-
-
Notifications
You must be signed in to change notification settings - Fork 558
/
arxml.py
953 lines (755 loc) · 30.8 KB
/
arxml.py
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
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
# Load and dump a CAN database in ARXML format.
import logging
from decimal import Decimal
from xml.etree import ElementTree
from ..signal import Signal
from ..signal import Decimal as SignalDecimal
from ..message import Message
from ..internal_database import InternalDatabase
LOGGER = logging.getLogger(__name__)
# The ARXML XML namespace.
NAMESPACE = 'http://autosar.org/schema/r4.0'
NAMESPACES = {'ns': NAMESPACE}
ROOT_TAG = '{{{}}}AUTOSAR'.format(NAMESPACE)
def make_xpath(location):
return './ns:' + '/ns:'.join(location)
# ARXML XPATHs.
CAN_FRAME_TRIGGERINGS_XPATH = make_xpath([
'AR-PACKAGES',
'AR-PACKAGE',
'ELEMENTS',
'CAN-CLUSTER',
'CAN-CLUSTER-VARIANTS',
'CAN-CLUSTER-CONDITIONAL',
'PHYSICAL-CHANNELS',
'CAN-PHYSICAL-CHANNEL',
'FRAME-TRIGGERINGS',
'CAN-FRAME-TRIGGERING'
])
FRAME_REF_XPATH = make_xpath(['FRAME-REF'])
SHORT_NAME_XPATH = make_xpath(['SHORT-NAME'])
IDENTIFIER_XPATH = make_xpath(['IDENTIFIER'])
FRAME_LENGTH_XPATH = make_xpath(['FRAME-LENGTH'])
CAN_ADDRESSING_MODE_XPATH = make_xpath(['CAN-ADDRESSING-MODE'])
PDU_REF_XPATH = make_xpath([
'PDU-TO-FRAME-MAPPINGS',
'PDU-TO-FRAME-MAPPING',
'PDU-REF'
])
I_SIGNAL_TO_I_PDU_MAPPING_XPATH = make_xpath([
'I-SIGNAL-TO-PDU-MAPPINGS',
'I-SIGNAL-TO-I-PDU-MAPPING'
])
TIME_PERIOD_XPATH = make_xpath([
'I-PDU-TIMING-SPECIFICATIONS',
'I-PDU-TIMING',
'TRANSMISSION-MODE-DECLARATION',
'TRANSMISSION-MODE-TRUE-TIMING',
'CYCLIC-TIMING',
'TIME-PERIOD',
'VALUE'
])
I_SIGNAL_REF_XPATH = make_xpath(['I-SIGNAL-REF'])
START_POSITION_XPATH = make_xpath(['START-POSITION'])
LENGTH_XPATH = make_xpath(['LENGTH'])
PACKING_BYTE_ORDER_XPATH = make_xpath(['PACKING-BYTE-ORDER'])
DESC_L_2_XPATH = make_xpath(['DESC', 'L-2'])
SYSTEM_SIGNAL_REF_XPATH = make_xpath(['SYSTEM-SIGNAL-REF'])
UNIT_REF_XPATH = make_xpath([
'PHYSICAL-PROPS',
'SW-DATA-DEF-PROPS-VARIANTS',
'SW-DATA-DEF-PROPS-CONDITIONAL',
'UNIT-REF'
])
COMPU_METHOD_REF_XPATH = make_xpath([
'PHYSICAL-PROPS',
'SW-DATA-DEF-PROPS-VARIANTS',
'SW-DATA-DEF-PROPS-CONDITIONAL',
'COMPU-METHOD-REF'
])
DISPLAY_NAME_XPATH = make_xpath(['DISPLAY-NAME'])
CATEGORY_XPATH = make_xpath(['CATEGORY'])
COMPU_NUMERATOR_XPATH = make_xpath([
'COMPU-NUMERATOR',
'V'
])
COMPU_RATIONAL_COEFFS_XPATH = make_xpath([
'COMPU-RATIONAL-COEFFS'
