update dbcppp

control_ws/src/stanley/include/stanley/canprotocol/can_protocol.hpp

@@ -16,20 +16,19 @@
 #include <unordered_map>
 #include <memory>
 #include <chrono>
+#include <string>
+#include <unordered_map>
 
-class CANReceiver {
+class CANSender {
 public:
-    CANReceiver(const std::string& dbc_file, const std::string& can_interface);
-    ~CANReceiver();
-    void receiveMessages();
+    CANSender(const std::string& dbc_file, const std::string& can_interface);
+    ~CANSender();
 
 private:
-    void printMessage(const dbcppp::IMessage& msg, const can_frame& frame);
-
-    std::unique_ptr<dbcppp::INetwork> net;
-    std::unordered_map<uint64_t, const dbcppp::IMessage*> messages;
     int sock;
-    uint64_t last_received;
-    std::chrono::time_point<std::chrono::steady_clock> last_received_time;
-    std::chrono::seconds message_timeout;
+    uint64_t target_message_id;
+    double speed_value;
+    std::shared_ptr<const dbcppp::INetwork> net;
+    std::unordered_map<uint64_t, const dbcppp::IMessage*> messages;
 };
+

control_ws/src/stanley/include/stanley/dbcppp/CMakeLists.txt

@@ -0,0 +1,108 @@
+cmake_minimum_required(VERSION 3.12)
+
+project("dbcppp" VERSION 3.8.0)
+
+# CONFIGURATION
+
+set(CMAKE_CXX_STANDARD 17)
+option(build_kcd "Enable support for KCD parsing" ON)
+option(build_tools "Build dbcppp utility application" ON)
+
+option(build_tests "Build tests" ON)
+option(build_examples "Build examples" ON)
+
+
+# DEPENDENCIES & Requirements
+
+find_package(Boost)
+
+if(NOT Boost_FOUND)
+    message(WARNING "Boost not found. Using libdbcppp boost (third-party/boost)")
+    include_directories("third-party/boost")
+endif()
+
+# kcd is an xml based can database
+message("kcd enabled: ${build_kcd}")
+
+if(build_kcd)
+    add_compile_definitions(ENABLE_KCD)
+
+    # LibXml2
+
+    find_package(LibXml2)
+
+    if (NOT LibXml2_FOUND)
+        message(WARNING "LibXml2 was not found. Using libdbcppp LibXml2 (third-party/libxml2)")
+        set(LIBXML2_WITH_ICONV OFF)
+        set(LIBXML2_WITH_LZMA OFF)
+        set(LIBXML2_WITH_PYTHON OFF)
+        set(LIBXML2_WITH_ZLIB OFF)
+        set(LIBXML2_WITH_TESTS OFF)
+        add_subdirectory(third-party/libxml2)
+    endif()
+
+    # libxmlmm (no find package because it is certainly not installed
+
+    add_subdirectory("third-party/libxmlmm")
+    target_include_directories(libxmlmm PUBLIC third-party/libxmlmm/libxmlmm ${LIBXML2_INCLUDE_DIR})
+endif()
+
+
+# CREATE LIBRARY
+
+file(GLOB include "include/dbcppp/*.h")
+file(GLOB headers "src/*.h")
+file(GLOB sources "src/*.cpp")
+
+add_library(${PROJECT_NAME} SHARED ${include} ${headers} ${sources})
+
+
+# CONFIGURE LIBRARY
+
+if (build_kcd)
+    target_link_libraries(${PROJECT_NAME} PUBLIC libxmlmm)
+endif()
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    SOVERSION ${PROJECT_VERSION}
+    PUBLIC_HEADER "${include}"
+)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/dbcppp>
+    $<INSTALL_INTERFACE:include/dbcppp>
+    include/
+)
+
+# INSTALL LIBRARY
+
+install(TARGETS ${PROJECT_NAME}
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    PUBLIC_HEADER DESTINATION include/dbcppp
+)
+
+
+# ADDITIONAL: Tools, Tests & Examples
+
+if (build_tools)
+    add_subdirectory(third-party/cxxopts)
+    add_subdirectory(tools/dbcppp)
+endif()
+
+if (build_tests)
+  add_subdirectory(tests)
+endif()
+
+if (build_examples)
+  add_subdirectory(examples)
+endif()
+
+# PACKAGE (useful for debugging install, use make package)
+
+set(CPACK_INCLUDE_TOPLEVEL_DIRECTORY NO)
+set(CPACK_VERBATIM_VARIABLES YES)
+set(CPACK_SOURCE_GENERATOR "TGZ")
+set(CPACK_SOURCE_IGNORE_FILES \\.git/ build/ ".*~$")
+include(CPack)

