Refactor kafka to pure Go (franz-go), fix DBC stubs, update Dockerfile
This commit is contained in:
Chris Rai
309
pkg/can-go/data.go
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309
pkg/can-go/data.go
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@@ -0,0 +1,309 @@
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package can
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import (
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"fmt"
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"github.com/fiskerinc/cloud-services/pkg/can-go/internal/reinterpret"
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)
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const MaxDataLength = 8
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// Data holds the data in a CAN frame.
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//
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// Layout
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//
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// Individual bits in the data are numbered according to the following scheme:
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//
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// BIT
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// NUMBER
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// +------+------+------+------+------+------+------+------+
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// | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
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// BYTE +------+------+------+------+------+------+------+------+
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// NUMBER
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 0 | | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 1 | | 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 2 | | 23 | 22 | 21 | 20 | 19 | 18 | 17 | 16 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 3 | | 31 | 30 | 29 | 28 | 27 | 26 | 25 | 24 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 4 | | 39 | 38 | 37 | 36 | 35 | 34 | 33 | 32 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 5 | | 47 | 46 | 45 | 44 | 43 | 42 | 41 | 40 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 6 | | 55 | 54 | 53 | 52 | 51 | 50 | 49 | 48 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 7 | | 63 | 62 | 61 | 60 | 59 | 58 | 57 | 56 |
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// +-----+ +------+------+------+------+------+------+------+------+
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//
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// Bit ranges can be manipulated using little-endian and big-endian bit ordering.
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//
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// Little-endian bit ranges
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//
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// Example range of length 32 starting at bit 29:
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//
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// BIT
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// NUMBER
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// +------+------+------+------+------+------+------+------+
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// | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
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// BYTE +------+------+------+------+------+------+------+------+
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// NUMBER
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 0 | | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 1 | | 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 2 | | 23 | 22 | 21 | 20 | 19 | 18 | 17 | 16 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 3 | | <-------------LSb | 28 | 27 | 26 | 25 | 24 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 4 | | <-------------------------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 5 | | <-------------------------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 6 | | <-------------------------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 7 | | 63 | 62 | 61 | <-MSb--------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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//
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// Big-endian bit ranges
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//
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// Example range of length 32 starting at bit 29:
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//
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// BIT
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// NUMBER
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// +------+------+------+------+------+------+------+------+
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// | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
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// BYTE +------+------+------+------+------+------+------+------+
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// NUMBER
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 0 | | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 1 | | 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 2 | | 23 | 22 | 21 | 20 | 19 | 18 | 17 | 16 |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 3 | | 31 | 30 | <-MSb--------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 4 | | <-------------------------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 5 | | <-------------------------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 6 | | <-------------------------------------------------- |
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// +-----+ +------+------+------+------+------+------+------+------+
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// | 7 | | <------LSb | 61 | 60 | 59 | 58 | 57 | 56 |
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// +-----+ +------+------+------+------+------+------+------+------+
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type Data [MaxDataLength]byte
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// UnsignedBitsLittleEndian returns the little-endian bit range [start, start+length) as an unsigned value.
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func (d *Data) UnsignedBitsLittleEndian(start, length uint8) uint64 {
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// pack bits into one continuous value
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packed := d.PackLittleEndian()
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// lsb index in the packed value is the start bit
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lsbIndex := start
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// shift away lower bits
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shifted := packed >> lsbIndex
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// mask away higher bits
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masked := shifted & ((1 << length) - 1)
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// done
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return masked
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}
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// UnsignedBitsBigEndian returns the big-endian bit range [start, start+length) as an unsigned value.
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func (d *Data) UnsignedBitsBigEndian(start, length uint8) uint64 {
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// pack bits into one continuous value
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packed := d.PackBigEndian()
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// calculate msb index in the packed value
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msbIndex := invertEndian(start)
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// calculate lsb index in the packed value
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lsbIndex := msbIndex - length + 1
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// shift away lower bits
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shifted := packed >> lsbIndex
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// mask away higher bits
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masked := shifted & ((1 << length) - 1)
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// done
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return masked
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}
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// SignedBitsLittleEndian returns little-endian bit range [start, start+length) as a signed value.
