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1
/***************************************************************************
1
/***************************************************************************
2
 *   Copyright (C) November 28, 2008 by Mattias Runge                             *
2
 *   Copyright (C) November 28, 2008 by Mattias Runge                             *
3
 *   mattias@runge.se                                                      *
3
 *   mattias@runge.se                                                      *
4
 *   canmessage.cpp                                            *
4
 *   canmessage.cpp                                            *
5
 *                                                                         *
5
 *                                                                         *
6
 *   This program is free software; you can redistribute it and/or modify  *
6
 *   This program is free software; you can redistribute it and/or modify  *
7
 *   it under the terms of the GNU General Public License as published by  *
7
 *   it under the terms of the GNU General Public License as published by  *
8
 *   the Free Software Foundation; either version 2 of the License, or     *
8
 *   the Free Software Foundation; either version 2 of the License, or     *
9
 *   (at your option) any later version.                                   *
9
 *   (at your option) any later version.                                   *
10
 *                                                                         *
10
 *                                                                         *
11
 *   This program is distributed in the hope that it will be useful,       *
11
 *   This program is distributed in the hope that it will be useful,       *
12
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
12
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
13
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
13
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
14
 *   GNU General Public License for more details.                          *
14
 *   GNU General Public License for more details.                          *
15
 *                                                                         *
15
 *                                                                         *
16
 *   You should have received a copy of the GNU General Public License     *
16
 *   You should have received a copy of the GNU General Public License     *
17
 *   along with this program; if not, write to the                         *
17
 *   along with this program; if not, write to the                         *
18
 *   Free Software Foundation, Inc.,                                       *
18
 *   Free Software Foundation, Inc.,                                       *
19
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
19
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
20
 ***************************************************************************/
20
 ***************************************************************************/
21
 
21
 
22
#include <string>
22
#include <string>
23
#include <iostream>
23
#include <iostream>
24
#include "canidtranslator.h"
24
#include "canidtranslator.h"
25
#include "canmessage.h"
25
#include "canmessage.h"
26
 
26
 
27
void CanMessage::setRaw(string rawHex)
27
void CanMessage::setRaw(string rawHex)
28
{
28
{
29
    CanIdTranslator &translator = CanIdTranslator::getInstance();
29
    CanIdTranslator &translator = CanIdTranslator::getInstance();
30
    //SyslogStream &slog = SyslogStream::getInstance();
30
    //SyslogStream &slog = SyslogStream::getInstance();
31
 
31
 
32
    //PKT 00060102 1 0 00 00 c4
32
    //PKT 00060102 1 0 00 00 c4
33
 
33
 
34
    rawHex = trim(rawHex, '\n');
34
    rawHex = trim(rawHex, '\n');
35
    rawHex = trim(rawHex);
35
    rawHex = trim(rawHex);
-
 
36
 
-
 
37
    myRawHex = rawHex;
36
 
38
 
37
    vector<string> parts = explode(" ", rawHex);
39
    vector<string> parts = explode(" ", rawHex);
38
 
40
 
39
    if (parts.size() < 2 || parts[0].compare("PKT") != 0)
41
    if (parts.size() < 2 || parts[0].compare("PKT") != 0)
40
    {
42
    {
41
        //slog << "Malformed can message received from canDaemon: \"" << rawHex << "\"\n";
43
        cout << "Malformed can message received from canDaemon: \"" << rawHex << "\"\n";
42
        throw new CanMessageException("Malformed can message received from canDaemon");
44
        throw new CanMessageException("Malformed can message received from canDaemon");
43
    }
45
    }
44
 
46
 
45
    string rawHeaderBin = hex2bin(parts[1]);
47
    string rawHeaderBin = hex2bin(parts[1]);
46
   
48
   
47
    try
49
    try
48
    {
50
    {
49
        myClassName = translator.lookupClassName(bin2uint(rawHeaderBin.substr(3, 4)));
51
        myClassName = translator.lookupClassName(bin2uint(rawHeaderBin.substr(3, 4)));
50
    }
52
    }
51
    catch (std::out_of_range& e)
53
    catch (std::out_of_range& e)
52
    {
54
    {
53
        cout << "DEBUG: setRaw exception: " << e.what() << "\n";
55
        cout << "DEBUG: setRaw exception: " << e.what() << "\n";
54
        cout << "DEBUG: A rawHeaderBin=" << rawHeaderBin << endl;
56
        cout << "DEBUG: A rawHeaderBin=" << rawHeaderBin << endl;
55
    }
57
    }
56
 
