Shortened DBC in the README and fixed linting issues

README.md

@@ -34,40 +34,16 @@ func main() {
     BU_: DBG DRIVER IO MOTOR SENSOR
     
     BO_ 1530 DisconnectState: 14 MOTOR
-    SG_ LockCountRearRight : 91|20@0+ (1,0) [0|1048575] ""  IO
-    SG_ DisconnectStateRearRight : 95|4@0+ (1,0) [0|5] ""  IO
-    SG_ CurrentRearRight : 79|16@0+ (1,0) [0|65535] ""  IO
-    SG_ DisconnectStateRearRightTarget : 64|1@0+ (1,0) [0|1] ""  IO
-    SG_ TargetSpeedRearRight : 63|15@0+ (0.125,-2048) [-2048|2047.875] "rad/s"  IO
-    SG_ LockCountRearLeft : 35|20@0+ (1,0) [0|1048575] ""  IO
-    SG_ DisconnectStateRearLeft : 39|4@0+ (1,0) [0|5] ""  IO
-    SG_ CurrentRearLeft : 23|16@0+ (1,0) [0|65535] ""  IO
-    SG_ DisconnectStateRearLeftTarget : 8|1@0+ (1,0) [0|1] ""  IO
-    SG_ TargetSpeedRearLeft : 7|15@0+ (0.125,-2048) [-2048|2047.875] "rad/s"  IO
-    
-    BA_DEF_ "BusType" STRING ;
-    BA_DEF_ BO_  "GenMsgSendType" ENUM  "None","Cyclic","OnEvent";
-    BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
-    BA_DEF_ SG_  "FieldType" STRING ;
-    BA_DEF_ SG_  "GenSigStartValue" INT 0 10000;
-    BA_DEF_DEF_ "BusType" "CAN";
-    BA_DEF_DEF_ "FieldType" "";
-    BA_DEF_DEF_ "GenMsgCycleTime" 0;
-    BA_DEF_DEF_ "GenSigStartValue" 0;
-
-    BA_ "GenMsgSendType" BO_ 1 0;
-    BA_ "GenMsgSendType" BO_ 100 1;
-    BA_ "GenMsgCycleTime" BO_ 100 1000;
-    BA_ "GenMsgSendType" BO_ 101 1;
-    BA_ "GenMsgCycleTime" BO_ 101 100;
-    BA_ "GenMsgSendType" BO_ 200 1;
-    BA_ "GenMsgCycleTime" BO_ 200 100;
-    BA_ "GenMsgSendType" BO_ 400 1;
-    BA_ "GenMsgCycleTime" BO_ 400 100;
-    BA_ "GenMsgSendType" BO_ 500 2;
-    BA_ "FieldType" SG_ 100 Command "Command";
-    BA_ "FieldType" SG_ 500 TestEnum "TestEnum";
-    BA_ "GenSigStartValue" SG_ 500 TestEnum 2;
+     SG_ LockCountRearRight : 91|20@0+ (1,0) [0|1048575] ""  IO
+     SG_ DisconnectStateRearRight : 95|4@0+ (1,0) [0|5] ""  IO
+     SG_ CurrentRearRight : 79|16@0+ (1,0) [0|65535] ""  IO
+     SG_ DisconnectStateRearRightTarget : 64|1@0+ (1,0) [0|1] ""  IO
+     SG_ TargetSpeedRearRight : 63|15@0+ (0.125,-2048) [-2048|2047.875] "rad/s"  IO
+     SG_ LockCountRearLeft : 35|20@0+ (1,0) [0|1048575] ""  IO
+     SG_ DisconnectStateRearLeft : 39|4@0+ (1,0) [0|5] ""  IO
+     SG_ CurrentRearLeft : 23|16@0+ (1,0) [0|65535] ""  IO
+     SG_ DisconnectStateRearLeftTarget : 8|1@0+ (1,0) [0|1] ""  IO
+     SG_ TargetSpeedRearLeft : 7|15@0+ (0.125,-2048) [-2048|2047.875] "rad/s"  IO
     
