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| 20 | 20 | ||
| 21 | #include "Protocol.h" |
21 | #include "Protocol.h" |
| 22 | 22 | ||
| 23 | #include <stdexcept> |
23 | #include <stdexcept> |
| 24 | #include <string.h> |
24 | #include <string.h> |
| 25 | - | ||
| - | 25 | #include <stdint.h> |
|
| 26 | #include <boost/lexical_cast.hpp> |
26 | #include <boost/lexical_cast.hpp> |
| 27 | 27 | ||
| 28 | #include "common/log.h" |
28 | #include "common/log.h" |
| 29 | 29 | ||
| 30 | namespace atom { |
30 | namespace atom { |
| 31 | namespace can { |
31 | namespace can { |
| 32 | 32 | ||
| 33 | Protocol::Pointer Protocol::instance_; |
33 | Protocol::Pointer Protocol::instance_; |
| 34 | 34 | ||
| 35 | static const std::string log_module_ = "can::protocol"; |
35 | static const std::string log_module_ = "can::protocol"; |
| 36 | 36 | ||
| 37 | Protocol::Protocol() : LOG("can::Protocol") |
37 | Protocol::Protocol() : LOG("can::Protocol") |
| 38 | { |
38 | { |
| 39 | } |
39 | } |
| 40 | 40 | ||
| 41 | Protocol::~Protocol() |
41 | Protocol::~Protocol() |
| 42 | { |
42 | { |
| 43 | } |
43 | } |
| 44 | 44 | ||
| 45 | void Protocol::Create() |
45 | void Protocol::Create() |
| 46 | { |
46 | { |
| 47 | Protocol::instance_ = Protocol::Pointer(new Protocol()); |
47 | Protocol::instance_ = Protocol::Pointer(new Protocol()); |
| 48 | } |
48 | } |
| 49 | 49 | ||
| 50 | Protocol::Pointer Protocol::Instance() |
50 | Protocol::Pointer Protocol::Instance() |
| 51 | { |
51 | { |
| 52 | return Protocol::instance_; |
52 | return Protocol::instance_; |
| 53 | } |
53 | } |
| 54 | 54 | ||
| 55 | void Protocol::Delete() |
55 | void Protocol::Delete() |
| 56 | { |
56 | { |
| 57 | Protocol::instance_.reset(); |
57 | Protocol::instance_.reset(); |
| 58 | } |
58 | } |
| 59 | 59 | ||
| 60 | bool Protocol::Load(std::string file_path) |
60 | bool Protocol::Load(std::string file_path) |
| 61 | { |
61 | { |
| 62 | try |
62 | try |
| 63 | { |
63 | { |
| 64 | this->root_node_.LoadFile(file_path); |
64 | this->root_node_.LoadFile(file_path); |
| 65 | } |
65 | } |
| 66 | catch (std::runtime_error& e) |
66 | catch (std::runtime_error& e) |
| 67 | { |
67 | { |
| 68 | LOG.Error(e.what()); |
68 | LOG.Error(e.what()); |
| 69 | return false; |
69 | return false; |
| 70 | } |
70 | } |
| 71 | 71 | ||
| 72 | LOG.Info("Protocol loaded successfully."); |
72 | LOG.Info("Protocol loaded successfully."); |
| Line 141... | Line 141... | ||
| 141 | std::string Protocol::LookupNMTCommandName(unsigned int command_id) |
141 | std::string Protocol::LookupNMTCommandName(unsigned int command_id) |
| 142 | { |
142 | { |
| 143 | try |
143 | try |
| 144 | { |
144 | { |
| 145 | return this->root_node_.FindChild("nmt_messages").SelectChild("id", boost::lexical_cast<std::string>(command_id)).GetAttributeValue("name"); |
145 | return this->root_node_.FindChild("nmt_messages").SelectChild("id", boost::lexical_cast<std::string>(command_id)).GetAttributeValue("name"); |
| 146 | } |
146 | } |
| 147 | catch (std::runtime_error& e) |
147 | catch (std::runtime_error& e) |
| 148 | { |
148 | { |
| 149 | LOG.Error(e.what()); |
149 | LOG.Error(e.what()); |
| 150 | throw std::runtime_error("No such nmt command found, id = " + boost::lexical_cast<std::string>(command_id)); |
150 | throw std::runtime_error("No such nmt command found, id = " + boost::lexical_cast<std::string>(command_id)); |