58
 
57
 
59
 
58
    if (myClassName == "")
60
    if (myClassName == "")
59
    {
61
    {
60
        myIsUnknown = true;
62
        myIsUnknown = true;
61
        return;
63
        return;
62
    }
64
    }
63
    else
65
    else
64
    {
66
    {
65
        myIsUnknown = false;
67
        myIsUnknown = false;
66
    }
68
    }
67
 
69
 
68
    string rawHexData = "";
70
    string rawHexData = "";
69
    for (int n = 4; n < parts.size(); n++)
71
    for (int n = 4; n < parts.size(); n++)
70
    {
72
    {
71
        rawHexData += parts[n];
73
        rawHexData += parts[n];
72
    }
74
    }
73
 
75
 
74
    if (myClassName == "nmt")
76
    if (myClassName == "nmt")
75
    {
77
    {
76
        int commandId;
78
        int commandId;
77
 
79
 
78
        try
80
        try
79
        {
81
        {
80
            commandId = bin2uint(rawHeaderBin.substr(8, 8));
82
            commandId = bin2uint(rawHeaderBin.substr(8, 8));
81
        }
83
        }
82
        catch (std::out_of_range& e)
84
        catch (std::out_of_range& e)
83
        {
85
        {
84
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
86
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
85
            cout << "DEBUG: B rawHeaderBin=" << rawHeaderBin << endl;
87
            cout << "DEBUG: B rawHeaderBin=" << rawHeaderBin << endl;
86
        }
88
        }
87
 
89
 
88
        myCommandName = translator.lookupNMTCommandName(commandId);
90
        myCommandName = translator.lookupNMTCommandName(commandId);
89
 
91
 
90
        myData = translator.translateNMTData(commandId, rawHexData);
92
        myData = translator.translateNMTData(commandId, rawHexData);
-
 
93
 
-
 
94
        myDirectionFlag = "";
-
 
95
        myModuleName = "";
-
 
96
        myModuleId = 0;
91
    }
97
    }
92
    else
98
    else
93
    {
99
    {
94
        try
100
        try
95
        {
101
        {
96
            myDirectionFlag = translator.lookupDirectionFlag(bin2uint(rawHeaderBin.substr(7, 1)));
102
            myDirectionFlag = translator.lookupDirectionFlag(bin2uint(rawHeaderBin.substr(7, 1)));
97
        }
103
        }
98
        catch (std::out_of_range& e)
104
        catch (std::out_of_range& e)
99
        {
105
        {
100
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
106
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
101
            cout << "DEBUG: C rawHeaderBin=" << rawHeaderBin << endl;
107
            cout << "DEBUG: C rawHeaderBin=" << rawHeaderBin << endl;
102
        }
108
        }
103
 
109
 
104
        try
110
        try
105
        {
111
        {
106
            myModuleName = translator.lookupModuleName(bin2uint(rawHeaderBin.substr(8, 8)));
112
            myModuleName = translator.lookupModuleName(bin2uint(rawHeaderBin.substr(8, 8)));
107
        }
113
        }
108
        catch (std::out_of_range& e)
114
        catch (std::out_of_range& e)
109
        {
115
        {
110
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
116
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
111
            cout << "DEBUG: D rawHeaderBin=" << rawHeaderBin << endl;
117
            cout << "DEBUG: D rawHeaderBin=" << rawHeaderBin << endl;
112
        }
118
        }
113
 
119
 
114
        try
120
        try
115
        {
121
        {
116
            myModuleId = bin2uint(rawHeaderBin.substr(16, 8));
122
            myModuleId = bin2uint(rawHeaderBin.substr(16, 8));
117
        }
123
        }
118
        catch (std::out_of_range& e)
124
        catch (std::out_of_range& e)
119
        {
125
        {
120
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
126
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
121
            cout << "DEBUG: E rawHeaderBin=" << rawHeaderBin << endl;
127
            cout << "DEBUG: E rawHeaderBin=" << rawHeaderBin << endl;
122
        }
128
        }
123
 
129
 
124
        int commandId;
130
        int commandId;
125
 
131
 
126
        try
132
        try
127
        {
133
        {
128
            commandId = bin2uint(rawHeaderBin.substr(24, 8));
134
            commandId = bin2uint(rawHeaderBin.substr(24, 8));
129
        }
135
        }
130
        catch (std::out_of_range& e)
136
        catch (std::out_of_range& e)
131
        {
137
        {
132
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
138
            cout << "DEBUG: setRaw exception: " << e.what() << "\n";
133
            cout << "DEBUG: F rawHeaderBin=" << rawHeaderBin << endl;
139
            cout << "DEBUG: F rawHeaderBin=" << rawHeaderBin << endl;
134
        }
140
        }
135
       
