小龙虾
5db3f66b8e
- 将SPI OTA帧格式升级为SPI Link v2，采用新的帧格式： | SOF0 0xA5 | SOF1 0x5A | VER 0x02 | FLAGS | SESSION 4B LE | TX_SEQ | ACK_SEQ | CREDIT | TYPE | LEN 2B LE | RSV 2B | PAYLOAD | CRC32 4B LE | - 新增V2_OVERHEAD=20字节开销，APP最大payload为236字节，BOOT为108字节 - 修改帧类型定义：ENTER_BOOT从0xB5合并至0xB0，新增CAN业务类型0xC0~C3 - 更新CAN协议文档，支持SPI Link v2-only模式，调整最大业务payload计算 - 扩展0xC1帧功能，支持双向通信和1Hz主动推送ID快照 - 添加0xC3完整ID快照帧类型，包含seq/rx_count等完整字段 - 更新协议文档中的错误码定义和反馈payload格式 refactor(main): 重构主程序入口并添加CAN反馈任务 - 在main.cpp中添加CAN反馈任务，更新启动流程注释 - 创建createCriticalTask辅助函数，统一关键任务创建逻辑 - 调整SPI初始化顺序，确保CAN反馈任务依赖正确 - 优化错误处理机制，关键任务失败时立即重启 - 将GD32版本探测移至ota_relay任务处理 - 更新版本号至0.3.48，调整编译时间和Git哈希 config: 更新SPI和BLE配置参数 - 添加SPI主机相关配置参数，包括CS GPIO、READY GPIO等引脚定义 - 配置SPI缓冲区大小：APP为256字节，BOOT为128字节 - 更新BLE滑动窗口参数，ACK窗口设为32，数据队列深度为72 - 调整SPI工作队列大小至5120字节，增加任务堆栈监控说明
340 lines
11 KiB
JavaScript
340 lines
11 KiB
JavaScript
/**
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* dbc.js - DBC 解析器 + 共享状态/元素缓存/基础工具
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*
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* 包含：共享 state/el、基础工具、DBC 解析、cssEscape、readDbcText。
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*
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* 本模块是 can 子系统的基础层，不依赖其他 can 子模块；state/el 在此导出，
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* 供 messages/signals/send/feedback 共享（ES Module 的 live binding 保证引用一致）。
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*/
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// ==================== 共享状态 ====================
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export var state = {
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/** @type {{ id: string, name: string, size: number, dbc: object }[]} */
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dbcSources: [],
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/** 合并视图 { messages, nodeNames, messageMap }；由 rebuildMergedDbc() 维护 */
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dbc: null,
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filteredMessages: [],
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selectedMessageKey: '',
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signalValues: {},
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checkedKeys: {},
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expandedKeys: {},
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transmitterFilter: Object.create(null),
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transmitterFilterEmpty: true,
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generatedData: new Uint8Array(0),
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history: [],
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latestStatus: null,
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batchInFlight: false
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};
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// ==================== 共享元素缓存 ====================
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// 由入口文件（js/can.js）的 cacheElements() 填充，各子模块通过 import 引用同一对象。
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export var el = {};
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// ==================== 基础工具 ====================
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var LS_ESP_IP = 'dcu_esp_ip';
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var DEFAULT_ESP_IP = '192.168.31.127';
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/** @description 设备 IP：优先 localStorage（与 OTA 页共用），否则默认。 */
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export function getDeviceIp() {
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try {
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var saved = localStorage.getItem(LS_ESP_IP);
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if (saved && saved.trim()) return saved.trim();
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} catch (_) {}
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if (el.toolIp && el.toolIp.value && el.toolIp.value.trim()) {
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return el.toolIp.value.trim();
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}
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return DEFAULT_ESP_IP;
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}
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/** @description 记住设备 IP（status 回报或其它页写入）。 */
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export function setDeviceIp(ip) {
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if (!ip || !String(ip).trim()) return;
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var v = String(ip).trim();
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try { localStorage.setItem(LS_ESP_IP, v); } catch (_) {}
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if (el.toolIp) el.toolIp.value = v;
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}
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/** @description 拼接设备基础 URL（http://<ip>）。 */
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export function getBaseUrl() {
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return 'http://' + getDeviceIp();
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}
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/** @description 解析手动输入的 CAN ID（支持 0x/hex/十进制）。 */
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export function parseNumericId(input) {
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var raw = String(input == null ? '' : input).trim();
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if (!raw) return NaN;
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if (/^0x/i.test(raw)) return parseInt(raw, 16);
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if (/^[0-9]+$/.test(raw)) return parseInt(raw, 10);
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if (/^[0-9a-fA-F]+h$/i.test(raw)) return parseInt(raw.slice(0, -1), 16);
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if (/^[0-9a-fA-F]+$/.test(raw)) return parseInt(raw, 16);
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return NaN;
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}
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/** @description 将数值格式化为指定宽度的十六进制大写字符串。 */
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export function padHex(value, width) {
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return value.toString(16).toUpperCase().padStart(width, '0');
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}
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/** @description 将字节数组转为连续的十六进制字符串。 */
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export function bytesToHex(bytes) {
