Can总线dbc文件解析代码

1.使用python写的解析Can总线的dbc文件,代码上附带有注释，先将如下代码把存到parseCan_dbc_motorola_intel_ok.py文件，然后按照如下的说明使用即可


# coding: utf-8# In[22]:import shutil
import sys
import os
import reclass Signal:def __init__(self):self.name = "" #信号名self.sbit = -1  #信号起始bitself.len = -1  #信号总长度self.align = 0 #数据对其模式: 0--Motorola， 1--Intelself.sign = 0  # 0--无符号数据，1--有符号数据self.mul = -1  #scaleself.offset = -1self.unit = ""      #单位self.max = -1self.min = -1self.receivers = [] #接收处理此信号的节点，同样可以不指明，写为Vector__XXXself.values = []    #信号可取的值的列表class Message:def __init__(self):self.id = -1     #消息IDself.len = -1    #消息报文长度，帧字节数self.name = ""   #消息名字self.emitter = ""#发出该消息的网络节点，标识为Vector__XXX时未指明具体节点 self.period = -1self.type = ""   self.signals = []#消息中的信号def has_receiver(self, rec):for signal in self.signals:for receiver in signal.receivers:if rec == receiver:return Truereturn Falsedef msb_calc_lsb(signallength, signalmsb):lsb = signalmsb - signallength + 1return lsbdef lsb_calc_msb(signallength, signallsb):msb = signallsb + signallength - 1return msbdef AnalysisDbcFile(dbcName,createFileName,createCodeType):hfileName = "candb_messages.h"cfileName = "candb_messages.c"if createFileName:hfileName = createFileName + ".h"cfileName = createFileName + ".c"else:passwith open(hfileName, 'w',encoding='utf-8') as h:h.write("#ifndef _CANDB_MESSAGES_\n""#define _CANDB_MESSAGES_\n""\n")h.write("#include <stdio.h>\n""#include <stdint.h>\n\n")h.write("#define ALIGN_MODE_MOTOROLA  0\n""#define ALIGN_MODE_INTEL     1\n\n""#define UNIT_MAX_LEN         12\n""\n")h.write("typedef struct\n""{\n""    uint32_t msgId;\n""    uint8_t alignMode;\n""    uint8_t sign;\n""    uint8_t sbit;\n""    uint8_t bitLen;\n""    double scale;\n""    double offset;\n""    char unit[UNIT_MAX_LEN];\n""    double minVal;\n""    double maxVal;\n""}CanSig;\n\n")with open(cfileName, 'w',encoding='utf-8') as c:c.write("#include <math.h>\n""#include \"candb_messages.h\"\n""\n""\n") c.write("const double CAN_EPS = 1e-6;\n\n")if createCodeType == 0:c.write("PhyCan physicsData = {0};\n\n")with open(dbcName, 'r',encoding='utf-8',errors='ignore') as f:foundMessages = []text = f.read()mm = re.findall(r"(BO_\s+[0-9]{1,4}\s+[0-9a-zA-Z_]+:\s+[0-9]\s+[0-9a-zA-Z_]+\n(.+\n)+)", text)
#                 mm = [re.sub(r"(BO_)|(SG_)|(\+)|(\-)|\(|\)|\[|\]|:", "", x[0]) for x in mm]mm = [re.sub(r"(BO_)|(SG_)|\(|\)|\[|\]|:", "", x[0]) for x in mm]
#                 print(mm)mm = [re.sub(r"\+ ", ",0 ", x) for x in mm]mm = [re.sub(r"\- ", ",1 ", x) for x in mm]mm = [re.sub(r"@|,|\|", " ", x).strip() for x in mm]#                 mm = re.findall(r"(BO_\s+[0-9]{1,4}\s+[0-9a-zA-Z_]+:\s+[0-9]\s+[0-9a-zA-Z_]+\n(.+\n)+)", text)
#                 mm = [re.sub(r"(BO_)|(SG_)|(\+)|(\-)|\(|\)|\[|\]|:", "", x[0]) for x in mm]
#                 mm = [re.sub(r"@|,|\|", " ", x).strip() for x in mm]#                 print(mm)for message in mm:msg = Message()foundMessages.append(msg)nn = re.findall(r"\".*?