     VAL_ 1530 DisconnectStateRearRight 0 "Undefined" 1 "Locked" 2 "Unlocked" 3 "Locking" 4 "Unlocking" 5 "Faulted" ;
     VAL_ 1530 DisconnectStateRearLeft 0 "Undefined" 1 "Locked" 2 "Unlocked" 3 "Locking" 4 "Unlocking" 5 "Faulted" ;

payload.go

@@ -104,11 +104,13 @@ type Payload struct {
 	PackedBigEndian *big.Int
 }
 
+// Hex returns the hexadecimal representation of the byte array in a Payload
 func (p *Payload) Hex() string {
 	h := hex.EncodeToString(p.Data)
 	return h
 }
 
+// PayloadFromHex generates a Payload from a hexadecimal string.
 func PayloadFromHex(hexString string) (Payload, error) {
 	b, err := hex.DecodeString(hexString)
 	var p Payload
@@ -122,14 +124,12 @@ func PayloadFromHex(hexString string) (Payload, error) {
 // UnsignedBitsLittleEndian returns the little-endian bit range [start, start+length) as an unsigned value.
 func (p *Payload) UnsignedBitsLittleEndian(start, length uint16) uint64 {
 	// pack bits into one continuous value
-
 	packed := p.PackLittleEndian()
 	// lsb index in the packed value is the start bit
 	lsbIndex := uint(start)
 	// shift away lower bits
 	shifted := packed.Rsh(packed, lsbIndex)
 	// mask away higher bits
-	//masked := shifted & ((1 << length) - 1)
 	masked := shifted.And(shifted, big.NewInt((1<<length)-1))
 	// done
 	return masked.Uint64()
@@ -163,7 +163,7 @@ func (p *Payload) SignedBitsBigEndian(start, length uint16) int64 {
 	return AsSigned(unsigned, length)
 }
 
-// TODO: Implement SetUnsignedBitsLittleEndian for Payload
+// TODO: Implement SetUnsignedBitsLittleEndian for Payload.
 // SetUnsignedBitsLittleEndian sets the little-endian bit range [start, start+length) to the provided unsigned value.
 // func (d *Data) SetUnsignedBitsLittleEndian(start, length uint8, value uint64) {
 // 	// pack bits into one continuous value
@@ -180,7 +180,7 @@ func (p *Payload) SignedBitsBigEndian(start, length uint16) int64 {
 // 	d.UnpackLittleEndian(newPacked)
 // }
 
-// TODO: Implement SetUnsignedBitsBigEndian for Payload
+// TODO: Implement SetUnsignedBitsBigEndian for Payload.
 // SetUnsignedBitsBigEndian sets the big-endian bit range [start, start+length) to the provided unsigned value.
 // func (d *Data) SetUnsignedBitsBigEndian(start, length uint8, value uint64) {
 // 	// pack bits into one continuous value
@@ -199,13 +199,13 @@ func (p *Payload) SignedBitsBigEndian(start, length uint16) int64 {
 // 	d.UnpackBigEndian(newPacked)
 // }
 
-// TODO: Implement SetSignedBitsLittleEndian for Payload
+// TODO: Implement SetSignedBitsLittleEndian for Payload.
 // SetSignedBitsLittleEndian sets the little-endian bit range [start, start+length) to the provided signed value.
 // func (d *Data) SetSignedBitsLittleEndian(start, length uint8, value int64) {
 // 	d.SetUnsignedBitsLittleEndian(start, length, reinterpret.AsUnsigned(value, length))
 // }
 
-// TODO: Implement SetSignedBitsBigEndian for Payload
+// TODO: Implement SetSignedBitsBigEndian for Payload.
 // SetSignedBitsBigEndian sets the big-endian bit range [start, start+length) to the provided signed value.
 // func (d *Data) SetSignedBitsBigEndian(start, length uint8, value int64) {
 // 	d.SetUnsignedBitsBigEndian(start, length, reinterpret.AsUnsigned(value, length))
@@ -240,7 +240,7 @@ func (p *Payload) SetBit(i uint16, value bool) {
 	}
 }
 
-// PackLittleEndian packs the byte array into a continuous little endian big.Int
+// PackLittleEndian packs the byte array into a continuous little endian big.Int.
 func (p *Payload) PackLittleEndian() *big.Int {
 	if p.PackedLittleEndian == nil {
 		packed := new(big.Int).SetBytes(reverse(p.Data))
@@ -249,7 +249,7 @@ func (p *Payload) PackLittleEndian() *big.Int {
 	return new(big.Int).Set(p.PackedLittleEndian)
 }
 