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if (!bytes || !bytes.length) return '';
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var parts = [];
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for (var i = 0; i < bytes.length; i++) {
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parts.push(padHex(bytes[i], 2));
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}
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return parts.join('');
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}
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/** @description 转义 CSS 选择器中的特殊字符。 */
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export function cssEscape(value) {
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if (window.CSS && CSS.escape) return CSS.escape(value);
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return String(value).replace(/[^a-zA-Z0-9_-]/g, function (ch) { return '\\\\' + ch; });
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}
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/** @description 去除回车并 trim，用于 DBC 搜索等输入归一化。 */
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export function normalizeWhitespace(text) {
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return String(text || '').replace(/\r/g, '').trim();
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}
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// ==================== DBC 文件读取 ====================
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/** @description 读取 DBC 文件文本，优先 UTF-8，失败回退 GB18030，自动去 BOM。 */
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export async function readDbcText(file) {
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var buf = await file.arrayBuffer();
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var bytes = new Uint8Array(buf);
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var stripBom = function (s) {
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return (s && s.charCodeAt(0) === 0xFEFF) ? s.slice(1) : s;
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};
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try {
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var strictUtf8 = new TextDecoder('utf-8', { fatal: true });
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return stripBom(strictUtf8.decode(bytes));
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} catch (e) {
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try {
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var gb = new TextDecoder('gb18030');
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return stripBom(gb.decode(bytes));
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} catch (e2) {
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return stripBom(new TextDecoder('utf-8').decode(bytes));
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}
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}
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}
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// ==================== DBC 解析 ====================
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/** @description 解析 DBC 文本，返回 { messages, nodeNames, messageMap }。 */
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export function parseDbc(text) {
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var lines = String(text || '').replace(/\r/g, '').split('\n');
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var messages = [];
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var messageMap = {};
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var comments = { messages: {}, signals: {} };
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var valueTables = {};
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var sigDefaults = {};
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var nodeNames = [];
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var current = null;
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for (var i = 0; i < lines.length; i++) {
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var line = lines[i].trim();
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if (!line) continue;
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var nodeMatch = line.match(/^BU_\s*:\s*(.*)$/);
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if (nodeMatch) {
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nodeNames = nodeMatch[1].trim() ? nodeMatch[1].trim().split(/\s+/) : [];
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continue;
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}
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var messageMatch = line.match(/^BO_\s+(\d+)\s+([A-Za-z0-9_]+)\s*:\s*(\d+)\s+(.+)$/);
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if (messageMatch) {
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current = {
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idRaw: parseInt(messageMatch[1], 10),
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name: messageMatch[2],
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dlc: parseInt(messageMatch[3], 10),
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transmitter: messageMatch[4].trim(),
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signals: [],
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comment: ''
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};
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current.id = current.idRaw & 0x1FFFFFFF;
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current.isExtended = current.idRaw > 0x7FF;
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current.key = String(current.idRaw) + ':' + current.name;
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messages.push(current);
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messageMap[current.idRaw] = current;
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continue;
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}
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var signalMatch = line.match(/^SG_\s+([A-Za-z0-9_]+)(?:\s+((?:M|m-?\d+)))?\s*:\s*(\d+)\|(\d+)@([01])([+-])\s+\(([^\),]+),([^\)]+)\)\s+\[([^\|]*)\|([^\]]*)\]\s+"([^"]*)"\s+(.+)$/);
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if (signalMatch && current) {
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var muxInfo = parseMultiplexToken(signalMatch[2]);
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current.signals.push({
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name: signalMatch[1],
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startBit: parseInt(signalMatch[3], 10),
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length: parseInt(signalMatch[4], 10),