control_ws/src/stanley/include/stanley/dbcppp/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 xR3b0rn
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

control_ws/src/stanley/include/stanley/dbcppp/README.md

@@ -0,0 +1,176 @@
+[![Build Status](https://github.com/xR3b0rn/dbcppp/actions/workflows/linux.yml/badge.svg?branch=master)
+# dbcppp
+A C/C++ DBC file parser based on `boost.spirit`. This library is designed for decoding performance.
+# Features
+* very fast decoding
+* verbose parser output in error case
+* DBC is editable through C/C++ interface exported from the library
+* read/write DBC file
+* decode functionality for frames of arbitrarily byte length
+* [cantools](https://github.com/eerimoq/cantools) like decoding
+* [KCD](https://github.com/julietkilo/kcd) file format support
+
+
+# Getting started
+## Build & Install
+```
+git clone --recurse-submodules https://github.com/xR3b0rn/dbcppp.git
+cd dbcppp
+mkdir build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+make -j
+make RunTests
+make install
+ldconfig # on Unix-systems only
+```
+
+# Usage example
+## Command line tool
+### dbc2
+```
+# generate C source from DBC/KCD
+dbcparser dbc2 --dbc=file.dbc --format=C
+# beauty or merge DBC/KCD
+dbcparser dbc2 --dbc=file1.dbc --dbc=file2.kcd --format=DBC
+# print DBC/KCD in human readable format
+dbcparser dbc2 --dbc=file1.dbc --dbc=file2.kcd --format=human
+```
+### decode
+[cantools](https://github.com/eerimoq/cantools) like decoding:
+```
+candump any | dbcppp decode --bus=vcan0,file1.dbc --bus=vcan1,file2.dbc
+```
+## Library
+* [Examples](https://github.com/xR3b0rn/dbcppp/tree/master/examples)
+* `C++`
+```C++
+#include <fstream>
+#include <dbcppp/Network.h>
+int main()
+{
+    std::unique_ptr<dbcppp::INetwork> net;
+    {
+        std::ifstream idbc("your.dbc");
+        net = dbcppp::INetwork::LoadDBCFromIs(idbc);
+    }
+    std::unordered_map<uint64_t, const dbcppp::IMessage*> messages;
+    for (const dbcppp::IMessage& msg : net->Messages())
+    {
+        messages.insert(std::make_pair(msg.Id(), &msg));
+    }
+    can_frame frame;
+    while (1)
+    {
+        receive_frame_data(&frame);
+        auto iter = messages.find(frame.can_id);
+        if (iter != messages.end())
+        {
+            const dbcppp::IMessage* msg = iter->second;
+            std::cout << "Received Message: " << msg->Name() << "\n";
+            for (const dbcppp::ISignal& sig : msg->Signals())
+            {
+                const dbcppp::ISignal* mux_sig = msg->MuxSignal();
+                if (sig.MultiplexerIndicator() != dbcppp::ISignal::EMultiplexer::MuxValue ||
+                    (mux_sig && mux_sig->Decode(frame.data) == sig.MultiplexerSwitchValue()))
+                {
+                    std::cout << "\t" << sig.Name() << "=" << sig.RawToPhys(sig.Decode(frame.data)) << sig.Unit() << "\n";
+                }
+            }
+        }
+    }
+}
+```
+* `C`
+```C
+#include <stdio.h>
+#include <dbcppp/CApi.h>
+int main()
+{
+    const dbcppp_Nework* net = dbcppp_NetworkLoadDBCFromFile("your.dbc");
+    if (net)
+    {
+        can_frame frame;
+        while (1)
+        {
+            receive_can_frame_from_somewhere(&frame);
+            const dbcppp_Message* msg = nullptr;
+            auto n_msgs = dbcppp_NetworkMessages_Size(net);
+            for (uint64_t i = 0; i < n_msgs; i++)
+            {
+                const dbcppp_Message* msg = dbcppp_NetworkMessages_Get(i);
+                if (dbcppp_MessageId(tmp) == frame.can_id)
+                {
+                    printf("Received message: %s\n", dbcppp_MessageGetName(msg));
+                    dbcppp_MessageForEachSignal(msg, print_signal_data, &frame);
+                    for (uint64_t i = 0; i < dbcppp_MessageSignals_Size(msg); i++)
+                    {
+                        const dbcppp_Signal* sig = dbcppp_MessageSignals_Get(msg, i);
+                        uint64_t raw = dbcppp_SignalDecode(sig, frame.data);
+                        double phys = dbcppp_SignalRawToPhys(sig, raw);
+                        printf("\t%s=%f\n", dbcppp_SignalName(sig), phys);
+                    }
+                }
+            }
+        }
+    }
+    dbcppp_NetworkFree(net);
+}
+```
+# DBC data types
+## Supported
+* version
+* new_symbols
+* bit_timing
+* nodes
+* value_tables
+* messages
+* message_transmitters
+* environment_variables
+* environment_variables_data
+* signal_types
+* comments
+* attribute_definitions
+* attribute_defaults
+* attribute_values
+* value_descriptions
+* signal_extended_value_type_list
+* signal_groups
+* signal_multiplexer_value
+## Not supported yet
+* sigtype_attr_list
+* signal_type_refs
+# Decode-function
+The signals decode function is using prestored masks and fixed offsets to speed up calculation, therefore the decoding-function should be almost as fast as a code generated decode function would be. The assembly of the `decode`-function on its critical path (signed and byte swap must happen) looks like this (VS19 10.0.18362.0 compiler):
+```
+template <Alignment aAlignment, Signal::ByteOrder aByteOrder, Signal::ValueType aValueType, Signal::ExtendedValueType aExtendedValueType>
+double template_decode(const Signal* sig, const void* nbytes) noexcept
+00007FF8025BCA73  mov         rax,rcx  
+00007FF8025BCA76  mov         rcx,qword ptr [rcx+140h]  
+00007FF8025BCA7D  xorps       xmm0,xmm0  
+00007FF8025BCA80  bswap       r8  
+00007FF8025BCA83  shr         r8,cl  
+00007FF8025BCA86  and         r8,qword ptr [rax+130h]  
+00007FF8025BCA8D  mov         rcx,qword ptr [rax+138h]  
+00007FF8025BCA94  mov         rax,rcx  
+00007FF8025BCA97  or          rcx,r8  
+00007FF8025BCA9A  and         rax,r8  
+00007FF8025BCA9D  cmove       rcx,r8  
+00007FF8025BCAA1  cvtsi2sd    xmm0,rcx  
+00007FF8025BCAA6  ret   
+```
+On the best path (no byteswap must take place and ExtendedValueType == Double) the decode function only has 5 instructions:
+```
+template <Alignment aAlignment, Signal::ByteOrder aByteOrder, Signal::ValueType aValueType, Signal::ExtendedValueType aExtendedValueType>
+double template_decode(const Signal* sig, const void* nbytes) noexcept
+00007FF8025BCAF0  mov         rax,qword ptr [rdx]  
+00007FF8025BCAF3  mov         qword ptr [rsp+8],rcx  
+00007FF8025BCAF8  mov         qword ptr [sig],rax  
+00007FF8025BCAFD  movsd       xmm0,mmword ptr [data]  
+00007FF8025BCB03  ret  
+```
+# Known issues
+* tests for decoding function for float/double is failing on some machines (currently only confirmed for System/s390x)
+# Similar projects
+  * [Vector_DBC](https://bitbucket.org/tobylorenz/vector_dbc/src/master/) Does basically the same, the biggest difference is that it uses `bison` instead of `boost::spirit` for grammar parsing
+  * [CAN BUS tools in Python 3 (cantools)](https://github.com/eerimoq/cantools) 