141
       
136
        myCommandName = translator.lookupCommandName(commandId, myModuleName);
142
        myCommandName = translator.lookupCommandName(commandId, myModuleName);
137
 
143
 
138
        myData = translator.translateData(commandId, myModuleName, rawHexData);
144
        myData = translator.translateData(commandId, myModuleName, rawHexData);
139
    }
145
    }
140
}
146
}
141
 
147
 
142
string CanMessage::getRaw()
148
string CanMessage::getRaw()
143
{
149
{
144
    CanIdTranslator &translator = CanIdTranslator::getInstance();
150
    CanIdTranslator &translator = CanIdTranslator::getInstance();
145
 
151
 
146
    string dataHex;
152
    string dataHex;
147
 
153
 
148
    string rawHex = "PKT ";
154
    string rawHex = "PKT ";
149
 
155
 
150
    string bin = "000";
156
    string bin = "000";
151
 
157
 
152
    int classId = translator.resolveClassId(myClassName);
158
    int classId = translator.resolveClassId(myClassName);
153
    if (classId == -1)
159
    if (classId == -1)
154
        bin += "0000";
160
        bin += "0000";
155
    else
161
    else
156
        bin += uint2bin(classId, 4);
162
        bin += uint2bin(classId, 4);
157
 
163
 
158
    if (myClassName == "nmt")
164
    if (myClassName == "nmt")
159
    {
165
    {
160
        bin +="0";
166
        bin +="0";
161
 
167
 
162
        int commandNameId = translator.resolveNMTCommandId(myCommandName);
168
        int commandNameId = translator.resolveNMTCommandId(myCommandName);
163
        if (commandNameId == -1)
169
        if (commandNameId == -1)
164
            bin += "00000000";
170
            bin += "00000000";
165
        else
171
        else
166
            bin += uint2bin(commandNameId, 8);
172
            bin += uint2bin(commandNameId, 8);
167
 
173
 
168
        bin += "0000000000000000";
174
        bin += "0000000000000000";
169
 
175
 
170
        dataHex = translator.translateNMTDataToHex(commandNameId, myData);
176
        dataHex = translator.translateNMTDataToHex(commandNameId, myData);
171
    }
177
    }
172
    else
178
    else
173
    {
179
    {
174
        bin += uint2bin(translator.resolveDirectionFlag(myDirectionFlag), 1);
180
        bin += uint2bin(translator.resolveDirectionFlag(myDirectionFlag), 1);
175
 
181
 
176
 
182
 
177
        int moduleTypeId = translator.resolveModuleId(myModuleName);
183
        int moduleTypeId = translator.resolveModuleId(myModuleName);
178
        if (moduleTypeId == -1)
184
        if (moduleTypeId == -1)
179
            bin += "00000000";
185
            bin += "00000000";
180
        else
186
        else
181
            bin += uint2bin(moduleTypeId, 8);
187
            bin += uint2bin(moduleTypeId, 8);
182
 
188
 
183
 
189
 
184
        int moduleId = myModuleId;
190
        int moduleId = myModuleId;
185
        bin += uint2bin(moduleId, 8);
191
        bin += uint2bin(moduleId, 8);
186
 
192
 
187
 
193
 
188
        int commandNameId = translator.resolveCommandId(myCommandName, myModuleName);
194
        int commandNameId = translator.resolveCommandId(myCommandName, myModuleName);
189
        if (commandNameId == -1)
195
        if (commandNameId == -1)
190
            bin += "00000000";
196
            bin += "00000000";
191
        else
197
        else
192
            bin += uint2bin(commandNameId, 8);
198
            bin += uint2bin(commandNameId, 8);
193
 
199
 
194
        dataHex = translator.translateDataToHex(commandNameId, myModuleName, myData);
200
        dataHex = translator.translateDataToHex(commandNameId, myModuleName, myData);
195
    }
201
    }
196
 
202
 
197
    rawHex += bin2hex(bin);
203
    rawHex += bin2hex(bin);
198
 
204
 
199
    rawHex += " 1 0";
205
    rawHex += " 1 0";
200
 
206
 
201
    while (dataHex.size() > 0)
207
    while (dataHex.size() > 0)
202
    {
208
    {
203
        string hex;
209
        string hex;
204
 
