1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
|
# -*- coding: utf-8 -*-
import pytest
import canmatrix.formats
import os.path
import textwrap
import io
from canmatrix.convert import convert_pdu_container_to_multiplexed
def load_dbc():
test_file = "tests/files/dbc/test_frame_decoding.dbc"
return canmatrix.formats.loadp_flat(test_file)
def test_decode_with_dbc_big_endian():
cm = load_dbc()
# 001#8d00100100820100
frame_data_1 = bytearray([141, 0, 16, 1, 0, 130, 1, 0])
frame1 = cm.frame_by_id(canmatrix.ArbitrationId(1))
decoded1 = frame1.decode(frame_data_1)
assert decoded1["sig0"].raw_value == 1
assert decoded1["sig1"].raw_value == 35
assert decoded1["sig2"].raw_value == 0
assert decoded1["sig3"].raw_value == 2048
assert decoded1["sig4"].raw_value == 256
assert decoded1["sig5"].raw_value == 1
assert decoded1["sig6"].raw_value == 0
assert decoded1["sig7"].raw_value == 520
assert decoded1["sig8"].raw_value == 0
assert decoded1["sig9"].raw_value == 0
assert decoded1["sig10"].raw_value == 0
def test_decode_with_dbc_little_endian():
cm = load_dbc()
# 002#0C00057003001F83
frame_data = bytearray([12, 0, 5, 112, 3, 0, 31, 131])
frame = cm.frame_by_id(canmatrix.ArbitrationId(2))
decoded = frame.decode(frame_data)
assert decoded["secSig1"].raw_value == 0
assert decoded["secSig2"].raw_value == 0
assert decoded["secSig3"].raw_value == 0
assert decoded["secSig4"].raw_value == 2
assert decoded["secSig5"].raw_value == 0
assert decoded["secSig6"].raw_value == 0
assert decoded["secSig7"].raw_value == 0
assert decoded["secSig8"].raw_value == 3
assert decoded["secSig9"].raw_value == 1
assert decoded["secSig10"].raw_value == 1280
assert decoded["secSig11"].raw_value == -144
assert decoded["secSig12"].raw_value == 12
def test_decode_with_too_little_dlc():
cm = load_dbc()
# 002#0C00057003001F83
frame_data = bytearray([12, 0, 5, 112, 3, 0, 31])
frame = cm.frame_by_id(canmatrix.ArbitrationId(2))
with pytest.raises(canmatrix.DecodingFrameLength):
frame.decode(frame_data)
def test_decode_with_too_big_dlc():
cm = load_dbc()
frame_data1 = bytearray([0x38, 0x63, 0x8A, 0x7E, 0x00, 0x20, 0x00, 0x00])
frame = cm.frame_by_id(canmatrix.ArbitrationId(4))
with pytest.raises(canmatrix.DecodingFrameLength):
frame.decode(frame_data1)
def test_decode_with_dbc_float():
cm = load_dbc()
# 003#38638A7E58A8C540
frame_data = bytearray([0x38, 0x63, 0x8A, 0x7E, 0x58, 0xA8, 0xC5, 0x40])
frame = cm.frame_by_id(canmatrix.ArbitrationId(3))
decoded = frame.decode(frame_data)
assert decoded["floatSignal1"].raw_value == 5.424999835668132e-05
assert decoded["floatSignal2"].raw_value == 6.176799774169922
def test_decode_with_dbc_multiplex():
cm = load_dbc()
frame_data1 = bytearray([0x38, 0x63, 0x8A, 0x7E, 0x00, 0x20, 0x00])
frame = cm.frame_by_id(canmatrix.ArbitrationId(4))
decoded1 = frame.decode(frame_data1)
assert decoded1["myMuxer"].raw_value == 0
assert decoded1["muxSig9"].raw_value == 0x20
assert decoded1["muxSig1"].raw_value == 0x38
assert decoded1["muxSig2"].raw_value == 0x63
assert decoded1["muxSig3"].raw_value == 0x8A
assert decoded1["muxSig4"].raw_value == 0x3F
assert decoded1["muxSig9"].raw_value == 0x20
frame_data2 = bytearray([0x38, 0x63, 0x8A, 0x1E, 0x18, 0x20, 0x20])
decoded2 = frame.decode(frame_data2)
assert decoded2["myMuxer"].raw_value == 1
assert decoded2["muxSig9"].raw_value == 0x20
assert decoded2["muxSig5"].raw_value == -6
assert decoded2["muxSig6"].raw_value == 0x18
assert decoded2["muxSig7"].raw_value == 0x0C
assert decoded2["muxSig8"].raw_value == -8
assert decoded2["muxSig9"].raw_value == 0x20
def test_decode_complex_multiplexed():
dbc = io.BytesIO(textwrap.dedent(u'''\
BO_ 2024 OBD2: 8 Vector__XXX
SG_ ParameterID_Service01 m1M : 23|8@0+ (1,0) [0|0] "" Vector__XXX