control_ws/src/stanley/include/stanley/dbcppp/cmake_uninstall.cmake.in

@@ -0,0 +1,21 @@
+if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+  if(EXISTS "$ENV{DESTDIR}${file}")
+    exec_program(
+      "@CMAKE_COMMAND@" ARGS "-E remove $ENV{DESTDIR}${file}"
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+    )
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+    endif(NOT "${rm_retval}" STREQUAL 0)
+  else(EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+  endif(EXISTS "$ENV{DESTDIR}${file}")
+endforeach(file)

control_ws/src/stanley/include/stanley/dbcppp/examples/BasicUsage/CMakeLists.txt

@@ -0,0 +1,18 @@
+
+include_directories(
+    ${CMAKE_SOURCE_DIR}/src
+    ${CMAKE_BINARY_DIR}/src
+)
+
+file(GLOB header
+    "*.h"
+)
+file(GLOB src
+    "*.cpp"
+)
+
+add_executable(${PROJECT_NAME}_ExampleBasicUsage ${header} ${src})
+set_target_properties(${PROJECT_NAME}_ExampleBasicUsage PROPERTIES LINKER_LANGUAGE CXX)
+set_property(TARGET ${PROJECT_NAME}_ExampleBasicUsage PROPERTY CXX_STANDARD 17)
+add_dependencies(${PROJECT_NAME}_ExampleBasicUsage ${PROJECT_NAME})
+target_link_libraries(${PROJECT_NAME}_ExampleBasicUsage ${PROJECT_NAME} ${Boost_LIBRARIES})