])
COMPU_DENOMINATOR_XPATH = make_xpath([
'COMPU-DENOMINATOR',
'V'
])
PHYS_LOWER_LIMIT_XPATH = make_xpath([
'COMPU-INTERNAL-TO-PHYS',
'COMPU-SCALES',
'COMPU-SCALE',
'LOWER-LIMIT'
])
PHYS_UPPER_LIMIT_XPATH = make_xpath([
'COMPU-INTERNAL-TO-PHYS',
'COMPU-SCALES',
'COMPU-SCALE',
'UPPER-LIMIT'
])
COMPU_SCALE_XPATH = make_xpath([
'COMPU-INTERNAL-TO-PHYS',
'COMPU-SCALES',
'COMPU-SCALE'
])
VT_XPATH = make_xpath([
'COMPU-CONST',
'VT'
])
LOWER_LIMIT_XPATH = make_xpath(['LOWER-LIMIT'])
UPPER_LIMIT_XPATH = make_xpath(['UPPER-LIMIT'])
BASE_TYPE_ENCODING_XPATH = make_xpath(['BASE-TYPE-ENCODING'])
BASE_TYPE_REF_XPATH = make_xpath([
'NETWORK-REPRESENTATION-PROPS',
'SW-DATA-DEF-PROPS-VARIANTS',
'SW-DATA-DEF-PROPS-CONDITIONAL',
'BASE-TYPE-REF'
])
ECUC_VALUE_COLLECTION_XPATH = make_xpath([
'AR-PACKAGES',
'AR-PACKAGE',
'ELEMENTS',
'ECUC-VALUE-COLLECTION'
])
ECUC_MODULE_CONFIGURATION_VALUES_REF_XPATH = make_xpath([
'ECUC-VALUES',
'ECUC-MODULE-CONFIGURATION-VALUES-REF-CONDITIONAL',
'ECUC-MODULE-CONFIGURATION-VALUES-REF'
])
ECUC_REFERENCE_VALUE_XPATH = make_xpath([
'REFERENCE-VALUES',
'ECUC-REFERENCE-VALUE'
])
VALUE_REF_XPATH = make_xpath(['VALUE-REF'])
PARAMETER_VALUES_XPATH = make_xpath(['PARAMETER-VALUES'])
DEFINITION_REF_XPATH = make_xpath(['DEFINITION-REF'])
VALUE_XPATH = make_xpath(['VALUE'])
REFERENCE_VALUES_XPATH = make_xpath([
'REFERENCE-VALUES'
])
class SystemLoader(object):
def __init__(self, root, strict):
self.root = root
self.strict = strict
self._system_signal_cache = {}
self._compu_method_cache = {}
self._sw_base_type_cache = {}
def load(self):
buses = []
messages = []
version = None
can_frame_triggerings = self.root.iterfind(CAN_FRAME_TRIGGERINGS_XPATH,
NAMESPACES)
for can_frame_triggering in can_frame_triggerings:
messages.append(self.load_message(can_frame_triggering))
return InternalDatabase(messages,
[],
buses,
version)
def load_message(self, can_frame_triggering):
"""Load given message and return a message object.
"""
# Default values.
cycle_time = None
senders = []
frame_ref_xpath = can_frame_triggering.find(FRAME_REF_XPATH,
NAMESPACES).text
can_frame = self.find_can_frame(frame_ref_xpath)
# Name, frame id, length, is_extended_frame and comment.
name = self.load_message_name(can_frame)
frame_id = self.load_message_frame_id(can_frame_triggering)
length = self.load_message_length(can_frame)
is_extended_frame = self.load_message_is_extended_frame(
can_frame_triggering)
comment = self.load_message_comment(can_frame)