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byteOrder: signalMatch[5] === '1' ? 'little' : 'big',
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isSigned: signalMatch[6] === '-',
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factor: parseFloat(signalMatch[7]),
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offset: parseFloat(signalMatch[8]),
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min: signalMatch[9].trim() === '' ? null : parseFloat(signalMatch[9]),
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max: signalMatch[10].trim() === '' ? null : parseFloat(signalMatch[10]),
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unit: signalMatch[11],
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receivers: signalMatch[12].split(/\s*,\s*/),
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comment: '',
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valueType: 'int',
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enumMap: {},
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defaultValue: null,
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multiplexRole: muxInfo.role,
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multiplexValue: muxInfo.value
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});
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continue;
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}
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var messageCommentMatch = line.match(/^CM_\s+BO_\s+(\d+)\s+"([\s\S]*)";$/);
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if (messageCommentMatch) {
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comments.messages[messageCommentMatch[1]] = messageCommentMatch[2];
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continue;
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}
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var signalCommentMatch = line.match(/^CM_\s+SG_\s+(\d+)\s+([A-Za-z0-9_]+)\s+"([\s\S]*)";$/);
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if (signalCommentMatch) {
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comments.signals[signalCommentMatch[1] + ':' + signalCommentMatch[2]] = signalCommentMatch[3];
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continue;
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}
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var valueMatch = line.match(/^VAL_\s+(\d+)\s+([A-Za-z0-9_]+)\s+(.+);$/);
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if (valueMatch) {
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var table = {};
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var pairRe = /(-?\d+)\s+"([^"]*)"/g;
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var m;
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while ((m = pairRe.exec(valueMatch[3])) !== null) {
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table[m[1]] = m[2];
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}
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valueTables[valueMatch[1] + ':' + valueMatch[2]] = table;
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continue;
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}
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var valTypeMatch = line.match(/^SIG_VALTYPE_\s+(\d+)\s+([A-Za-z0-9_]+)\s*:\s*(\d+)\s*;$/);
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if (valTypeMatch) {
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var msg = messageMap[valTypeMatch[1]];
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if (!msg) continue;
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var signal = findSignal(msg, valTypeMatch[2]);
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if (signal) {
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signal.valueType = valTypeMatch[3] === '1' ? 'float' : valTypeMatch[3] === '2' ? 'double' : 'int';
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}
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continue;
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}
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/* BA_ "GenSigDefaultValue" SG_ <msgId> <signalName> <value>;
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* 注意该值是物理值（已应用 factor/offset），与 GenSigStartValue（raw）不同 */
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var sigDefaultMatch = line.match(/^BA_\s+"GenSigDefaultValue"\s+SG_\s+(\d+)\s+([A-Za-z0-9_]+)\s+(-?\d+(?:\.\d+)?(?:[eE][+-]?\d+)?)\s*;$/);
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if (sigDefaultMatch) {
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sigDefaults[sigDefaultMatch[1] + ':' + sigDefaultMatch[2]] = sigDefaultMatch[3];
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continue;
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}
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}
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messages.forEach(function (msg) {
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msg.comment = comments.messages[String(msg.idRaw)] || '';
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msg.signals.forEach(function (signal) {
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signal.comment = comments.signals[String(msg.idRaw) + ':' + signal.name] || '';
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signal.enumMap = valueTables[String(msg.idRaw) + ':' + signal.name] || {};
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var dv = sigDefaults[String(msg.idRaw) + ':' + signal.name];
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signal.defaultValue = (dv != null && Number.isFinite(Number(dv))) ? dv : null;
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});
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});
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return {
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messages: messages,
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nodeNames: nodeNames,
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messageMap: messageMap
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};
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}
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/** @description 在报文的 signals 数组中按名称查找信号。 */
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export function findSignal(message, signalName) {
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for (var i = 0; i < message.signals.length; i++) {
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if (message.signals[i].name === signalName) return message.signals[i];
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}
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return null;