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func (d *Data) SignedBitsLittleEndian(start, length uint8) int64 {
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unsigned := d.UnsignedBitsLittleEndian(start, length)
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return reinterpret.AsSigned(unsigned, length)
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}
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// SignedBitsBigEndian returns little-endian bit range [start, start+length) as a signed value.
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func (d *Data) SignedBitsBigEndian(start, length uint8) int64 {
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unsigned := d.UnsignedBitsBigEndian(start, length)
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return reinterpret.AsSigned(unsigned, length)
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}
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// SetUnsignedBitsBigEndian sets the little-endian bit range [start, start+length) to the provided unsigned value.
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func (d *Data) SetUnsignedBitsLittleEndian(start, length uint8, value uint64) {
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// pack bits into one continuous value
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packed := d.PackLittleEndian()
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// lsb index in the packed value is the start bit
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lsbIndex := start
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// calculate bit mask for zeroing the bit range to set
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unsetMask := ^uint64(((1 << length) - 1) << lsbIndex)
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// calculate bit mask for setting the new value
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setMask := value << lsbIndex
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// calculate the new packed value
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newPacked := packed&unsetMask | setMask
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// unpack the new packed value into the data
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d.UnpackLittleEndian(newPacked)
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}
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// SetUnsignedBitsBigEndian sets the big-endian bit range [start, start+length) to the provided unsigned value.
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func (d *Data) SetUnsignedBitsBigEndian(start, length uint8, value uint64) {
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// pack bits into one continuous value
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packed := d.PackBigEndian()
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// calculate msb index in the packed value
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msbIndex := invertEndian(start)
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// calculate lsb index in the packed value
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lsbIndex := msbIndex - length + 1
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// calculate bit mask for zeroing the bit range to set
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unsetMask := ^uint64(((1 << length) - 1) << lsbIndex)
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// calculate bit mask for setting the new value
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setMask := value << lsbIndex
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// calculate the new packed value
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newPacked := packed&unsetMask | setMask
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// unpack the new packed value into the data
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d.UnpackBigEndian(newPacked)
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}
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// SetSignedBitsLittleEndian sets the little-endian bit range [start, start+length) to the provided signed value.
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func (d *Data) SetSignedBitsLittleEndian(start, length uint8, value int64) {
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d.SetUnsignedBitsLittleEndian(start, length, reinterpret.AsUnsigned(value, length))
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}
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// SetSignedBitsBigEndian sets the big-endian bit range [start, start+length) to the provided signed value.
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func (d *Data) SetSignedBitsBigEndian(start, length uint8, value int64) {
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d.SetUnsignedBitsBigEndian(start, length, reinterpret.AsUnsigned(value, length))
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}
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// Bit returns the value of the i:th bit in the data as a bool.
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func (d *Data) Bit(i uint8) bool {
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if i > 63 {
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return false
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}
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// calculate which byte the bit belongs to
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byteIndex := i / 8
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// calculate bit mask for extracting the bit
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bitMask := uint8(1 << (i % 8))
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// mocks the bit
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bit := d[byteIndex]&bitMask > 0
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// done
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return bit
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}
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// SetBit sets the value of the i:th bit in the data.
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func (d *Data) SetBit(i uint8, value bool) {
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if i > 63 {
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return
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}
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byteIndex := i / 8
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bitIndex := i % 8
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if value {
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d[byteIndex] |= uint8(1 << bitIndex)
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} else {
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d[byteIndex] &= ^uint8(1 << bitIndex)
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}
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}
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// PackLittleEndian packs the data into a contiguous uint64 value for little-endian signals.