-// reverse byte array for little endian signals
+// Reverse byte array for little endian signals.
 func reverse(data []byte) []byte {
 	reversedArray := make([]byte, len(data))
 	for i, j := 0, len(data)-1; i < j; i, j = i+1, j-1 {
@@ -258,7 +258,7 @@ func reverse(data []byte) []byte {
 	return reversedArray
 }
 
-// PackBigEndian packs the byte array into a continuous big endian big.Int
+// PackBigEndian packs the byte array into a continuous big endian big.Int.
 func (p *Payload) PackBigEndian() *big.Int {
 	if p.PackedBigEndian == nil {
 		var packed = new(big.Int).SetBytes(p.Data)
@@ -267,7 +267,7 @@ func (p *Payload) PackBigEndian() *big.Int {
 	return new(big.Int).Set(p.PackedBigEndian)
 }
 
-// TODO: Implement UnpackLittleEndian for Payload
+// TODO: Implement UnpackLittleEndian for Payload.
 // UnpackLittleEndian sets the value of d.Bytes by unpacking the provided value as sequential little-endian bits.
 // func (d *Data) UnpackLittleEndian(packed uint64) {
 // 	d[0] = uint8(packed >> (0 * 8))
@@ -280,7 +280,7 @@ func (p *Payload) PackBigEndian() *big.Int {
 // 	d[7] = uint8(packed >> (7 * 8))
 // }
 
-// TODO: Implement UnpackBigEndian for Payload
+// TODO: Implement UnpackBigEndian for Payload.
 // UnpackBigEndian sets the value of d.Bytes by unpacking the provided value as sequential big-endian bits.
 // func (d *Data) UnpackBigEndian(packed uint64) {
 // 	d[0] = uint8(packed >> (7 * 8))

payload_test.go

@@ -20,11 +20,7 @@ func TestPackLittleEndian(t *testing.T) {
 
 	dataLittleEndian := payload.PackLittleEndian()
 	fmt.Println(dataLittleEndian)
-	fmt.Println(fmt.Sprintf("%b", dataLittleEndian))
-
-	// if fmt.Sprintf("%08b", dataLittleEndian) != "10010000000010010001101000000" {
-	// 	t.Errorf("fmt.Sprintf('%08b', dataLittleEndian)  = %s); want 10010000000010010001101000000", fmt.Sprintf("%08b", dataLittleEndian))
-	// }
+	fmt.Printf("%b\n", dataLittleEndian)
 }
 
 func TestPackBigEndian(t *testing.T) {
@@ -35,11 +31,7 @@ func TestPackBigEndian(t *testing.T) {
 
 	dataBigEndian := payload.PackBigEndian()
 	fmt.Println(dataBigEndian)
-	fmt.Println(fmt.Sprintf("%b", dataBigEndian))
-
-	// if fmt.Sprintf("%08b", dataBigEndian) != "10000000010001100000001000100100" {
-	// 	t.Errorf("fmt.Sprintf('%08b', dataBigEndian)  = %s); want 10000000010001100000001000100100", fmt.Sprintf("%08b", dataBigEndian))
-	// }
+	fmt.Printf("%b\n", dataBigEndian)
 }
 
 func TestUnsignedLittleEndian(t *testing.T) {

pkg/descriptor/message.go

@@ -40,9 +40,8 @@ func (m *Message) MultiplexerSignal() (*Signal, bool) {
 	return nil, false
 }
 
-// Decode decodes a can Payload into a decoded signal array
+// Decode decodes a can Payload into a decoded signal array.
 func (m *Message) Decode(p *can.Payload) []DecodedSignal {
-
 	var data can.Data
 	if m.Length <= 8 {
 		copy(data[:], p.Data)
@@ -73,5 +72,4 @@ func (m *Message) Decode(p *can.Payload) []DecodedSignal {
 
 	}
 	return signals
-
 }

pkg/descriptor/signal.go

@@ -47,7 +47,7 @@ type Signal struct {
 type DecodedSignal struct {
 	// Value is the physical value of a decoded signal
 	Value float64
-	// Description physical descritpion of a decoded signal
+	// Description physical description of a decoded signal
 	Description string
 	// Signal is a pointer to the dbc signal
 	Signal *Signal
@@ -246,9 +246,9 @@ func (s *Signal) UnmarshalValueDescriptionPayload(p *can.Payload) (string, bool)
 // UnmarshalSigned returns the signed value of the signal in the provided CAN frame.
 func (s *Signal) UnmarshalSigned(d can.Data) int64 {
 	if s.IsBigEndian {
-		return d.SignedBitsBigEndian(uint8(s.Start), uint8(uint8(s.Length)))
+		return d.SignedBitsBigEndian(uint8(s.Start), uint8(s.Length))
 	}
-	return d.SignedBitsLittleEndian(uint8(s.Start), uint8(uint8(s.Length)))
+	return d.SignedBitsLittleEndian(uint8(s.Start), uint8(s.Length))
 }
 