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}
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/** @description 解析 SG_ 行的 multiplex token（M / mN / 空）。 */
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export function parseMultiplexToken(token) {
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if (!token) return { role: null, value: null };
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if (token === 'M') return { role: 'mux', value: null };
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var match = token.match(/^m(-?\d+)$/);
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if (match) {
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return { role: 'value', value: parseInt(match[1], 10) };
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}
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return { role: null, value: null };
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}
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/**
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* 将多个 DBC 源合并为统一 messages 列表。
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* 每条报文 key = sourceId:idRaw:name，避免不同文件同 ID/同名冲突。
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*/
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export function rebuildMergedDbc() {
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if (!state.dbcSources.length) {
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state.dbc = null;
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return null;
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}
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var messages = [];
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var nodeSet = Object.create(null);
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var nodeNames = [];
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var messageMap = {};
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for (var s = 0; s < state.dbcSources.length; s++) {
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var src = state.dbcSources[s];
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var dbc = src.dbc;
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if (!dbc || !dbc.messages) continue;
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for (var n = 0; n < (dbc.nodeNames || []).length; n++) {
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var nn = dbc.nodeNames[n];
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if (nn && !nodeSet[nn]) {
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nodeSet[nn] = 1;
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nodeNames.push(nn);
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}
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}
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for (var i = 0; i < dbc.messages.length; i++) {
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var msg = dbc.messages[i];
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var merged = {
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idRaw: msg.idRaw,
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name: msg.name,
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dlc: msg.dlc,
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transmitter: msg.transmitter,
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signals: msg.signals,
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comment: msg.comment,
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id: msg.id,
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isExtended: msg.isExtended,
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sourceId: src.id,
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sourceName: src.name,
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key: src.id + ':' + msg.idRaw + ':' + msg.name
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};
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messages.push(merged);
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messageMap[merged.key] = merged;
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}
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}
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state.dbc = { messages: messages, nodeNames: nodeNames, messageMap: messageMap };
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return state.dbc;
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}
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/** @description 生成唯一 source id（同名文件可多次添加时追加 #2） */
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export function makeDbcSourceId(fileName) {
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var base = String(fileName || 'dbc').replace(/[^\w.\-]+/g, '_');
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var id = base;
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var n = 2;
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while (state.dbcSources.some(function (s) { return s.id === id; })) {
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id = base + '#' + n;
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n++;
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}
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return id;
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}
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/** @description 更新顶部 DBC / 报文数量摘要 pill。 */
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export function buildSummary() {
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if (!state.dbc || !state.dbcSources.length) {
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if (el.dbcSummaryPill) el.dbcSummaryPill.textContent = '未导入 DBC';
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if (el.messageSummaryPill) el.messageSummaryPill.textContent = '0 报文';
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return;
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}
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var nFiles = state.dbcSources.length;
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if (el.dbcSummaryPill) {
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el.dbcSummaryPill.textContent =
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nFiles + ' 文件 · ' + (state.dbc.nodeNames.length || 0) + ' 节点';
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}
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if (el.messageSummaryPill) {
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el.messageSummaryPill.textContent = state.dbc.messages.length + ' 报文';
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}
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}
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