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func (d *Data) PackLittleEndian() uint64 {
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var packed uint64
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packed |= uint64(d[0]) << (0 * 8)
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packed |= uint64(d[1]) << (1 * 8)
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packed |= uint64(d[2]) << (2 * 8)
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packed |= uint64(d[3]) << (3 * 8)
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packed |= uint64(d[4]) << (4 * 8)
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packed |= uint64(d[5]) << (5 * 8)
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packed |= uint64(d[6]) << (6 * 8)
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packed |= uint64(d[7]) << (7 * 8)
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return packed
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}
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// PackBigEndian packs the data into a contiguous uint64 value for big-endian signals.
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func (d *Data) PackBigEndian() uint64 {
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var packed uint64
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packed |= uint64(d[0]) << (7 * 8)
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packed |= uint64(d[1]) << (6 * 8)
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packed |= uint64(d[2]) << (5 * 8)
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packed |= uint64(d[3]) << (4 * 8)
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packed |= uint64(d[4]) << (3 * 8)
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packed |= uint64(d[5]) << (2 * 8)
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packed |= uint64(d[6]) << (1 * 8)
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packed |= uint64(d[7]) << (0 * 8)
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return packed
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}
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// UnpackLittleEndian sets the value of d.Bytes by unpacking the provided value as sequential little-endian bits.
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func (d *Data) UnpackLittleEndian(packed uint64) {
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d[0] = uint8(packed >> (0 * 8))
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d[1] = uint8(packed >> (1 * 8))
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d[2] = uint8(packed >> (2 * 8))
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d[3] = uint8(packed >> (3 * 8))
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d[4] = uint8(packed >> (4 * 8))
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d[5] = uint8(packed >> (5 * 8))
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d[6] = uint8(packed >> (6 * 8))
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d[7] = uint8(packed >> (7 * 8))
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}
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// UnpackBigEndian sets the value of d.Bytes by unpacking the provided value as sequential big-endian bits.
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func (d *Data) UnpackBigEndian(packed uint64) {
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d[0] = uint8(packed >> (7 * 8))
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d[1] = uint8(packed >> (6 * 8))
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d[2] = uint8(packed >> (5 * 8))
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d[3] = uint8(packed >> (4 * 8))
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d[4] = uint8(packed >> (3 * 8))
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d[5] = uint8(packed >> (2 * 8))
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d[6] = uint8(packed >> (1 * 8))
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d[7] = uint8(packed >> (0 * 8))
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}
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// invertEndian converts from big-endian to little-endian bit indexing and vice versa.
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func invertEndian(i uint8) uint8 {
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row := i / 8
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col := i % 8
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oppositeRow := 7 - row
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bitIndex := (oppositeRow * 8) + col
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return bitIndex
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}
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// CheckBitRangeLittleEndian checks that a little-endian bit range fits in the data.
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func CheckBitRangeLittleEndian(frameLength, rangeStart, rangeLength uint8) error {
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lsbIndex := rangeStart
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msbIndex := rangeStart + rangeLength - 1
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upperBound := frameLength * 8
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if msbIndex >= upperBound {
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return fmt.Errorf("bit range out of bounds [0, %v): [%v, %v]", upperBound, lsbIndex, msbIndex)
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}
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return nil
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}
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// CheckBitRangeBigEndian checks that a big-endian bit range fits in the data.
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func CheckBitRangeBigEndian(frameLength, rangeStart, rangeLength uint8) error {
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upperBound := frameLength * 8
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if rangeStart >= upperBound {
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return fmt.Errorf("bit range starts out of bounds [0, %v): %v", upperBound, rangeStart)
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}
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msbIndex := invertEndian(rangeStart)
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lsbIndex := msbIndex - rangeLength + 1
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end := invertEndian(lsbIndex)
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if end >= upperBound {
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return fmt.Errorf("bit range ends out of bounds [0, %v): %v", upperBound, end)
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}
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return nil
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}
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// CheckValue checks that a value fits in a number of bits.
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func CheckValue(value uint64, bits uint8) error {
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upperBound := uint64(1 << bits)
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if value >= upperBound {
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return fmt.Errorf("value out of bounds [0, %v): %v", upperBound, value)
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}
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return nil
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}
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