210
 
205
        try
211
        try
206
        {
212
        {
207
            hex = dataHex.substr(0, 2);
213
            hex = dataHex.substr(0, 2);
208
        }
214
        }
209
        catch (std::out_of_range& e)
215
        catch (std::out_of_range& e)
210
        {
216
        {
211
            cout << "DEBUG: getRaw exception: " << e.what() << "\n";
217
            cout << "DEBUG: getRaw exception: " << e.what() << "\n";
212
            cout << "DEBUG: A dataHex=" << dataHex << endl;
218
            cout << "DEBUG: A dataHex=" << dataHex << endl;
213
            continue;
219
            continue;
214
        }
220
        }
215
 
221
 
216
       
222
       
217
        dataHex.erase(0, 2);
223
        dataHex.erase(0, 2);
218
        rawHex += " " + hex;
224
        rawHex += " " + hex;
219
    }
225
    }
220
 
226
 
221
    rawHex += "\n";
227
    rawHex += "\n";
222
 
228
 
223
    return rawHex;
229
    return rawHex;
224
}
230
}
225
 
231
 
226
void CanMessage::setData(map<string, CanVariable> data)
232
void CanMessage::setData(map<string, CanVariable> data)
227
{
233
{
228
    myData = data;
234
    myData = data;
229
 
235
 
230
    CanIdTranslator &translator = CanIdTranslator::getInstance();
236
    CanIdTranslator &translator = CanIdTranslator::getInstance();
231
 
237
 
232
    int commandNameId = translator.resolveNMTCommandId(myCommandName);
238
    int commandNameId = translator.resolveNMTCommandId(myCommandName);
233
 
239
 
234
    if (myClassName == "nmt")
240
    if (myClassName == "nmt")
235
    {
241
    {
236
        translator.makeNMTDataValid(commandNameId, data);
242
        translator.makeNMTDataValid(commandNameId, data);
237
    }
243
    }
238
    else
244
    else
239
    {
245
    {
240
        translator.makeDataValid(commandNameId, myModuleName, data);
246
        translator.makeDataValid(commandNameId, myModuleName, data);
241
    }
247
    }
242
}
248
}
243
 
249
 
244
string CanMessage::getJSONData()
250
string CanMessage::getJSONData()
245
{
251
{
246
    string json = "{";
252
    string json = "{";
247
 
253
 
248
    map<string, CanVariable>::iterator iter;
254
    map<string, CanVariable>::iterator iter;
249
 
255
 
250
    for (iter = myData.begin(); iter != myData.end(); iter++)
256
    for (iter = myData.begin(); iter != myData.end(); iter++)
251
    {
257
    {
252
        json += " " + iter->first + " : ";
258
        json += " " + iter->first + " : ";
253
 
259
 
254
        if (iter->second.getType() == "uint")
260
        if (iter->second.getType() == "uint")
255
        {
261
        {
256
            json += iter->second.getValue();
262
            json += iter->second.getValue();
257
        }
263
        }
258
        else if (iter->second.getType() == "float")
264
        else if (iter->second.getType() == "float")
259
        {
265
        {
260
            json += iter->second.getValue();
266
            json += iter->second.getValue();
261
        }
267
        }
262
        else if (iter->second.getType() == "ascii" || iter->second.getType() == "hexstring")
268
        else if (iter->second.getType() == "ascii" || iter->second.getType() == "hexstring")
263
        {
269
        {
264
            json += "'" + escape(iter->second.getValue()) + "'";
270
            json += "'" + escape(iter->second.getValue()) + "'";
265
        }
271
        }
266
 
272
 
267
        json += ",";
273
        json += ",";
268
    }
274
    }
269
 
275
 
270
    json = trim(json, ',');
276
    json = trim(json, ',');
271
 
277
 
272
    return json + " }";
278
    return json + " }";
273
}
279
}
274
 
280
 
275
string CanMessage::toString()
281
string CanMessage::toString()
276
{
282
{
277
    string result = "[CanMessage] ClassName: " + myClassName + "\n";
283
    string result = "[CanMessage] ClassName: " + myClassName + "\n";
278
    result += "             DirectionFlag: " + myDirectionFlag + "\n";
284
    result += "             DirectionFlag: " + myDirectionFlag + "\n";
279
    result += "             ModuleName: " + myModuleName + "\n";
285
    result += "             ModuleName: " + myModuleName + "\n";
280
    result += "             ModuleId: " + itos(myModuleId) + "\n";
286
    result += "             ModuleId: " + itos(myModuleId) + "\n";
281
    result += "             CommandName: " + myCommandName + "\n";
287
    result += "             CommandName: " + myCommandName + "\n";
282
    result += "             Data: " + getJSONData() + "\n";
288
    result += "             Data: " + getJSONData() + "\n";
-
 
289
    result += "             RawHex: " + myRawHex + "\n";
283
 
290
 
284
    return result;
291
    return result;
285
}
292
}
286
 
293