From 3042a08cdd1bd7c1ab30c411e6f39d419447ee13 Mon Sep 17 00:00:00 2001 From: Simone Ruffini Date: Tue, 6 Aug 2024 13:31:47 +0200 Subject: [PATCH] fix: IMU messages --- SC24/MCB.json | 262 ++-- SC24/infos.md | 9 +- SC24/sbgCanVendorDefault.json | 2498 +++++++++++++++++++++++++++++++++ SC24/scripts/generate_ids.py | 2 +- 4 files changed, 2667 insertions(+), 104 deletions(-) create mode 100644 SC24/sbgCanVendorDefault.json diff --git a/SC24/MCB.json b/SC24/MCB.json index 1404217..b2f9800 100644 --- a/SC24/MCB.json +++ b/SC24/MCB.json @@ -3269,59 +3269,89 @@ } } }, - "SBG_ECAN_MSG_GPS2_HDT": { - "id": 393, - "length": 8, + "IMU__Accelerometers": { + "message-id_dec": 55, + "id": 891, + "length": 6, "sender": "IMU", "signals": { - "PITCH": { - "start_bit": 32, + "ACCEL_X": { + "start_bit": 0, "size": 16, "endianness": "little", "signed": true, - "unit": "deg", - "receivers": [ - "SCANNER" - ], + "unit": "m.s-2", "scale": 0.01, "offset": 0, "min": -327.68, "max": 327.67 }, - "PITCH_ACC": { - "start_bit": 48, + "ACCEL_Y": { + "start_bit": 16, "size": 16, "endianness": "little", - "unit": "deg", - "receivers": [ - "SCANNER" - ], + "signed": true, + "unit": "m.s-2", "scale": 0.01, "offset": 0, - "min": 0, - "max": 655.35 + "min": -327.68, + "max": 327.67 }, - "TRUE_HEADING": { - "start_bit": 0, + "ACCEL_Z": { + "start_bit": 32, "size": 16, "endianness": "little", - "unit": "deg", - "receivers": [ - "SCANNER" - ], + "signed": true, + "unit": "m.s-2", "scale": 0.01, "offset": 0, + "min": -327.68, + "max": 327.67 + } + } + }, + "IMU__TrackSlipCurv": { + "message-id_dec": 60, + "id": 971, + "length": 7, + "sender": "IMU", + "signals": { + "ANGLE_SLIP": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + }, + "ANGLE_TRACK": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + }, + "AUTO_STATUS": { + "start_bit": 48, + "size": 8, + "endianness": "little", + "scale": 1, + "offset": 0, "min": 0, - "max": 655.35 + "max": 255 }, - "TRUE_HEADING_ACC": { - "start_bit": 16, + "CURVATURE_RADIUS": { + "start_bit": 32, "size": 16, "endianness": "little", - "unit": "deg", - "receivers": [ - "SCANNER" - ], + "unit": "m", "scale": 0.01, "offset": 0, "min": 0, @@ -3329,40 +3359,50 @@ } } }, - "SBG_ECAN_MSG_GPS2_HDT_INFO": { - "id": 392, + "IMU__VelocityBody": { + "message-id_dec": 59, + "id": 955, "length": 6, "sender": "IMU", "signals": { - "STATUS": { - "start_bit": 32, + "VELOCITY_X": { + "start_bit": 0, "size": 16, "endianness": "little", - "receivers": [ - "SCANNER" - ], - "scale": 1, + "signed": true, + "unit": "m.s-1", + "scale": 0.01, "offset": 0, - "min": 0, - "max": 65535 + "min": -327.68, + "max": 327.67 }, - "TIME_STAMP": { - "start_bit": 0, - "size": 32, + "VELOCITY_Y": { + "start_bit": 16, + "size": 16, "endianness": "little", - "unit": "usec", - "receivers": [ - "SCANNER" - ], - "scale": 1, + "signed": true, + "unit": "m.s-1", + "scale": 0.01, "offset": 0, - "min": 0, - "max": 4294970000 + "min": -327.68, + "max": 327.67 + }, + "VELOCITY_Z": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 } } }, - "SBG_ECAN_MSG_GPS2_POS": { - "id": 389, + "IMU__GPS1_Position": { + "message-id_dec": 58, + "id": 939, "length": 8, "sender": "IMU", "signals": { @@ -3371,10 +3411,7 @@ "size": 32, "endianness": "little", "signed": true, - "unit": "deg", - "receivers": [ - "SCANNER" - ], + "unit": "\ufffd", "scale": 1e-07, "offset": 0, "min": -214.7483648, @@ -3385,10 +3422,7 @@ "size": 32, "endianness": "little", "signed": true, - "unit": "deg", - "receivers": [ - "SCANNER" - ], + "unit": "\ufffd", "scale": 1e-07, "offset": 0, "min": -214.7483648, @@ -3396,61 +3430,85 @@ } } }, - "SBG_ECAN_MSG_GPS2_POS_INFO": { - "id": 388, - "length": 8, + "IMU__Gyro": { + "message-id_dec": 56, + "id": 907, + "length": 6, "sender": "IMU", "signals": { - "STATUS": { - "start_bit": 32, - "size": 32, + "GYRO_X": { + "start_bit": 0, + "size": 16, "endianness": "little", - "receivers": [ - "SCANNER" - ], - "scale": 1, + "signed": true, + "unit": "rad.s-1", + "scale": 0.001, "offset": 0, - "min": 0, - "max": 4294970000 + "min": -32.768, + "max": 32.767 }, - "TIME_STAMP": { - "start_bit": 0, - "size": 32, + "GYRO_Y": { + "start_bit": 16, + "size": 16, "endianness": "little", - "unit": "usec", - "receivers": [ - "SCANNER" - ], - "scale": 1, + "signed": true, + "unit": "rad.s-1", + "scale": 