# ToDo: senders
# Find all signals in this message.
signals = []
pdu_ref_xpath = can_frame.find(PDU_REF_XPATH, NAMESPACES).text
i_signal_i_pdu = self.find_i_signal_i_pdu(pdu_ref_xpath)
if i_signal_i_pdu is not None:
time_period = i_signal_i_pdu.find(TIME_PERIOD_XPATH, NAMESPACES)
if time_period is not None:
cycle_time = int(float(time_period.text) * 1000)
i_signal_to_i_pdu_mappings = i_signal_i_pdu.iterfind(
I_SIGNAL_TO_I_PDU_MAPPING_XPATH,
NAMESPACES)
for i_signal_to_i_pdu_mapping in i_signal_to_i_pdu_mappings:
signal = self.load_signal(i_signal_to_i_pdu_mapping)
if signal is not None:
signals.append(signal)
return Message(frame_id=frame_id,
is_extended_frame=is_extended_frame,
name=name,
length=length,
senders=senders,
send_type=None,
cycle_time=cycle_time,
signals=signals,
comment=comment,
bus_name=None,
strict=self.strict)
def load_message_name(self, can_frame_triggering):
return can_frame_triggering.find(SHORT_NAME_XPATH, NAMESPACES).text
def load_message_frame_id(self, can_frame_triggering):
return int(can_frame_triggering.find(IDENTIFIER_XPATH,
NAMESPACES).text)
def load_message_length(self, can_frame):
return int(can_frame.find(FRAME_LENGTH_XPATH, NAMESPACES).text)
def load_message_is_extended_frame(self, can_frame_triggering):
can_addressing_mode = can_frame_triggering.find(
CAN_ADDRESSING_MODE_XPATH,
NAMESPACES).text
return can_addressing_mode == 'EXTENDED'
def load_message_comment(self, can_frame):
l_2 = can_frame.find(DESC_L_2_XPATH, NAMESPACES)
if l_2 is not None:
return l_2.text
else:
return None
def load_signal(self, i_signal_to_i_pdu_mapping):
"""Load given signal and return a signal object.
"""
# Default values.
minimum = None
maximum = None
factor = 1
offset = 0
unit = None
choices = None
comment = None
receivers = []
decimal = SignalDecimal(Decimal(factor), Decimal(offset))
i_signal_ref = i_signal_to_i_pdu_mapping.find(
I_SIGNAL_REF_XPATH,
NAMESPACES)
if i_signal_ref is None:
# Probably a signal group (I-SIGNAL-GROUP-REF).
return None
i_signal = self.find_i_signal(i_signal_ref.text)
# Name, start position, length and byte order.
name = self.load_signal_name(i_signal_to_i_pdu_mapping)
start_position = self.load_signal_start_position(
i_signal_to_i_pdu_mapping)
length = self.load_signal_length(i_signal)
byte_order = self.load_signal_byte_order(i_signal_to_i_pdu_mapping)
system_signal_ref = i_signal.find(SYSTEM_SIGNAL_REF_XPATH,
NAMESPACES)
if system_signal_ref is not None:
system_signal = self.get_system_signal(system_signal_ref.text)
# Unit and comment.
unit = self.load_signal_unit(system_signal)
comment = self.load_signal_comment(system_signal)
# Minimum, maximum, factor, offset and choices.
minimum, maximum, factor, offset, choices = self.load_system_signal(
system_signal,
decimal)
# Type.
is_signed, is_float = self.load_signal_type(i_signal)
# ToDo: receivers
return Signal(name=name,
start=start_position,
length=length,
receivers=receivers,
byte_order=byte_order,
is_signed=is_signed,
scale=factor,
offset=offset,
minimum=minimum,
maximum=maximum,
unit=unit,
choices=choices,
comment=comment,
is_float=is_float,
decimal=decimal)
def load_signal_name(self, i_signal_to_i_pdu_mapping):
return i_signal_to_i_pdu_mapping.find(SHORT_NAME_XPATH,
NAMESPACES).text
def load_signal_start_position(self, i_signal_to_i_pdu_mapping):
return int(i_signal_to_i_pdu_mapping.find(
START_POSITION_XPATH,
NAMESPACES).text)
def load_signal_length(self, i_signal):
return int(i_signal.find(LENGTH_XPATH, NAMESPACES).text)
def load_signal_byte_order(self, i_signal_to_i_pdu_mapping):
packing_byte_order = i_signal_to_i_pdu_mapping.find(
PACKING_BYTE_ORDER_XPATH,
NAMESPACES).text
if packing_byte_order == 'MOST-SIGNIFICANT-BYTE-FIRST':
return 'big_endian'
else:
return 'little_endian'
def load_signal_unit(self, system_signal):
unit_ref = system_signal.find(UNIT_REF_XPATH, NAMESPACES)
if unit_ref is not None:
return self.find_unit(unit_ref.text).find(DISPLAY_NAME_XPATH,
NAMESPACES).text
def load_signal_comment(self, system_signal):
l_2 = system_signal.find(DESC_L_2_XPATH, NAMESPACES)
if l_2 is not None:
return l_2.text
else:
return None
def load_minimum(self, minimum, decimal):
if minimum is not None:
decimal.minimum = Decimal(minimum.text)
minimum = float(decimal.minimum)
return minimum
def load_maximum(self, maximum, decimal):
if maximum is not None:
decimal.maximum = Decimal(maximum.text)
maximum = float(decimal.maximum)
return maximum
def load_texttable(self, compu_method, decimal):
minimum = None
maximum = None
choices = {}
for compu_scale in compu_method.iterfind(COMPU_SCALE_XPATH, NAMESPACES):
lower_limit = compu_scale.find(LOWER_LIMIT_XPATH, NAMESPACES)
upper_limit = compu_scale.find(UPPER_LIMIT_XPATH, NAMESPACES)
vt = compu_scale.find(VT_XPATH, NAMESPACES)
if vt is not None:
choices[vt.text] = int(lower_limit.text)
else:
minimum = self.load_minimum(lower_limit, decimal)
maximum = self.load_maximum(upper_limit, decimal)
return minimum, maximum, choices
def load_linear_factor_and_offset(self, compu_scale, decimal):
compu_rational_coeffs = compu_scale.find(
COMPU_RATIONAL_COEFFS_XPATH,
NAMESPACES)
if compu_rational_coeffs is None:
return 1, 0
numerators = compu_rational_coeffs.findall(COMPU_NUMERATOR_XPATH,
NAMESPACES)
if len(numerators) != 2:
raise ValueError(
'Expected 2 numerator values for linear scaling, but '
'got {}.'.format(len(numerators)))
denominators = compu_rational_coeffs.findall(COMPU_DENOMINATOR_XPATH,
NAMESPACES)
if len(denominators) != 1:
raise ValueError(
'Expected 1 denominator value for linear scaling, but '
'got {}.'.format(len(denominators)))
denominator = Decimal(denominators[0].text)
decimal.scale = Decimal(numerators[1].text) / denominator
decimal.offset = Decimal(numerators[0].text) / denominator
return float(decimal.scale), float(decimal.offset)
def load_linear(self, compu_method, decimal):
compu_scale = compu_method.find(COMPU_SCALE_XPATH,
NAMESPACES)
lower_limit = compu_scale.find(LOWER_LIMIT_XPATH, NAMESPACES)
upper_limit = compu_scale.find(UPPER_LIMIT_XPATH, NAMESPACES)
minimum = self.load_minimum(lower_limit, decimal)
maximum = self.load_maximum(upper_limit, decimal)
factor, offset = self.load_linear_factor_and_offset(
compu_scale,
decimal)
return minimum, maximum, factor, offset
def load_scale_linear_and_texttable(self, compu_method, decimal):
minimum = None
maximum = None
factor = 1
offset = 0
choices = {}
for compu_scale in compu_method.iterfind(COMPU_SCALE_XPATH, NAMESPACES):
lower_limit = compu_scale.find(LOWER_LIMIT_XPATH, NAMESPACES)
upper_limit = compu_scale.find(UPPER_LIMIT_XPATH, NAMESPACES)
vt = compu_scale.find(VT_XPATH, NAMESPACES)
if vt is not None:
choices[vt.text] = int(lower_limit.text)
else:
minimum = self.load_minimum(lower_limit, decimal)
maximum = self.load_maximum(upper_limit, decimal)
factor, offset = self.load_linear_factor_and_offset(
compu_scale,
decimal)
return minimum, maximum, factor, offset, choices
def load_system_signal(self, system_signal, decimal):
minimum = None
maximum = None
factor = 1
offset = 0
choices = None
compu_method_ref = system_signal.find(COMPU_METHOD_REF_XPATH,
NAMESPACES)
if compu_method_ref is not None:
compu_method = self.get_compu_method(compu_method_ref.text)
category = compu_method.find(CATEGORY_XPATH, NAMESPACES)
if category is None:
raise ValueError(
'CATEGORY in {} does not exist.'.format(
compu_method_ref.text))
category = category.text
if category == 'TEXTTABLE':
minimum, maximum, choices = self.load_texttable(
compu_method,
decimal)
elif category == 'LINEAR':
minimum, maximum, factor, offset = self.load_linear(
compu_method,
decimal)
elif category == 'SCALE_LINEAR_AND_TEXTTABLE':
(minimum,
maximum,
factor,
offset,
choices) = self.load_scale_linear_and_texttable(
compu_method,
decimal)
else:
LOGGER.debug('Category %s is not yet implemented.', category)