\"", message)lines = message.split("\n")msgLine = lines[0].split()  #处理消息一行,默认为所有的空字符，包括空格、换行(\n)、制表符(\t)等msg.id = msgLine[0]msg.name = msgLine[1]msg.len = int(msgLine[2])msg.emitter = msgLine[3]
#                     print(msg.id)
#                     print(msg.name)
#                     print(msg.len)
#                     print(msg.emitter)h.write("\n//!" + msg.name + " "+ msg.id + "\n")h.write("typedef struct\n""{\n")c.write(msg.name + "_t" +  " " + msg.name + " =\n""{\n") count = 0;for signalLine in [x.split() for x in lines[1:]]:#第0行为消息描述行,第1行开始为Can信号sgnl = Signal()msg.signals.append(sgnl)sgnl.msgId = msg.idsgnl.name = signalLine[0]
#                         print(signalLine[1])sgnl.sbit = int(signalLine[1])sgnl.len = int(signalLine[2])sgnl.align = int(signalLine[3])sgnl.sign = int(signalLine[4])sgnl.mul = float(signalLine[5])sgnl.offset = float(signalLine[6])sgnl.min = float(signalLine[7])sgnl.max = float(signalLine[8])
#                         sgnl.max = int(float(signalLine[8]))sgnl.unit = str(signalLine[9])#.replace(r"\"", "")sgnl.receivers = signalLine[10:]sgnl.unit = nn[count]count = count + 1#                         if sgnl.align == 0: #motorola
#                             if sgnl.sbit >= 56:
#                                 sgnl.sbit = sgnl.sbit - 56 #0-7
#                             elif sgnl.sbit >= 48:
#                                 sgnl.sbit = sgnl.sbit - 40 #8-15
#                             elif sgnl.sbit >= 40:
#                                 sgnl.sbit = sgnl.sbit - 24 #16-23
#                             elif sgnl.sbit >= 32:
#                                 sgnl.sbit = sgnl.sbit - 8 #24-31
#                             elif sgnl.sbit >= 24:
#                                 sgnl.sbit = sgnl.sbit + 8 #32-39
#                             elif sgnl.sbit >= 16:
#                                 sgnl.sbit = sgnl.sbit + 24 #40-47
#                             elif sgnl.sbit >= 8:
#                                 sgnl.sbit = sgnl.sbit + 40 #48-55
#                             else:
#                                 sgnl.sbit = sgnl.sbit + 56 #56-63   #                         print(nn)
#                         print(sgnl.name)
#                         print(sgnl.sbit)
#                         print(sgnl.len)
#                         print(sgnl.mul)
#                         print(sgnl.offset)
#                         print(sgnl.min)
#                         print(sgnl.max)
#                         print(sgnl.unit)
#                         print(sgnl.receivers)h.write("    CanSig " + sgnl.name + ";\n")signalPattern = "VAL_ "+msg.id+" "+sgnl.name+".+"match = re.search(signalPattern, text)if match:words = re.findall(r"\d+\s+\".+?\"", match.group())#match.group()返回整个匹配的字符串
#                             words = [x.replace("\"", "").strip() for x in words]sgnl.values = wordsfor comment in sgnl.values:if comment == sgnl.values[0]:c.write("// " + comment)else:c.write( "," + comment)c.write("\n")   c.write("    ." + sgnl.name + " =\n""    {\n""        .msgId     = " + str(msg.id) + ",\n""        .alignMode = " + str(sgnl.align) + ",\n""        .sign = " + str(sgnl.sign) + ",\n""        .sbit       = " + str(sgnl.sbit) + ",\n""        .bitLen    = " + str(sgnl.len) + ",\n""        .scale     = " + str(sgnl.mul) + ",\n""        .offset    = " + str(sgnl.offset) + ",\n""        .unit      = " + sgnl.unit + ",\n""        .minVal    = " + str(sgnl.min) + ",\n""        .maxVal    = " + str(sgnl.max) + "\n""    },\n\n")h.write("}" + msg.name + "_t;\n" "extern " + msg.name + "_t" +  " " + msg.name + ";\n")c.write("};\n\n") #信号的取值列表提取for signalLine in [x.split() for x in lines[1:]]:#第0行为消息描述行,第1行开始为Can信号sgnl = Signal()sgnl.name = signalLine[0]signalPattern = "VAL_ " + msg.id + " " + sgnl.name + ".