SG_ Vehicle_speed m13 : 31|8@0+ (1,0) [0|0] "" Vector__XXX
SG_ service M : 11|4@0+ (1,0) [0|0] "" Vector__XXX
SG_ MAF_air_flow_rate m16 : 31|16@0+ (0.01,0) [0|0] "grams/sec" Vector__XXX
SG_MUL_VAL_ 2024 ParameterID_Service01 service 1-1;
SG_MUL_VAL_ 2024 Vehicle_speed ParameterID_Service01 13-13;
SG_MUL_VAL_ 2024 MAF_air_flow_rate ParameterID_Service01 16-16;
''').encode('utf-8'))
matrix = canmatrix.formats.dbc.load(dbc, dbcImportEncoding="utf8")
decoded = matrix.decode(canmatrix.ArbitrationId(2024),bytearray([0x03,0x41,0x0d,0x00,0xaa,0xaa,0xaa,0xaa]))
assert decoded["Vehicle_speed"].raw_value == 0
assert "MAF_air_flow_rate" not in decoded
def test_decode_pdu_container():
frame_id = canmatrix.ArbitrationId(id=10, extended=False)
frame = canmatrix.Frame(
arbitration_id=frame_id,
name="test",
)
s1 = canmatrix.Signal(
name="Header_ID",
size=24,
is_signed=False,
is_little_endian=False,
)
s1.set_startbit(7, bitNumbering=1)
s2 = canmatrix.Signal(
name="Header_DLC",
size=8,
is_signed=False,
is_little_endian=False,
)
s2.set_startbit(7+24, bitNumbering=1)
frame.add_signal(s1)
frame.add_signal(s2)
# PDU 1
pdu1 = canmatrix.Pdu(
name="pdu1",
id=10,
size=2,
)
ps11 = canmatrix.Signal(
name="s11",
size=8,
is_signed=False,
is_little_endian=False,
)
ps11.set_startbit(7+0, bitNumbering=1)
ps12 = canmatrix.Signal(
name="s12",
size=8,
is_signed=False,
is_little_endian=False,
)
ps12.set_startbit(7+8, bitNumbering=1)
pdu1.add_signal(ps11)
pdu1.add_signal(ps12)
frame.add_pdu(pdu1)
# PDU 2
pdu2 = canmatrix.Pdu(
name="pdu2",
id=11,
size=2,
)
ps21 = canmatrix.Signal(
name="s21",
size=8,
is_signed=False,
is_little_endian=False,
)
ps21.set_startbit(7+0, bitNumbering=1)
ps22 = canmatrix.Signal(
name="s22",
size=8,
is_signed=False,
is_little_endian=False,
)
ps22.set_startbit(7+8, bitNumbering=1)
pdu2.add_signal(ps21)
pdu2.add_signal(ps22)
frame.add_pdu(pdu2)
frame.calc_dlc()
data = bytearray([0, 0, 10, 2, 10, 13, 0, 0, 11, 2, 25, 30])
decoded = frame.decode(data)
assert decoded["pdus"][0]["pdu1"]["s11"].raw_value == 10
assert decoded["pdus"][0]["pdu1"]["s12"].raw_value == 13
assert decoded["pdus"][1]["pdu2"]["s21"].raw_value == 25
assert decoded["pdus"][1]["pdu2"]["s22"].raw_value == 30
def test_pdu_container_decoding_without_header():
frame = canmatrix.Frame(
name="frame",
size=8,
)
pdu = canmatrix.Pdu(
name="pdu",
size=8,
)
frame.add_pdu(pdu)
data = bytearray([0] * frame.size)
with pytest.raises(canmatrix.DecodingConatainerPdu):
frame.decode(data)
def test_decoding_between_multiplexed_and_container_pdu():
frame_id = canmatrix.ArbitrationId(id=10, extended=False)
frame = canmatrix.Frame(
arbitration_id=frame_id,
name="test",
)
s1 = canmatrix.Signal(
name="Header_ID",
size=24,
is_signed=False,
is_little_endian=False,
)
s1.set_startbit(7, bitNumbering=1)
s2 = canmatrix.Signal(
name="Header_DLC",
size=8,
is_signed=False,
is_little_endian=False,
)
s2.set_startbit(7+24, bitNumbering=1)
frame.add_signal(s1)
frame.add_signal(s2)
# PDU 1
pdu1 = canmatrix.Pdu(
name="pdu1",
id=10,
size=2,
)
ps11 = canmatrix.Signal(
name="s11",
size=8,
is_signed=False,
is_little_endian=False,
)
ps11.set_startbit(7+0, bitNumbering=1)
ps12 = canmatrix.Signal(
name="s12",
size=8,
is_signed=False,
is_little_endian=False,
)
ps12.set_startbit(7+8, bitNumbering=1)
pdu1.add_signal(ps11)
pdu1.add_signal(ps12)
frame.add_pdu(pdu1)
frame.calc_dlc()
data = bytearray([0, 0, 10, 2, 125, 200])
decoded = frame.decode(data)
assert decoded["pdus"][0]["pdu1"]["s11"].raw_value == 125
assert decoded["pdus"][0]["pdu1"]["s12"].raw_value == 200
new_frame = convert_pdu_container_to_multiplexed(frame)
decoded = new_frame.decode(data)
assert decoded["s11"].raw_value == 125
assert decoded["s12"].raw_value == 200
|