return minimum, maximum, factor, offset, choices
def load_signal_type(self, i_signal):
is_signed = False
is_float = False
base_type_ref = i_signal.find(BASE_TYPE_REF_XPATH, NAMESPACES)
if base_type_ref is not None:
sw_base_type = self.get_sw_base_type(base_type_ref.text)
base_type_encoding = sw_base_type.find(BASE_TYPE_ENCODING_XPATH,
NAMESPACES)
if base_type_encoding is None:
raise ValueError(
'BASE-TYPE-ENCODING in {} does not exist.'.format(
base_type_ref.text))
base_type_encoding = base_type_encoding.text
if base_type_encoding == '2C':
is_signed = True
elif base_type_encoding == 'IEEE754':
is_float = True
return is_signed, is_float
def find(self, child_elem, xpath):
short_names = xpath.lstrip('/').split('/')
location = []
for short_name in short_names[:-1]:
location += [
'AR-PACKAGES',
"AR-PACKAGE/[ns:SHORT-NAME='{}']".format(short_name)
]
location += [
'ELEMENTS',
"{}/[ns:SHORT-NAME='{}']".format(child_elem,
short_names[-1])
]
return self.root.find(make_xpath(location), NAMESPACES)
def find_can_frame(self, xpath):
return self.find('CAN-FRAME', xpath)
def find_i_signal(self, xpath):
return self.find('I-SIGNAL', xpath)
def find_i_signal_i_pdu(self, xpath):
return self.find('I-SIGNAL-I-PDU', xpath)
def get_system_signal(self, xpath):
if xpath in self._system_signal_cache:
system_signal = self._system_signal_cache[xpath]
else:
system_signal = self.find('SYSTEM-SIGNAL', xpath)
if system_signal is None:
raise ValueError(
'SYSTEM-SIGNAL at {} does not exist.'.format(xpath))
self._system_signal_cache[xpath] = system_signal
return system_signal
def find_unit(self, xpath):
unit = self.find('UNIT', xpath)
if unit is None:
raise ValueError(
'UNIT at {} does not exist.'.format(xpath))
return unit
def get_compu_method(self, xpath):
if xpath in self._compu_method_cache:
compu_method = self._compu_method_cache[xpath]
else:
compu_method = self.find('COMPU-METHOD', xpath)
if compu_method is None:
raise ValueError(
'COMPU-METHOD at {} does not exist.'.format(xpath))
self._compu_method_cache[xpath] = compu_method
return compu_method
def get_sw_base_type(self, xpath):
if xpath in self._sw_base_type_cache:
sw_base_type = self._sw_base_type_cache[xpath]
else:
sw_base_type = self.find('SW-BASE-TYPE', xpath)
if sw_base_type is None:
raise ValueError(
'SW-BASE-TYPE at {} does not exist.'.format(xpath))
self._sw_base_type_cache[xpath] = sw_base_type
return sw_base_type
class EcuExtractLoader(object):
def __init__(self, root, strict):
self.root = root
self.strict = strict
def load(self):
buses = []
messages = []
version = None
ecuc_value_collection = self.root.find(ECUC_VALUE_COLLECTION_XPATH,
NAMESPACES)
values_refs = ecuc_value_collection.iterfind(
ECUC_MODULE_CONFIGURATION_VALUES_REF_XPATH,
NAMESPACES)
com_xpaths = [
value_ref.text
for value_ref in values_refs
if value_ref.text.endswith('/Com')
]
if len(com_xpaths) != 1:
raise ValueError(
'Expected 1 /Com, but got {}.'.format(len(com_xpaths)))
com_config = self.find_com_config(com_xpaths[0] + '/ComConfig')
for ecuc_container_value in com_config:
definition_ref = ecuc_container_value.find(DEFINITION_REF_XPATH,
NAMESPACES).text
if not definition_ref.endswith('ComIPdu'):
continue
message = self.load_message(ecuc_container_value)
if message is not None:
messages.append(message)
return InternalDatabase(messages,
[],
buses,
version)
def load_message(self, com_i_pdu):
# Default values.
interval = None
senders = []
comment = None
# Name, frame id, length and is_extended_frame.
name = com_i_pdu.find(SHORT_NAME_XPATH, NAMESPACES).text
direction = None
for parameter, value in self.iter_parameter_values(com_i_pdu):
if parameter == 'ComIPduDirection':
direction = value
break
com_pdu_id_ref = None
for reference, value in self.iter_reference_values(com_i_pdu):
if reference == 'ComPduIdRef':
com_pdu_id_ref = value
break
if com_pdu_id_ref is None:
raise ValueError('No ComPduIdRef reference found.')
