 | try |
| 436 | { |
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| 437 | bin = bin.substr(0, highestBit); |
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| 438 | } |
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| 439 | catch (std::out_of_range& e) |
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| 440 | { |
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| 441 | cout << "DEBUG: translateValidDataToHex exception: " << e.what() << "\n"; |
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| 442 | cout << "DEBUG: A bin=" << bin << " :: highestBit=" << highestBit << endl; |
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| 443 | } |
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| 986 | runge | 444 | |
| 445 | return bin2hex(bin); |
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| 969 | runge | 446 | } |
| 986 | runge | 447 | |
| 991 | runge | 448 | map<string, CanVariable> CanIdTranslator::translateData(vector<XmlNode> variableNodes, string dataHex) |
| 449 | { |
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| 450 | map<string, CanVariable> variables; |
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| 451 | string dataBin = hex2bin(dataHex); |
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| 997 | runge | 452 | //dataBin = rpad(dataBin, 64, '0'); |
| 991 | runge | 453 | |
| 454 | for (int c = 0; c < variableNodes.size(); c++) |
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| 455 | { |
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| 456 | map<string, string> attributes = variableNodes[c].getAttributes(); |
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| 457 | |||
| 458 | int bitStart = stoi(attributes["start_bit"]); |
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| 459 | int bitLength = stoi(attributes["bit_length"]); |
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| 997 | runge | 460 | string bits; |
| 991 | runge | 461 | |
| 997 | runge | 462 | try |
| 463 | { |
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| 464 | bits = dataBin.substr(bitStart, bitLength); |
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| 465 | } |
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| 466 | catch (std::out_of_range& e) |
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| 467 | { |
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| 468 | return variables; |
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| 469 | } |
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| 991 | runge | 470 | |
| 471 | CanVariable variable; |
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| 472 | |||
| 473 | variable.setName(attributes["name"]); |
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| 474 | variable.setType(attributes["type"]); |
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| 475 | variable.setUnit(attributes["unit"]); |
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| 476 | variable.setStartBit(bitStart); |
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| 477 | variable.setBitLength(bitLength); |
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| 478 | |||
| 479 | if (attributes["type"] == "uint") |
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| 480 | { |
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| 481 | variable.setValue(itos(bin2uint(bits))); |
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| 482 | } |
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| 483 | else if (attributes["type"] == "float") |
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| 484 | { |
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| 485 | variable.setValue(ftos(bin2float(bits))); |
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| 486 | } |
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| 487 | else if (attributes["type"] == "ascii") |
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| 488 | { |
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| 489 | string str; |
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| 490 | |||
| 491 | for (int k = 0; k < bits.length(); k += 8) |
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| 492 | { |
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| 997 | runge | 493 | try |
| 494 | { |
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| 495 | str += (char)bin2uint(bits.substr(k, 8)); |
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| 496 | } |
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| 497 | catch (std::out_of_range& e) |
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| 498 | { |
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| 499 | cout << "DEBUG: TranslateData exception: " << e.what() << "\n"; |
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| 500 | cout << "DEBUG: B bits=" << bits << " :: k=" << k << endl; |
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| 501 | continue; |
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| 502 | } |
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| 991 | runge | 503 | } |
| 504 | |||
| 505 | variable.setValue(str); |
||
| 506 | } |
||
| 507 | else if (attributes["type"] == "hexstring") |
||
| 508 | { |
||
| 509 | string str; |
||
| 510 | |||
| 511 | for (int k = 0; k < bits.length(); k += 4) |
||
| 512 | { |
||
| 997 | runge | 513 | try |
| 514 | { |
||
| 515 | str += bin2hex(bits.substr(k, 4)); |
||
| 516 | } |
||
| 517 | catch (std::out_of_range& e) |
||
| 518 | { |
||
| 519 | cout << "DEBUG: TranslateData exception: " << e.what() << "\n"; |
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| 520 | cout << "DEBUG: C bits=" << bits << " :: k=" << k << endl; |
||
| 521 | continue; |
||
| 522 | } |
||
| 991 | runge | 523 | } |
| 524 | |||
| 525 | variable.setValue(str); |
||
| 526 | } |
||
| 527 | |||
| 528 | variables[attributes["name"]] = variable; |
||
| 529 | } |
||
| 530 | |||
| 531 | return variables; |
||
| 532 | } |
||
| 533 | |||
| 534 |