sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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#include "tools/cabana/dbc/dbcfile.h"
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#include <QFile>
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#include <QFileInfo>
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#include <QRegularExpression>
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#include <QString>
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DBCFile::DBCFile(const std::string &dbc_file_name) {
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QFile file(QString::fromStdString(dbc_file_name));
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if (file.open(QIODevice::ReadOnly)) {
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name_ = QFileInfo(QString::fromStdString(dbc_file_name)).baseName().toStdString();
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filename = dbc_file_name;
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parse(file.readAll());
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} else {
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throw std::runtime_error("Failed to open file.");
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}
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}
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DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name), filename("") {
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parse(QString::fromStdString(content));
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}
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bool DBCFile::save() {
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assert(!filename.empty());
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return writeContents(filename);
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}
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bool DBCFile::saveAs(const std::string &new_filename) {
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filename = new_filename;
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return save();
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}
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bool DBCFile::writeContents(const std::string &fn) {
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QFile file(QString::fromStdString(fn));
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if (file.open(QIODevice::WriteOnly)) {
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std::string content = generateDBC();
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return file.write(content.c_str(), content.size()) >= 0;
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}
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return false;
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}
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void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
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auto &m = msgs[id.address];
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m.address = id.address;
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m.name = name;
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m.size = size;
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m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node;
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m.comment = comment;
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}
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cabana::Msg *DBCFile::msg(uint32_t address) {
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auto it = msgs.find(address);
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return it != msgs.end() ? &it->second : nullptr;
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}
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cabana::Msg *DBCFile::msg(const std::string &name) {
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auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
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return it != msgs.end() ? &(it->second) : nullptr;
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}
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cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
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auto m = msg(address);
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return m ? (cabana::Signal *)m->sig(name) : nullptr;
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}
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void DBCFile::parse(const QString &content) {
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msgs.clear();
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int line_num = 0;
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QString line;
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cabana::Msg *current_msg = nullptr;
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int multiplexor_cnt = 0;
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bool seen_first = false;
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QTextStream stream((QString *)&content);
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while (!stream.atEnd()) {
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++line_num;
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QString raw_line = stream.readLine();
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line = raw_line.trimmed();
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bool seen = true;
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try {
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if (line.startsWith("BO_ ")) {
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multiplexor_cnt = 0;
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current_msg = parseBO(line);
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} else if (line.startsWith("SG_ ")) {
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parseSG(line, current_msg, multiplexor_cnt);
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} else if (line.startsWith("VAL_ ")) {
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parseVAL(line);
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} else if (line.startsWith("CM_ BO_")) {
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parseCM_BO(line, content, raw_line, stream);
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} else if (line.startsWith("CM_ SG_ ")) {
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parseCM_SG(line, content, raw_line, stream);
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} else {
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seen = false;
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}
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} catch (std::exception &e) {
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throw std::runtime_error(QString("[%1:%2]%3: %4").arg(QString::fromStdString(filename)).arg(line_num).arg(e.what()).arg(line).toStdString());
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}
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if (seen) {
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seen_first = true;
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} else if (!seen_first) {
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header += raw_line.toStdString() + "\n";
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}
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}
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for (auto &[_, m] : msgs) {
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m.update();
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}
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}
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cabana::Msg *DBCFile::parseBO(const QString &line) {
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static QRegularExpression bo_regexp(R"(^BO_ (?<address>\w+) (?<name>\w+) *: (?<size>\w+) (?<transmitter>\w+))");
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QRegularExpressionMatch match = bo_regexp.match(line);
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if (!match.hasMatch())
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throw std::runtime_error("Invalid BO_ line format");
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uint32_t address = match.captured("address").toUInt();
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if (msgs.count(address) > 0)
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throw std::runtime_error(QString("Duplicate message address: %1").arg(address).toStdString());
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// Create a new message object
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cabana::Msg *msg = &msgs[address];
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msg->address = address;
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msg->name = match.captured("name").toStdString();
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msg->size = match.captured("size").toULong();
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msg->transmitter = match.captured("transmitter").trimmed().toStdString();
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return msg;
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}
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void DBCFile::parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
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static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(?<address>\w+) *\"(?<comment>(?:[^"\\]|\\.)*)\"\s*;)");
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QString parse_line = line;
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if (!parse_line.endsWith("\";")) {
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int pos = stream.pos() - raw_line.length() - 1;
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parse_line = content.mid(pos, content.indexOf("\";", pos));
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}
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auto match = msg_comment_regexp.match(parse_line);
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if (!match.hasMatch())
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throw std::runtime_error("Invalid message comment format");
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if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
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m->comment = match.captured("comment").trimmed().replace("\\\"", "\"").toStdString();
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}
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void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
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static QRegularExpression sg_regexp(R"(^SG_ (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
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static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
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if (!current_msg)
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throw std::runtime_error("No Message");
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int offset = 0;
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auto match = sg_regexp.match(line);
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if (!match.hasMatch()) {
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match = sgm_regexp.match(line);
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offset = 1;
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}
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if (!match.hasMatch())
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throw std::runtime_error("Invalid SG_ line format");
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std::string name = match.captured(1).toStdString();
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if (current_msg->sig(name) != nullptr)
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throw std::runtime_error("Duplicate signal name");
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cabana::Signal s{};
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if (offset == 1) {
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auto indicator = match.captured(2);
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if (indicator == "M") {
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++multiplexor_cnt;
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// Only one signal within a single message can be the multiplexer switch.