if direction == 'SEND':
frame_id, length, is_extended_frame = self.load_message_tx(
com_pdu_id_ref)
elif direction == 'RECEIVE':
frame_id, length, is_extended_frame = self.load_message_rx(
com_pdu_id_ref)
else:
raise NotImplementedError(
'Direction {} not supported.'.format(direction))
if frame_id is None:
LOGGER.warning('No frame id found for message %s.', name)
return None
if is_extended_frame is None:
LOGGER.warning('No frame type found for message %s.', name)
return None
if length is None:
LOGGER.warning('No length found for message %s.', name)
return None
# ToDo: interval, senders, comment
# Find all signals in this message.
signals = []
values = com_i_pdu.iterfind(ECUC_REFERENCE_VALUE_XPATH,
NAMESPACES)
for value in values:
definition_ref = value.find(DEFINITION_REF_XPATH,
NAMESPACES).text
if not definition_ref.endswith('ComIPduSignalRef'):
continue
value_ref = value.find(VALUE_REF_XPATH, NAMESPACES)
signal = self.load_signal(value_ref.text)
if signal is not None:
signals.append(signal)
return Message(frame_id=frame_id,
is_extended_frame=is_extended_frame,
name=name,
length=length,
senders=senders,
send_type=None,
cycle_time=interval,
signals=signals,
comment=comment,
bus_name=None,
strict=self.strict)
def load_message_tx(self, com_pdu_id_ref):
return self.load_message_rx_tx(com_pdu_id_ref,
'CanIfTxPduCanId',
'CanIfTxPduDlc',
'CanIfTxPduCanIdType')
def load_message_rx(self, com_pdu_id_ref):
return self.load_message_rx_tx(com_pdu_id_ref,
'CanIfRxPduCanId',
'CanIfRxPduDlc',
'CanIfRxPduCanIdType')
def load_message_rx_tx(self,
com_pdu_id_ref,
parameter_can_id,
parameter_dlc,
parameter_can_id_type):
can_if_tx_pdu_cfg = self.find_can_if_rx_tx_pdu_cfg(com_pdu_id_ref)
frame_id = None
length = None
is_extended_frame = None
if can_if_tx_pdu_cfg is not None:
for parameter, value in self.iter_parameter_values(can_if_tx_pdu_cfg):
if parameter == parameter_can_id:
frame_id = int(value)
elif parameter == parameter_dlc:
length = int(value)
elif parameter == parameter_can_id_type:
is_extended_frame = (value == 'EXTENDED_CAN')
return frame_id, length, is_extended_frame
def load_signal(self, xpath):
ecuc_container_value = self.find_value(xpath)
if ecuc_container_value is None:
return None
name = ecuc_container_value.find(SHORT_NAME_XPATH, NAMESPACES).text
# Default values.
is_signed = False
is_float = False
minimum = None
maximum = None
factor = 1
offset = 0
unit = None
choices = None
comment = None
receivers = []
decimal = SignalDecimal(Decimal(factor), Decimal(offset))
# Bit position, length, byte order, is_signed and is_float.
bit_position = None
length = None
byte_order = None
for parameter, value in self.iter_parameter_values(ecuc_container_value):
if parameter == 'ComBitPosition':
bit_position = int(value)
elif parameter == 'ComBitSize':
length = int(value)
elif parameter == 'ComSignalEndianness':
byte_order = value.lower()
elif parameter == 'ComSignalType':
if value in ['SINT8', 'SINT16', 'SINT32']:
is_signed = True
elif value in ['FLOAT32', 'FLOAT64']:
is_float = True
if bit_position is None:
LOGGER.warning('No bit position found for signal %s.',name)
return None
if length is None:
LOGGER.warning('No bit size found for signal %s.', name)
return None
if byte_order is None:
LOGGER.warning('No endianness found for signal %s.', name)