| 151 | } |
151 | } |
| 152 | } |
152 | } |
| 153 | 153 | ||
| 154 | unsigned int Protocol::ResolveNMTCommandId(std::string command_name) |
154 | unsigned int Protocol::ResolveNMTCommandId(std::string command_name) |
| 155 | { |
155 | { |
| 156 | try |
156 | try |
| 157 | { |
157 | { |
| 158 | return boost::lexical_cast<unsigned int >(this->root_node_.FindChild("nmt_messages").SelectChild("name", command_name).GetAttributeValue("id")); |
158 | return boost::lexical_cast<unsigned int >(this->root_node_.FindChild("nmt_messages").SelectChild("name", command_name).GetAttributeValue("id")); |
| 159 | } |
159 | } |
| - | 160 | catch (std::runtime_error& e) |
|
| - | 161 | { |
|
| - | 162 | LOG.Error(e.what()); |
|
| - | 163 | throw std::runtime_error("No such nmt command found, name = " + command_name); |
|
| - | 164 | } |
|
| - | 165 | } |
|
| - | 166 | ||
| - | 167 | std::string Protocol::GetDefineId(std::string name, std::string group) |
|
| - | 168 | { |
|
| - | 169 | try |
|
| - | 170 | { |
|
| - | 171 | return this->root_node_.FindChild("defines").SelectChild("name", name, "group", group).GetAttributeValue("id"); |
|
| - | 172 | } |
|
| 160 | catch (std::runtime_error& e) |
173 | catch (std::runtime_error& e) |
| 161 | { |
174 | { |
| 162 | LOG.Error(e.what()); |
- | |
| 163 | throw std::runtime_error("No such nmt command found, name = " + command_name); |
- | |
| 164 | } |
- | |
| 165 | } |
- | |
| 166 | - | ||
| 167 | std::string Protocol::GetDefineId(std::string name, std::string group) |
- | |
| 168 | { |
- | |
| 169 | try |
- | |
| 170 | { |
- | |
| 171 | return this->root_node_.FindChild("defines").SelectChild("name", name, "group", group).GetAttributeValue("id"); |
- | |
| 172 | } |
- | |
| 173 | catch (std::runtime_error& e) |
- | |
| 174 | { |
- | |
| 175 | LOG.Error(e.what()); |
175 | LOG.Error(e.what()); |
| 176 | throw std::runtime_error("No such define found, name = " + name + ", group = " + group); |
176 | throw std::runtime_error("No such define found, name = " + name + ", group = " + group); |
| 177 | } |
177 | } |
| 178 | } |
178 | } |
| 179 | 179 | ||
| 180 | std::string Protocol::LookupDirectionFlag(unsigned int direction_flag) |
180 | std::string Protocol::LookupDirectionFlag(unsigned int direction_flag) |
| 181 | { |
181 | { |
| 182 | try |
182 | try |
| 183 | { |
183 | { |
| 184 | return this->root_node_.FindChild("defines").SelectChild("id", boost::lexical_cast<std::string>(direction_flag), "group", "DirectionFlag").GetAttributeValue("name"); |
184 | return this->root_node_.FindChild("defines").SelectChild("id", boost::lexical_cast<std::string>(direction_flag), "group", "DirectionFlag").GetAttributeValue("name"); |
| 185 | } |
185 | } |
| 186 | catch (std::runtime_error& e) |
186 | catch (std::runtime_error& e) |
| 187 | { |
187 | { |
| 188 | LOG.Error(e.what()); |
188 | LOG.Error(e.what()); |
| 189 | throw std::runtime_error("No such direction flag found, direction_flag = " + boost::lexical_cast<std::string>(direction_flag)); |
189 | throw std::runtime_error("No such direction flag found, direction_flag = " + boost::lexical_cast<std::string>(direction_flag)); |
| 190 | } |
190 | } |
| 191 | } |
191 | } |
| 192 | 192 | ||
| 193 | unsigned int Protocol::ResolveDirectionFlag(std::string direction_name) |
