CanMsgParser::CanMsgParser(const char * dbc_filename) : carState(NULL) {
busAssignment = busAssignment_create();
signalFormat = signalFormat_Name;
int bus = -1;
busAssignment_associate(busAssignment, bus, dbc_filename);
busAssignment_parseDBC(busAssignment);
}
int main(int argc, char *argv[]) {
intercom::Receiver receiver;
const char * dbc_filename = "../dbc/can01.dbc";
busAssignment_t * busAssignment = busAssignment_create();
signalFormat_t signalFormat = signalFormat_Name;
int bus = -1;
busAssignment_associate(busAssignment, bus, dbc_filename);
busAssignment_parseDBC(busAssignment);
canMessage_t can_msg_1 = {
.t = { 0, 0 },
.bus = 1,
.id = 0x100,
.dlc = 6,
.byte_arr = { 1, 2, 3, 4, 5, 6, 7, 8 }
};
canMessage_t can_msg_2 = {
.t = { 0, 0 },
.bus = 1,
.id = 0x110,
.dlc = 4,
.byte_arr = { 1, 2, 3, 4, 5, 6, 7, 8 }
};
processCanMessage(&can_msg_1, busAssignment, signalFormat);
processCanMessage(&can_msg_2, busAssignment, signalFormat);
// while (true) {
// intercom::DataMessage msg;
// receiver.receive(msg);
// }
busAssignment_free(busAssignment);
return EXIT_SUCCESS;
}
int main(int argc, char **argv)
{
char *inputFilename = NULL;
int inputFiles = 0;
char *matFilename = NULL;
busAssignment_t *busAssignment = busAssignment_create();
int bus = -1;
signalFormat_t signalFormat = signalFormat_Name;
measurement_t *measurement;
int ret = 1;
sint32 timeResolution = 10000;
parserFunction_t parserFunction = NULL;
program_name = argv[0];
/* parse arguments */
while (1) {
static struct option long_options[] = {
/* These options set a flag. */
{"verbose", no_argument, &verbose_flag, 1},
{"brief", no_argument, &verbose_flag, 0},
{"debug", no_argument, &debug_flag, 1},
/* These options don't set a flag.
We distinguish them by their indices. */
{"asc", required_argument, 0, 'a'},
{"bus", required_argument, 0, 'b'},
#ifdef HAVE_CLGREADER_H
{"clg", required_argument, 0, 'c'},
#endif
{"dbc", required_argument, 0, 'd'},
{"format", required_argument, 0, 'f'},
{"mat", required_argument, 0, 'm'},
{"timeres", required_argument, 0, 't'},
{"vsb", required_argument, 0, 'v'},
{"help", no_argument, NULL, 'h'},
{0, 0, 0, 0}
};
/* getopt_long stores the option index here. */
int option_index = 0;
int c;
c = getopt_long (argc, argv, "a:b:c:d:f:m:t:v:",
long_options, &option_index);
/* Detect the end of the options. */
if (c == -1) break;
switch (c) {
case 0:
break;
case 'a':
inputFilename = optarg;
parserFunction =ascReader_processFile;
inputFiles++;
break;
#ifdef HAVE_CLGREADER_H
case 'c':
inputFilename = optarg;
parserFunction =clgReader_processFile;
inputFiles++;
break;
#endif
case 'b':
bus = atoi(optarg);
break;
case 'd':
if(verbose_flag) {
if(bus == -1) {
fprintf(stderr, "Assigning DBC file %s to all busses\n", optarg);
} else {
fprintf(stderr, "Assigning DBC file %s to bus %d\n", optarg, bus);
}
}
busAssignment_associate(busAssignment, bus, optarg);
/* reset bus specification */
bus = -1;
break;
case 'm':
matFilename = optarg;
break;
case 'f':
if(!strcmp(optarg, "n")) {
signalFormat = signalFormat_Name;
} else if(!strcmp(optarg, "mn")) {
signalFormat = signalFormat_Message
| signalFormat_Name;
} else if(!strcmp(optarg, "dmn")) {
signalFormat = signalFormat_Database
| signalFormat_Message
| signalFormat_Name;
} else {
fprintf(stderr, "error: format must be 's', 'ms', or 'dms'\n");
usage_error();
}
matFilename = optarg;
break;
case 't':
timeResolution = atoi(optarg);
break;
case 'v':
inputFilename = optarg;
parserFunction = vsbReader_processFile;
inputFiles++;
break;
case 'h': help(); exit(0); break;
case '?':
/* getopt_long already printed an error message. */
usage_error();
break;
default:
fprintf(stderr, "error: unknown option %c\n", c);
busAssignment_free(busAssignment);
usage_error();
}
}
#ifdef YYDEBUG
if(debug_flag) {
extern int yydebug;
yydebug=1;
}
#endif
/* diagnose options */
if(inputFiles != 1) {
fprintf(stderr, "error: please specify exactly one input file\n");
busAssignment_free(busAssignment);
usage_error();
}
if(matFilename == NULL) {
fprintf(stderr, "error: MAT output filename not specified\n");
busAssignment_free(busAssignment);
usage_error();
}
/* parse DBC files */
busAssignment_parseDBC(busAssignment);
/* parse input file */
if(verbose_flag) {
if(inputFilename != NULL) {
fprintf(stderr,
"Parsing input file %s\n",
inputFilename?inputFilename:"<stdin>");
}
}
measurement = measurement_read(busAssignment,
inputFilename,
signalFormat,
timeResolution,
parserFunction);
if(measurement != NULL) {
/* write MAT file */
if(verbose_flag) {
fprintf(stderr, "Writing MAT file %s\n", matFilename);
}
matWrite(measurement, matFilename);
/* free memory */
measurement_free(measurement);
}
ret = 0;
usage_error:
busAssignment_free(busAssignment);
return ret;
}