+"match = re.search(signalPattern, text)if match:words = re.findall(r"\d+\s+\".+?\"", match.group())#match.group()返回整个匹配的字符串sgnl.values = wordskeyValPair = re.findall(r"(\d+)\s+(\".+?\")", match.group()) if keyValPair:h.write("typedef enum\n""{\n")numNum = 0for keyVal in keyValPair:h.write("    " + sgnl.name + "_" + str(numNum) + " = " + keyVal[0] + ",// " + keyVal[1] + "\n")numNum = numNum + 1h.write("}" + sgnl.name + "_e;\n")h.write("\n\n#endif\n")  print("AnalysisDbc successfull!\n")return def CreateCanSignalAnalysisFunction(dbcName,createFileName): hfileName = "candb_messages.h"cfileName = "candb_messages.c"if createFileName:hfileName = createFileName + ".h"cfileName = createFileName + ".c"else:passwith open(hfileName, 'a+',encoding='utf-8') as h:with open(cfileName, 'a+',encoding='utf-8') as c:with open(dbcName, 'r',encoding='utf-8',errors='ignore') as f:#,encoding='latin-1'foundMessages = []text = f.read()mm = re.findall(r"(BO_\s+[0-9]{1,4}\s+[0-9a-zA-Z_]+:\s+[0-9]\s+[0-9a-zA-Z_]+\n(.+\n)+)", text)mm = [re.sub(r"(BO_)|(SG_)|\(|\)|\[|\]|:", "", x[0]) for x in mm]mm = [re.sub(r"\+ ", ",0 ", x) for x in mm]mm = [re.sub(r"\- ", ",1 ", x) for x in mm]mm = [re.sub(r"@|,|\|", " ", x).strip() for x in mm]
#                 print(mm)h.write("\n//! Physical values struct\n") h.write("typedef struct\n""{\n") for message in mm:msg = Message()foundMessages.append(msg)nn = re.findall(r"\".*?\"", message)lines = message.split("\n")msgLine = lines[0].split()  #处理消息一行,默认为所有的空字符，包括空格、换行(\n)、制表符(\t)等msg.id = msgLine[0]msg.name = msgLine[1]msg.len = int(msgLine[2])msg.emitter = msgLine[3]#                 print(msg.id)print(msg.name)#                 print(msg.len)#                 print(msg.emitter)h.write("\n// " + msg.name + " "+ msg.id + "\n") for signalLine in [x.split() for x in lines[1:]]:#第0行为消息描述行,第1行开始为Can信号sgnl = Signal()sgnl.msgId = msg.idsgnl.name = signalLine[0]sgnl.sbit = int(signalLine[1])sgnl.len = int(signalLine[2])sgnl.align = int(signalLine[3])sgnl.sign = int(signalLine[4])sgnl.mul = float(signalLine[5])sgnl.offset = float(signalLine[6])sgnl.min = int(float(signalLine[7]))sgnl.max = int(float(signalLine[8]))if sgnl.align == 0: #motorolaif sgnl.sbit >= 56:sgnl.sbit = sgnl.sbit - 56 #0-7elif sgnl.sbit >= 48:sgnl.sbit = sgnl.sbit - 40 #8-15elif sgnl.sbit >= 40:sgnl.sbit = sgnl.sbit - 24 #16-23elif sgnl.sbit >= 32:sgnl.sbit = sgnl.sbit - 8 #24-31elif sgnl.sbit >= 24:sgnl.sbit = sgnl.sbit + 8 #32-39elif sgnl.sbit >= 16:sgnl.sbit = sgnl.sbit + 24 #40-47elif sgnl.sbit >= 8:sgnl.sbit = sgnl.sbit + 40 #48-55else:sgnl.sbit = sgnl.sbit + 56 #56-63 h.write("    double phy_" + sgnl.name + ";\n")c.write("double " + "Parse_" + msg.name + "_" + sgnl.name + "(const uint8_t msgLen, const uint8_t data[8])\n""{\n")c.write("    double tmpVal = 0;\n""    int64_t  temp = 0;\n")#                         signalLsb = 0
#                         signalMsb = 0if sgnl.align == 1:c.write("    uint64_t tmpData = ((uint64_t)data[0]\n""                       | ((uint64_t)data[1]<<8)\n""                       | ((uint64_t)data[2]<<16)\n""                       | ((uint64_t)data[3]<<24)\n""                       | ((uint64_t)data[4]<<32)\n""                       | ((uint64_t)data[5]<<40)\n""                       | ((uint64_t)data[6]<<48)\n""                       | ((uint64_t)data[7]<<56));\n")signalLsb = sgnl.sbitsignalMsb = lsb_calc_msb(sgnl.len, sgnl.sbit)else:c.write("    uint64_t tmpData = ((uint64_t)data[7]\n""                       | ((uint64_t)data[6]<<8)\n""                       | ((uint64_t)data[5]<<16)\n""                       | ((uint64_t)data[4]<<24)\n""                       | ((uint64_t)data[3]<<32)\n""                       | ((uint64_t)data[2]<<40)\n""                       | ((uint64_t)data[1]<<48)\n""                       | ((uint64_t)data[0]<<56));\n")signalLsb = msb_calc_lsb(sgnl.len, sgnl.sbit)signalMsb = sgnl.sbit#                       test print        printSignal = "lsb:" + str(signalLsb) + " msb:" + str(signalMsb) + " len:" + str(sgnl.len)print(printSignal)
#                       End test print  sgAlign = msg.name + "." + sgnl.name + ".alignMode"sgSign = msg.name + "." + sgnl.name + ".sign"sgBitlen = msg.name + "." + sgnl.name + ".bitLen"sgScale = msg.name + "." + sgnl.name + ".scale"sgOffset = msg.name + "." + sgnl.name + ".offset"sgMin = msg.name + "." + sgnl.name + ".minVal"sgMax = msg.name + "." + sgnl.name + ".maxVal"if sgnl.align == 1:sgMsb = "(" + msg.name + "." + sgnl.name + ".sbit + " + msg.name + "." + sgnl.name + ".bitLen - 1)"c.write("    uint8_t tmpMsb = " + sgMsb + ";\n")else:sgMsb = msg.name + "." + sgnl.name + ".sbit"c.write("    uint8_t tmpMsb = " + sgMsb + ";\n""    if(tmpMsb >= 56)\n""    {\n""        tmpMsb -= 56;//0-7\n""    }\n""    else if(tmpMsb >= 48)\n""    {\n""        tmpMsb -= 40;//8-15\n""    }\n""    else if(tmpMsb >= 40)\n""    {\n""        tmpMsb -= 24;//16-23\n""    }\n""    else if(tmpMsb >= 32)\n""    {\n""        tmpMsb -= 8;//24-31\n""    }\n""    else if(tmpMsb >= 24)\n""    {\n""        tmpMsb += 8;//32-39\n""    }\n""    else if(tmpMsb >= 16)\n""    {\n""        tmpMsb += 24;//40-47\n""    }\n""    else if(tmpMsb >= 8)\n""    {\n""        tmpMsb += 40;//48-55\n""    }\n""    else\n""    {\n""        tmpMsb += 56;//56-63 \n""    }\n")c.write("    tmpData = tmpData << (63 - tmpMsb);\n")c.write("    tmpData = tmpData >> (63 - tmpMsb);\n")c.write("    tmpData = tmpData >> (tmpMsb - " + sgBitlen + " + 1);\n")c.write("    if(" + sgSign + ")\n""    {\n""        if(tmpData >> (" + sgBitlen + " - 1))\n""        {\n""            for(uint8_t i = 63; i >= " + sgBitlen + "; i--)\n""            {\n""                tmpData = tmpData | ((uint64_t)0x01 << i);\n""            }\n""        }\n""        temp = (int64_t)tmpData;\n""        tmpVal = (double)(temp * " + sgScale + " + " + sgOffset + ");\n""    }\n""    else\n""    {\n""        tmpVal = (double)(tmpData * " + sgScale + " + " + sgOffset + ");\n""    }\n")c.write("    if((tmpVal + CAN_EPS) < " + sgMin + ")\n""    {\n""        tmpVal = " + sgMin + ";\n""    }\n")c.write("    if(tmpVal > " + sgMax + " + CAN_EPS)\n""    {\n""        tmpVal = " + sgMax + ";\n""    }\n")c.write("    return tmpVal;\n")c.write("}\n\n")h.write("}PhyCan;\n")h.write("\n//! Physical values struct variable \n") h.write("extern PhyCan physicsData;\n")h.write("\n//! The function AnalysisCanFrameMessage will be used by the user\n") h.write("extern int32_t AnalysisCanFrameMessage(const uint32_t msgId, const uint8_t msgLen, const uint8_t data[8]);\n")  h.write("\n\n#endif\n")  print("CreateCanSignalAnalysisFunction successfull!