193 | unsigned int Protocol::ResolveDirectionFlag(std::string direction_name) |
| 194 | { |
194 | { |
| 195 | try |
195 | try |
| 196 | { |
196 | { |
| 197 | return boost::lexical_cast<unsigned int>(this->root_node_.FindChild("defines").SelectChild("name", direction_name, "group", "DirectionFlag").GetAttributeValue("id")); |
197 | return boost::lexical_cast<unsigned int>(this->root_node_.FindChild("defines").SelectChild("name", direction_name, "group", "DirectionFlag").GetAttributeValue("id")); |
| 198 | } |
198 | } |
| 199 | catch (std::runtime_error& e) |
199 | catch (std::runtime_error& e) |
| 200 | { |
200 | { |
| 201 | LOG.Error(e.what()); |
201 | LOG.Error(e.what()); |
| 202 | throw std::runtime_error("No such direction flag found, direction_name = " + direction_name); |
202 | throw std::runtime_error("No such direction flag found, direction_name = " + direction_name); |
| 203 | } |
203 | } |
| 204 | } |
204 | } |
| 205 | 205 | ||
| 206 | std::string Protocol::LookupModuleName(unsigned int module_id) |
206 | std::string Protocol::LookupModuleName(unsigned int module_id) |
| 207 | { |
207 | { |
| 208 | try |
208 | try |
| 209 | { |
209 | { |
| 210 | return this->root_node_.FindChild("modules").SelectChild("id", boost::lexical_cast<std::string>(module_id)).GetAttributeValue("name"); |
210 | return this->root_node_.FindChild("modules").SelectChild("id", boost::lexical_cast<std::string>(module_id)).GetAttributeValue("name"); |
| 211 | } |
211 | } |
| 212 | catch (std::runtime_error& e) |
212 | catch (std::runtime_error& e) |
| 213 | { |
213 | { |
| 214 | LOG.Error(e.what()); |
214 | LOG.Error(e.what()); |
| Line 219... | Line 219... | ||
| 219 | unsigned int Protocol::ResolveModuleId(std::string module_name) |
219 | unsigned int Protocol::ResolveModuleId(std::string module_name) |
| 220 | { |
220 | { |
| 221 | if (module_name == "") |
221 | if (module_name == "") |
| 222 | { |
222 | { |
| 223 | return 0; |
223 | return 0; |
| 224 | } |
224 | } |
| 225 | 225 | ||
| 226 | try |
226 | try |
| 227 | { |
227 | { |
| 228 | return boost::lexical_cast<unsigned int>(this->root_node_.FindChild("modules").SelectChild("name", module_name).GetAttributeValue("id")); |
228 | return boost::lexical_cast<unsigned int>(this->root_node_.FindChild("modules").SelectChild("name", module_name).GetAttributeValue("id")); |
| 229 | } |
229 | } |
| 230 | catch (std::runtime_error& e) |
230 | catch (std::runtime_error& e) |
| 231 | { |
231 | { |
| 232 | LOG.Error(e.what()); |
232 | LOG.Error(e.what()); |
| 233 | throw std::runtime_error("No such module name found, " + module_name); |
233 | throw std::runtime_error("No such module name found, " + module_name); |
| 234 | } |
234 | } |
| 235 | } |
235 | } |
| 236 | 236 | ||
| 237 | xml::Node::NodeList Protocol::GetCommandVariables(std::string command_name, std::string module_name) |
237 | xml::Node::NodeList Protocol::GetCommandVariables(std::string command_name, std::string module_name) |
| 238 | { |
238 | { |
| 239 | xml::Node node; |
239 | xml::Node node; |
| 240 | 240 | ||
| 241 | try |
241 | try |
| 242 | { |
242 | { |
| 243 | node = this->root_node_.FindChild("commands").SelectChild("name", command_name, "module", module_name); |
243 | node = this->root_node_.FindChild("commands").SelectChild("name", command_name, "module", module_name); |
| 244 | 244 | ||
| 245 | try |
245 | try |