return None
# ToDo: minimum, maximum, factor, offset, unit, choices,
# comment and receivers.
return Signal(name=name,
start=bit_position,
length=length,
receivers=receivers,
byte_order=byte_order,
is_signed=is_signed,
scale=factor,
offset=offset,
minimum=minimum,
maximum=maximum,
unit=unit,
choices=choices,
comment=comment,
is_float=is_float,
decimal=decimal)
def find_com_config(self, xpath):
return self.root.find(make_xpath([
"AR-PACKAGES",
"AR-PACKAGE/[ns:SHORT-NAME='{}']".format(xpath.split('/')[1]),
"ELEMENTS",
"ECUC-MODULE-CONFIGURATION-VALUES/[ns:SHORT-NAME='Com']",
"CONTAINERS",
"ECUC-CONTAINER-VALUE/[ns:SHORT-NAME='ComConfig']",
"SUB-CONTAINERS"
]),
NAMESPACES)
def find_value(self, xpath):
return self.root.find(make_xpath([
"AR-PACKAGES",
"AR-PACKAGE/[ns:SHORT-NAME='{}']".format(xpath.split('/')[1]),
"ELEMENTS",
"ECUC-MODULE-CONFIGURATION-VALUES/[ns:SHORT-NAME='Com']",
"CONTAINERS",
"ECUC-CONTAINER-VALUE/[ns:SHORT-NAME='ComConfig']",
"SUB-CONTAINERS",
"ECUC-CONTAINER-VALUE/[ns:SHORT-NAME='{}']".format(xpath.split('/')[-1])
]),
NAMESPACES)
def find_can_if_rx_tx_pdu_cfg(self, com_pdu_id_ref):
messages = self.root.iterfind(
make_xpath([
"AR-PACKAGES",
"AR-PACKAGE/[ns:SHORT-NAME='{}']".format(
com_pdu_id_ref.split('/')[1]),
"ELEMENTS",
"ECUC-MODULE-CONFIGURATION-VALUES/[ns:SHORT-NAME='CanIf']",
'CONTAINERS',
"ECUC-CONTAINER-VALUE/[ns:SHORT-NAME='CanIfInitCfg']",
'SUB-CONTAINERS',
'ECUC-CONTAINER-VALUE'
]),
NAMESPACES)
for message in messages:
definition_ref = message.find(DEFINITION_REF_XPATH,
NAMESPACES).text
if definition_ref.endswith('CanIfTxPduCfg'):
expected_reference = 'CanIfTxPduRef'
elif definition_ref.endswith('CanIfRxPduCfg'):
expected_reference = 'CanIfRxPduRef'
else:
continue
for reference, value in self.iter_reference_values(message):
if reference == expected_reference:
if value == com_pdu_id_ref:
return message
def iter_parameter_values(self, param_conf_container):
parameters = param_conf_container.find(PARAMETER_VALUES_XPATH,
NAMESPACES)
if parameters is None:
raise ValueError('PARAMETER-VALUES does not exist.')
for parameter in parameters:
definition_ref = parameter.find(DEFINITION_REF_XPATH,
NAMESPACES).text
value = parameter.find(VALUE_XPATH, NAMESPACES).text
name = definition_ref.split('/')[-1]
yield name, value
def iter_reference_values(self, param_conf_container):
references = param_conf_container.find(REFERENCE_VALUES_XPATH,
NAMESPACES)
if references is None:
raise ValueError('REFERENCE-VALUES does not exist.')
for reference in references:
definition_ref = reference.find(DEFINITION_REF_XPATH,
NAMESPACES).text
value = reference.find(VALUE_REF_XPATH, NAMESPACES).text
name = definition_ref.split('/')[-1]
yield name, value
def is_ecu_extract(root):
ecuc_value_collection = root.find(ECUC_VALUE_COLLECTION_XPATH,
NAMESPACES)
return ecuc_value_collection is not None
def load_string(string, strict=True):
"""Parse given ARXML format string.
"""
root = ElementTree.fromstring(string)
# Should be replaced with a validation using the XSD file.
if root.tag != ROOT_TAG:
raise ValueError(
'Expected root element tag {}, but got {}.'.format(
ROOT_TAG,
root.tag))
if is_ecu_extract(root):
return EcuExtractLoader(root, strict).load()
else:
return SystemLoader(root, strict).load()