 // UnmarshalSignedPayload returns the signed value of the signal in the provided CAN frame.

tests/decode_test.go

@@ -125,7 +125,6 @@ func getDatabase() descriptor.Database {
 }
 
 func TestDecodeEvaporatorVariables(t *testing.T) {
-
 	c, err := generate.Compile("test.dbc", dbc)
 	if err != nil {
 		t.Errorf("err = %v; want nil", err)
@@ -137,7 +136,6 @@ func TestDecodeEvaporatorVariables(t *testing.T) {
 	canDataHexString := "008232204e027600ca4b0007d296"
 
 	payload, err := can.PayloadFromHex(canDataHexString)
-	// ci := packet.Metadata().CaptureInfo
 	if err != nil {
 		t.Errorf("err = %v; want nil", err)
 	}
@@ -195,14 +193,15 @@ func TestDecodeEvaporatorVariables(t *testing.T) {
 		},
 	}
 
-	var expectedMap = make(map[string]signal)
+	expectedMap := make(map[string]signal)
 	for _, s := range expected {
 		expectedMap[s.name] = s
 	}
 
 	for _, signal := range message.Signals {
 		value := signal.UnmarshalPhysicalPayload(&payload)
 		valueDesc, _ := signal.UnmarshalValueDescriptionPayload(&payload)
+		unit := signal.Unit
 		name := signal.Name
 
 		if value != expectedMap[name].value {
@@ -212,6 +211,10 @@ func TestDecodeEvaporatorVariables(t *testing.T) {
 		if valueDesc != expectedMap[name].description {
 			t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, expectedMap[name].description)
 		}
+
+		if unit != expectedMap[name].unit {
+			t.Errorf("signal[%s] value = %s ; expected: %s", name, unit, expectedMap[name].unit)
+		}
 	}
 
 	for _, signal := range message.Decode(&payload) {
@@ -311,7 +314,7 @@ func TestDecodeDisconnectState(t *testing.T) {
 		},
 	}
 
-	var expectedMap = make(map[string]signal)
+	expectedMap := make(map[string]signal)
 	for _, s := range expected {
 		expectedMap[s.name] = s
 	}
@@ -320,6 +323,7 @@ func TestDecodeDisconnectState(t *testing.T) {
 	for _, signal := range message.Signals {
 		value := signal.UnmarshalPhysicalPayload(&p)
 		valueDesc, _ := signal.UnmarshalValueDescriptionPayload(&p)
+		unit := signal.Unit
 		name := signal.Name
 
 		if value != expectedMap[name].value {
@@ -329,11 +333,14 @@ func TestDecodeDisconnectState(t *testing.T) {
 		if valueDesc != expectedMap[name].description {
 			t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, expectedMap[name].description)
 		}
+
+		if unit != expectedMap[name].unit {
+			t.Errorf("signal[%s] value = %s ; expected: %s", name, unit, expectedMap[name].unit)
+		}
 	}
 }
 
 func TestDecodeSensorSonarsData(t *testing.T) {
-
 	data := can.Data{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
 	payload := can.Payload{Data: data[:]}
 
@@ -359,7 +366,6 @@ func TestDecodeSensorSonarsData(t *testing.T) {
 }
 
 func TestMessageDecodeSensorSonarsData(t *testing.T) {
-
 	data := can.Data{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
 	payload := can.Payload{Data: data[:]}
 
@@ -386,7 +392,6 @@ func TestMessageDecodeSensorSonarsData(t *testing.T) {
 }
 
 func BenchmarkDecodeData(b *testing.B) {
-
 	message, _ := db.Message(uint32(500))
 	decodeSignal := func() {
 		data := can.Data{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
@@ -401,7 +406,6 @@ func BenchmarkDecodeData(b *testing.B) {
 }
 
 func BenchmarkDecodePayload(b *testing.B) {
-
 	// {0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
 
 	message, _ := db.Message(uint32(500))