| 246 | { |
246 | { |
| 247 | return node.FindChild("variables").GetChildren(); |
247 | return node.FindChild("variables").GetChildren(); |
| 248 | } |
248 | } |
| 249 | catch (std::runtime_error& e) |
249 | catch (std::runtime_error& e) |
| 250 | { |
250 | { |
| 251 | return xml::Node::NodeList(); |
251 | return xml::Node::NodeList(); |
| 252 | } |
252 | } |
| 253 | } |
253 | } |
| 254 | catch (std::runtime_error& e) |
254 | catch (std::runtime_error& e) |
| 255 | { |
255 | { |
| 256 | } |
256 | } |
| 257 | 257 | ||
| 258 | 258 | ||
| 259 | try |
259 | try |
| 260 | { |
260 | { |
| 261 | node = this->root_node_.FindChild("commands").SelectChild("name", command_name); |
261 | node = this->root_node_.FindChild("commands").SelectChild("name", command_name); |
| 262 | 262 | ||
| 263 | try |
263 | try |
| 264 | { |
264 | { |
| 265 | return node.FindChild("variables").GetChildren(); |
265 | return node.FindChild("variables").GetChildren(); |
| 266 | } |
266 | } |
| 267 | catch (std::runtime_error& e) |
267 | catch (std::runtime_error& e) |
| 268 | { |
268 | { |
| 269 | return xml::Node::NodeList(); |
269 | return xml::Node::NodeList(); |
| 270 | } |
270 | } |
| 271 | } |
271 | } |
| 272 | catch (std::runtime_error& e) |
272 | catch (std::runtime_error& e) |
| 273 | { |
273 | { |
| 274 | LOG.Error(e.what()); |
274 | LOG.Error(e.what()); |
| 275 | throw std::runtime_error("Could not find variables for command, name = " + command_name + ", module = " + module_name); |
275 | throw std::runtime_error("Could not find variables for command, name = " + command_name + ", module = " + module_name); |
| 276 | } |
276 | } |
| 277 | 277 | ||
| Line 350... | Line 350... | ||
| 350 | bitset.Write(start_bit, bit_length, raw_bit_value); |
350 | bitset.Write(start_bit, bit_length, raw_bit_value); |
| 351 | } |
351 | } |
| 352 | 352 | ||
| 353 | std::string Protocol::DecodeUint(common::Bitset& bitset, unsigned int start_bit, unsigned int bit_length) |
353 | std::string Protocol::DecodeUint(common::Bitset& bitset, unsigned int start_bit, unsigned int bit_length) |
| 354 | { |
354 | { |
| 355 |
|
355 | uint64_t raw_bit_value = bitset.Read(start_bit, bit_length); |
| 356 | 356 | ||
| 357 | //LOG.Debug("DecodeUint: raw_bit_value=" + boost::lexical_cast<std::string>(raw_bit_value)); |
357 | //LOG.Debug("DecodeUint: raw_bit_value=" + boost::lexical_cast<std::string>(raw_bit_value)); |
| 358 | 358 | ||
| 359 | return boost::lexical_cast<std::string>(( |
359 | return boost::lexical_cast<std::string>((uint64_t)raw_bit_value); |
| 360 | } |
360 | } |
| 361 | 361 | ||
| 362 | void Protocol::EncodeUint(common::Bitset& bitset, unsigned int start_bit, unsigned int bit_length, std::string value) |
362 | void Protocol::EncodeUint(common::Bitset& bitset, unsigned int start_bit, unsigned int bit_length, std::string value) |
| 363 | { |
363 | { |
| 364 |
|
364 | uint64_t raw_bit_value = boost::lexical_cast<uint64_t>(value); |
| 365 | 365 | ||
| 366 | bitset.Write(start_bit, bit_length, raw_bit_value); |
366 | bitset.Write(start_bit, bit_length, raw_bit_value); |
| 367 | } |
367 | } |
| 368 | 368 | ||
| 369 | std::string Protocol::DecodeFloat(common::Bitset& bitset, unsigned int start_bit, unsigned int bit_length) |
369 | std::string Protocol::DecodeFloat(common::Bitset& bitset, unsigned int start_bit, unsigned int bit_length) |