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if (multiplexor_cnt >= 2)
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throw std::runtime_error("Multiple multiplexor");
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s.type = cabana::Signal::Type::Multiplexor;
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} else {
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s.type = cabana::Signal::Type::Multiplexed;
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s.multiplex_value = indicator.mid(1).toInt();
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}
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}
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s.name = name;
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s.start_bit = match.captured(offset + 2).toInt();
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s.size = match.captured(offset + 3).toInt();
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s.is_little_endian = match.captured(offset + 4).toInt() == 1;
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s.is_signed = match.captured(offset + 5) == "-";
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s.factor = match.captured(offset + 6).toDouble();
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s.offset = match.captured(offset + 7).toDouble();
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s.min = match.captured(8 + offset).toDouble();
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s.max = match.captured(9 + offset).toDouble();
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s.unit = match.captured(10 + offset).toStdString();
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s.receiver_name = match.captured(11 + offset).trimmed().toStdString();
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current_msg->sigs.push_back(new cabana::Signal(s));
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}
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void DBCFile::parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
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static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
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QString parse_line = line;
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if (!parse_line.endsWith("\";")) {
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int pos = stream.pos() - raw_line.length() - 1;
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parse_line = content.mid(pos, content.indexOf("\";", pos));
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}
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auto match = sg_comment_regexp.match(parse_line);
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if (!match.hasMatch())
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throw std::runtime_error("Invalid CM_ SG_ line format");
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if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
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s->comment = match.captured(3).trimmed().replace("\\\"", "\"").toStdString();
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}
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}
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void DBCFile::parseVAL(const QString &line) {
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static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
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auto match = val_regexp.match(line);
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if (!match.hasMatch())
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throw std::runtime_error("invalid VAL_ line format");
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if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
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QStringList desc_list = match.captured(3).trimmed().split('"');
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for (int i = 0; i < desc_list.size(); i += 2) {
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auto val = desc_list[i].trimmed();
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if (!val.isEmpty() && (i + 1) < desc_list.size()) {
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auto desc = desc_list[i + 1].trimmed();
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s->val_desc.push_back({val.toDouble(), desc.toStdString()});
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}
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}
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}
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}
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std::string DBCFile::generateDBC() {
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std::string dbc_string, comment, val_desc;
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for (const auto &[address, m] : msgs) {
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const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
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dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
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if (!m.comment.empty()) {
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std::string escaped_comment = m.comment;
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// Replace " with \"
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for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
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escaped_comment.replace(pos, 1, "\\\"");
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comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped_comment + "\";\n";
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}
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for (auto sig : m.getSignals()) {
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std::string multiplexer_indicator;
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if (sig->type == cabana::Signal::Type::Multiplexor) {
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multiplexer_indicator = "M ";
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} else if (sig->type == cabana::Signal::Type::Multiplexed) {
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multiplexer_indicator = "m" + std::to_string(sig->multiplex_value) + " ";
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}
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const std::string &recv = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
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dbc_string += " SG_ " + sig->name + " " + multiplexer_indicator + ": " +
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std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
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std::string(1, sig->is_little_endian ? '1' : '0') +
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std::string(1, sig->is_signed ? '-' : '+') +
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" (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
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" [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "]" +
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" \"" + sig->unit + "\" " + recv + "\n";
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if (!sig->comment.empty()) {
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std::string escaped_comment = sig->comment;
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for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
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escaped_comment.replace(pos, 1, "\\\"");
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comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped_comment + "\";\n";
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}
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if (!sig->val_desc.empty()) {
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std::string text;
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for (auto &[val, desc] : sig->val_desc) {
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if (!text.empty()) text += " ";
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char val_buf[64];
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snprintf(val_buf, sizeof(val_buf), "%g", val);
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text += std::string(val_buf) + " \"" + desc + "\"";
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}
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val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
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}
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}
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dbc_string += "\n";
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}
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return header + dbc_string + comment + val_desc;
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}
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