\n")return     def CreateAnalysisCanFrameMessageFunction(dbcName,createFileName): hfileName = "candb_messages.h"cfileName = "candb_messages.c"if createFileName:hfileName = createFileName + ".h"cfileName = createFileName + ".c"else:passwith open(cfileName, 'a+',encoding='utf-8') as c:with open(dbcName, 'r',encoding='utf-8',errors='ignore') as f:#,encoding='latin-1'foundMessages = []text = f.read()mm = re.findall(r"(BO_\s+[0-9]{1,4}\s+[0-9a-zA-Z_]+:\s+[0-9]\s+[0-9a-zA-Z_]+\n(.+\n)+)", text)mm = [re.sub(r"(BO_)|(SG_)|\(|\)|\[|\]|:", "", x[0]) for x in mm]mm = [re.sub(r"\+ ", ",0 ", x) for x in mm]mm = [re.sub(r"\- ", ",1 ", x) for x in mm]mm = [re.sub(r"@|,|\|", " ", x).strip() for x in mm]c.write("int32_t AnalysisCanFrameMessage(const uint32_t msgId, const uint8_t msgLen, const uint8_t data[8])\n""{\n""    int32_t ret = 0;\n\n""    switch(msgId)\n""    {\n")for message in mm:msg = Message()foundMessages.append(msg)nn = re.findall(r"\".*?\"", message)lines = message.split("\n")msgLine = lines[0].split()  #处理消息一行,默认为所有的空字符，包括空格、换行(\n)、制表符(\t)等msg.id = msgLine[0]msg.name = msgLine[1]msg.len = int(msgLine[2])msg.emitter = msgLine[3]c.write("        case " + str(msg.id) + ": // " + msg.name + "\n") for signalLine in [x.split() for x in lines[1:]]:#第0行为消息描述行,第1行开始为Can信号sgnl = Signal()sgnl.msgId = msg.idsgnl.name = signalLine[0]c.write("            physicsData.phy_" + sgnl.name + " = Parse_" + msg.name + "_" + sgnl.name + "(msgLen, data);\n")c.write("            break;\n")c.write('        default:\n''             ret = -1;\n''             printf("Error:Unknow msgId!\\n");\n''             break;\n')c.write("    }\n\n" "    return ret;\n""}\n") print("CreateAnalysisCanFrameMessageFunction successfull!\n")                returndef RemoveFileEndline(fileName):openFile=open(fileName,'r',encoding='utf-8')writeFile=open('Temp','w',encoding='utf-8')line=openFile.readline()while line:
#         print(line)if line == "#endif\n":print(line)passelse:writeFile.write(line)line=openFile.readline()openFile.close()writeFile.close()os.remove(fileName)os.rename('Temp',fileName)     print("RemoveFileEndline ok!\n")return #以上是解析相关的函数
#以下是编码打包相关的函数
def CreateCanSignalPackgeFunction(dbcName,createFileName): hfileName = "candb_messages.h"cfileName = "candb_messages.c"if createFileName:hfileName = createFileName + ".h"cfileName = createFileName + ".c"else:passwith open(hfileName, 'a+',encoding='utf-8') as h:with open(cfileName, 'a+',encoding='utf-8') as c:with open(dbcName, 'r',encoding='utf-8',errors='ignore') as f:#,encoding='latin-1'foundMessages = []text = f.read()mm = re.findall(r"(BO_\s+[0-9]{1,4}\s+[0-9a-zA-Z_]+:\s+[0-9]\s+[0-9a-zA-Z_]+\n(.+\n)+)", text)mm = [re.sub(r"(BO_)|(SG_)|\(|\)|\[|\]|:", "", x[0]) for x in mm]mm = [re.sub(r"\+ ", ",0 ", x) for x in mm]mm = [re.sub(r"\- ", ",1 ", x) for x in mm]mm = [re.sub(r"@|,|\|", " ", x).strip() for x in mm]#                 h.write("\n//! Physical values struct\n")
