Refactor kafka to pure Go (franz-go), fix DBC stubs, update Dockerfile

2026-01-31 00:05:47 -05:00
parent fbb820d7b3
commit b5bec57dfa
776 changed files with 18945 additions and 2052 deletions
--- a/pkg/can-go/frame.go
+++ b/pkg/can-go/frame.go
@@ -0,0 +1,135 @@
+package can
+
+import (
+	"encoding/hex"
+	"fmt"
+	"strconv"
+	"strings"
+)
+
+const (
+	idBits         = 11
+	extendedIDBits = 29
+)
+
+// CAN format constants.
+const (
+	MaxID         = 0x7ff
+	MaxExtendedID = 0x1fffffff
+)
+
+// Frame represents a CAN frame.
+//
+// A Frame is intentionally designed to fit into 16 bytes on common architectures
+// and is therefore amenable to pass-by-value and judicious copying.
+type Frame struct {
+	// ID is the CAN ID
+	ID uint32
+	// Length is the number of bytes of data in the frame.
+	Length uint16
+	// Data is the frame data.
+	Data Data
+	// IsRemote is true for remote frames.
+	IsRemote bool
+	// IsExtended is true for extended frames, i.e. frames with 29-bit IDs.
+	IsExtended bool
+}
+
+// Validate returns an error if the Frame is not a valid CAN frame.
+func (f *Frame) Validate() error {
+	// Validate: ID
+	if f.IsExtended && f.ID > MaxExtendedID {
+		return fmt.Errorf(
+			"invalid extended CAN id: %v does not fit in %v bits",
+			f.ID,
+			extendedIDBits,
+		)
+	} else if !f.IsExtended && f.ID > MaxID {
+		return fmt.Errorf(
+			"invalid standard CAN id: %v does not fit in %v bits",
+			f.ID,
+			idBits,
+		)
+	}
+	// Validate: Data
+	if f.Length > MaxDataLength {
+		return fmt.Errorf("invalid data length: %v", f.Length)
+	}
+	return nil
+}
+
+// String returns an ASCII representation the CAN frame.
+//
+// Format:
+//
+//   ([0-9A-F]{3}|[0-9A-F]{3})#(R[0-8]?|[0-9A-F]{0,16})
+//
+// The format is compatible with the candump(1) log file format.
+func (f Frame) String() string {
+	var id string
+	if f.IsExtended {
+		id = fmt.Sprintf("%08X", f.ID)
+	} else {
+		id = fmt.Sprintf("%03X", f.ID)
+	}
+	if f.IsRemote && f.Length == 0 {
+		return id + "#R"
+	} else if f.IsRemote {
+		return id + "#R" + strconv.Itoa(int(f.Length))
+	}
+	return id + "#" + strings.ToUpper(hex.EncodeToString(f.Data[:f.Length]))
+}
+
+// UnmarshalString sets *f using the provided ASCII representation of a Frame.
+func (f *Frame) UnmarshalString(s string) error {
+	// Split split into parts
+	parts := strings.Split(s, "#")
+	if len(parts) != 2 {
+		return fmt.Errorf("invalid frame format: %v", s)
+	}
+	idPart, dataPart := parts[0], parts[1]
+	var frame Frame
+	// Parse: IsExtended
+	if len(idPart) != 3 && len(idPart) != 8 {
+		return fmt.Errorf("invalid ID length: %v", s)
+	}
+	frame.IsExtended = len(idPart) == 8
+	// Parse: ID
+	id, err := strconv.ParseUint(idPart, 16, 32)
+	if err != nil {
+		return fmt.Errorf("invalid frame ID: %v", s)
+	}
+	frame.ID = uint32(id)
+	if len(dataPart) == 0 {
+		*f = frame
+		return nil
+	}
+	// Parse: IsRemote
+	if dataPart[0] == 'R' {
+		frame.IsRemote = true
+		if len(dataPart) > 2 {
+			return fmt.Errorf("invalid remote length: %v", s)
+		} else if len(dataPart) == 2 {
+			dataLength, err := strconv.Atoi(dataPart[1:2])
+			if err != nil {
+				return fmt.Errorf("invalid remote length: %v: %w", s, err)
+			}
+			frame.Length = uint16(dataLength)
+		}
+		*f = frame
+		return nil
+	}
+	// Parse: Length
+	if len(dataPart) > 16 || len(dataPart)%2 != 0 {
+		return fmt.Errorf("invalid data length: %v", s)
+	}
+	frame.Length = uint16(len(dataPart) / 2)
+	// Parse: Data
+	decodedData, err := hex.DecodeString(dataPart)
+	if err != nil {
+		return fmt.Errorf("invalid data: %v: %w", s, err)
+	}
+	copy(frame.Data[:], decodedData)
+	*f = frame
+	return nil
+}