#                 h.write("typedef struct\n"
#                        "{\n") for message in mm:msg = Message()foundMessages.append(msg)nn = re.findall(r"\".*?\"", message)lines = message.split("\n")msgLine = lines[0].split()  #处理消息一行,默认为所有的空字符，包括空格、换行(\n)、制表符(\t)等msg.id = msgLine[0]msg.name = msgLine[1]msg.len = int(msgLine[2])msg.emitter = msgLine[3]#                 print(msg.id)print(msg.name)#                 print(msg.len)#                 print(msg.emitter)h.write("\n// " + msg.name + " "+ msg.id + "\n") hFuncName = "extern uint64_t Packge_" + msg.name + "("cFuncName = "uint64_t Packge_" + msg.name + "("hLen = len(hFuncName)cLen = len(cFuncName)h.write(hFuncName)c.write(cFuncName)signalNumber = 0;for signalLine in [x.split() for x in lines[1:]]:sgnl = Signal()sgnl.name = signalLine[0]sgnl.len = int(signalLine[2])sgnl.sign = int(signalLine[4])signalNumber = signalNumber + 1if signalNumber > 1:h.write(",\n")c.write(",\n")for x in range(hLen):h.write(" ")for x in range(cLen):c.write(" ")if sgnl.len <= 8:if sgnl.sign == 1:h.write("const int8_t " + sgnl.name)c.write("const int8_t " + sgnl.name)else:h.write("const uint8_t " + sgnl.name)c.write("const uint8_t " + sgnl.name)elif sgnl.len <= 16: if sgnl.sign == 1:h.write("const int16_t " + sgnl.name)c.write("const int16_t " + sgnl.name)else:h.write("const uint16_t " + sgnl.name)c.write("const uint16_t " + sgnl.name)elif sgnl.len <= 32:if sgnl.sign == 1:h.write("const int32_t " + sgnl.name)c.write("const int32_t " + sgnl.name)else:h.write("const uint32_t " + sgnl.name)c.write("const uint32_t " + sgnl.name)else:# sgnl.len <= 64:if sgnl.sign == 1:h.write("const int64_t " + sgnl.name)c.write("const int64_t " + sgnl.name)else:h.write("const uint64_t " + sgnl.name)c.write("const uint64_t " + sgnl.name)      h.write(");\n")   c.write(")\n""{\n""    uint64_t tmpVal = 0;\n""    uint64_t tmpData = 0;\n""    uint8_t* pos = NULL;\n")for signalLine in [x.split() for x in lines[1:]]:sgnl = Signal()sgnl.msgId = msg.idsgnl.name = signalLine[0]sgnl.sbit = int(signalLine[1])sgnl.len = int(signalLine[2])sgnl.align = int(signalLine[3])sgnl.sign = int(signalLine[4])sgnl.mul = float(signalLine[5])sgnl.offset = float(signalLine[6])sgnl.min = int(float(signalLine[7]))sgnl.max = int(float(signalLine[8]))if sgnl.align == 0: #motorolaif sgnl.sbit >= 56:sgnl.sbit = sgnl.sbit - 56 #0-7elif sgnl.sbit >= 48:sgnl.sbit = sgnl.sbit - 40 #8-15elif sgnl.sbit >= 40:sgnl.sbit = sgnl.sbit - 24 #16-23elif sgnl.sbit >= 32:sgnl.sbit = sgnl.sbit - 8 #24-31elif sgnl.sbit >= 24:sgnl.sbit = sgnl.sbit + 8 #32-39elif sgnl.sbit >= 16:sgnl.sbit = sgnl.sbit + 24 #40-47elif sgnl.sbit >= 8:sgnl.sbit = sgnl.sbit + 40 #48-55else:sgnl.sbit = sgnl.sbit + 56 #56-63 if sgnl.align == 1:signalLsb = sgnl.sbitsignalMsb = lsb_calc_msb(sgnl.len, sgnl.sbit)else:signalLsb = msb_calc_lsb(sgnl.len, sgnl.sbit)signalMsb = sgnl.sbitprintSignal = "lsb:" + str(signalLsb) + " msb:" + str(signalMsb) + " len:" + str(sgnl.len)print(printSignal)sgAlign = msg.name + "." + sgnl.name + ".alignMode"sgSign = msg.name + "." + sgnl.name + ".sign"sgBitlen = msg.name + "." + sgnl.name + ".bitLen"sgScale = msg.name + "." + sgnl.name + ".scale"sgOffset = msg.name + "." + sgnl.name + ".offset"sgMin = msg.name + "." + sgnl.name + ".minVal"sgMax = msg.name + "." + sgnl.name + ".maxVal"c.write("    tmpData = (uint64_t)" + sgnl.name + ";\n")c.write("    if(" + sgSign + ")\n""    {""        if(" + sgnl.name + " >> (" + sgBitlen + " - 1))\n"#负数"        {\n""            for(uint8_t i = 63; i >= " + sgBitlen + "; i--)\n""            {\n""                tmpData = tmpData & (~((uint64_t)0x01 << i));\n""            }\n""        }\n""    }\n")c.write("    tmpData = tmpData << " + str(signalLsb) + ";\n")c.write("    tmpVal = tmpVal | tmpData;\n")c.write("    if(0 == " + sgAlign + ")\n""    {""        tmpData = tmpVal;\n""        pos = (uint8_t*)&tmpData;\n""        tmpVal = (uint64_t)pos[7]\n""                 |((uint64_t)pos[6]<<8)\n""                 |((uint64_t)pos[5]<<16)\n""                 |((uint64_t)pos[4]<<24)\n""                 |((uint64_t)pos[3]<<32)\n""                 |((uint64_t)pos[2]<<40)\n""                 |((uint64_t)pos[1]<<48)\n""                 |((uint64_t)pos[0]<<56);\n""    }\n")c.write("    return tmpVal;\n")    c.write("}\n\n") h.write("\n\n#endif\n")  print("CreateCanSignalPackgeFunction successfull!\n")return     if __name__ == '__main__':dbcFile = "./CN210S.dbc"    #Motorola
#     dbcFile = "./CVTC_SK81.dbc" #Intel
#     dbcFile = "./ex1.dbc" #IntelcreateFile = "candb_messages"headFilePathName = "./" + createFile + ".h"createFileType = 0 # 0--产生can消息解析；1--产生can消息组包函数AnalysisDbcFile(dbcFile,createFile,createFileType)  RemoveFileEndline(headFilePathName)CreateCanSignalAnalysisFunction(dbcFile,createFile)CreateAnalysisCanFrameMessageFunction(dbcFile,createFile)# 以下打包赋值部分
#     createFileType = 1 # 0--产生can消息解析；1--产生can消息组包函数
#     AnalysisDbcFile(dbcFile,createFile,createFileType)
#     RemoveFileEndline(headFilePathName)
#     CreateCanSignalPackgeFunction(dbcFile,createFile)#     my_file = 'canDemoTest//candb_messages.c'
#     if os.path.exists(my_file):
#         os.remove(my_file)
#     my_file = 'canDemoTest//candb_messages.h'
#     if os.path.exists(my_file):
#         os.remove(my_file)
#     shutil.move('./candb_messages.c', 'canDemoTest')
#     shutil.move('./candb_messages.h', 'canDemoTest')pass

使用说明：

1.parseCan_dbc_motorola_intel_ok.py是可以直接通过python3来运行的;
parseCan_dbc_motorola_intel_ok.ipynb是使用Jupyter Notebook可以来运行的。
2.直接修改parseCan_motorola_intel_ok.py文件中的main函数dbcFile指向(dbc文件)。
执行: python3 parseCan_motorola_intel_ok.py
则会生成candb_messages.c和candb_messages.h文件。
3.将candb_messages.c和candb_messages.h文件拷贝到canDemoTest目录下。
4.修改canDemoTest目录下的main.c，如果第2步dbc文件选择的CN210S.dbc或者CVTC_SK81.dbc，则将在main.c打开以下几个宏:
①.#define _ANALYS_CN210S_DBC_ 这个宏，表示生成CN210S.dbc文件对应的can信号解析相关的函数；
②.#define _ANALYS_CVTC_SK81_DBC_ 这个宏，表示生成CVTC_SK81.dbc文件对应的can信号解析相关的函数；
③.#define _PACKGE_CN210S_ 这个宏，表示生成CN210S.dbc文件对应的can信号组包相关的函数；
④.#define _PACKGE_CVTC_SK81_DBC_ 这个宏，表示生成CVTC_SK81.dbc文件对应的can信号组包相关的函数；

5.运行cmake和make编译，然后运行看看打印

6.注意:CN210S.dbc是Motolola格式的dbc文件,CVTC_SK81.dbc是Intel格式的dbc文件。
7.生成的candb_messages.c和candb_messages.h文件中,用户只需要关注physicsData变量(最终的物理变量)和AnalysisCanFrameMessage函数(Can帧解析函数即可)。

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