0.001, "offset": 0, - "min": 0, - "max": 4294970000 + "min": -32.768, + "max": 32.767 + }, + "GYRO_Z": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad.s-1", + "scale": 0.001, + "offset": 0, + "min": -32.768, + "max": 32.767 } } }, - "SBG_ECAN_MSG_EVENT_INFO_A": { - "id": 512, - "length": 8, + "IMU__Euler": { + "message-id_dec": 57, + "id": 923, + "length": 6, "sender": "IMU", "signals": { - "STATUS": { - "start_bit": 32, + "PITCH": { + "start_bit": 16, "size": 16, "endianness": "little", - "scale": 1, + "signed": true, + "unit": "rad", + "scale": 0.0001, "offset": 0, - "min": 0, - "max": 65535 + "min": -3.2768, + "max": 3.2767 }, - "TIME_STAMP": { + "ROLL": { "start_bit": 0, - "size": 32, + "size": 16, "endianness": "little", - "unit": "usec", - "scale": 1, + "signed": true, + "unit": "rad", + "scale": 0.0001, "offset": 0, - "min": 0, - "max": 4294970000 + "min": -3.2768, + "max": 3.2767 + }, + "YAW": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 } } }, @@ -3619,6 +3677,7 @@ "NLG5_CTL": { "id": 1560, "length": 7, + "sender": "BRUSA", "cycle_time": 100, "signals": { "NLG5_C_CP_V": { @@ -3727,6 +3786,7 @@ "NLG5_DIAG_RX": { "id": 1816, "length": 8, + "sender": "BRUSA", "signals": { "LAD_D_ParamRq": { "description": "Diag requested data from host", @@ -3785,7 +3845,7 @@ "max": 1 }, "NLG5_E_C_OFF": { - "description": "CAN off, transmit buffer \u003e255", + "description": "CAN off, transmit buffer >255", "start_bit": 16, "size": 1, "endianness": "big", @@ -3798,7 +3858,7 @@ "max": 1 }, "NLG5_E_C_RX": { - "description": "CAN receiver buffer \u003e127", + "description": "CAN receiver buffer >127", "start_bit": 30, "size": 1, "endianness": "big", @@ -3811,7 +3871,7 @@ "max": 1 }, "NLG5_E_C_TO": { - "description": "CAN timeout, no control message received for \u003e300ms", + "description": "CAN timeout, no control message received for >300ms", "start_bit": 17, "size": 1, "endianness": "big", @@ -3824,7 +3884,7 @@ "max": 1 }, "NLG5_E_C_TX": { - "description": "CAN transmit buffer \u003e127", + "description": "CAN transmit buffer >127", "start_bit": 31, "size": 1, "endianness": "big", @@ -3928,7 +3988,7 @@ "max": 1 }, "NLG5_E_NV_CRC": { - "description": "NVSRAM check sum failure; contains most of the scaling \u0026 calibration values, CAN ID's and charging profile etc.", + "description": "NVSRAM check sum failure; contains most of the scaling & calibration values, CAN ID's and charging profile etc.", "start_bit": 22, "size": 1, "endianness": "big", diff --git a/SC24/infos.md b/SC24/infos.md index f1c5abf..035d646 100644 --- a/SC24/infos.md +++ b/SC24/infos.md @@ -8,8 +8,7 @@ The list of ECUs and their ids: - DASH: 5 - DIAG_TOOL: 6 - DSPACE: 7 -- EXTRA_NODE: 8 `DON'T CHANGE THIS ECU-ID: KEEP IT AT 8 !` -Some ECUs have non modifiable can-ids because programmed at fabbrication/delivery, we put those here +- EXTRA_NODE: 8 `DON'T CHANGE THIS ECU-ID: KEEP IT AT 8 !` (Some ECUs have non modifiable can-ids because programmed at fabbrication/delivery, we put those here) - SCANNER: 9 - TPMS: 10 - IMU: 11 @@ -57,6 +56,12 @@ Below values are in base 10 - 48: SB_FRONT_sdcSensingStatus - 50: SB_FRONT_potentiometer - 51: SB_REAR_potentiometer + - 55: IMU__Accelerometers + - 56: IMU__Gyro + - 57: IMU__Euler + - 58: IMU__GPS1_Position + - 59: IMU__VelocityBody + - 60: IMU__TrackSlipCurv ``` ### Mid Priority Low Speed (50-100+ms) ``` diff --git a/SC24/sbgCanVendorDefault.json b/SC24/sbgCanVendorDefault.json new file mode 100644 index 0000000..acff0da --- /dev/null +++ b/SC24/sbgCanVendorDefault.json @@ -0,0 +1,2498 @@ +{ + "version": "", + "nodes": { + "": {} + }, + "general_attributes": {}, + "node_attributes": {}, + "message_attributes": { + "MsgPeriodMS": { + "int": { + "default": 0, + "from": 0, + "to": 65535 + } + } + }, + "signal_attributes": {}, + "messages": { + "SBG_ECAN_MSG_AIR_DATA_AIRSPEED": { + "id": 356, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "AIRSPEED": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + }, + "PRESSURE_DIFF": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "signed": true, + "unit": "Pa", + "scale": 0.001, + "offset": 0, + "min": -2147483.648, + "max": 2147483.647 + } + } + }, + "SBG_ECAN_MSG_AIR_DATA_ALTITUDE": { + "id": 355, + "length": 8, + "sender": "Vector__XXX", + "signals": { + "ALTITUDE": { + "start_bit": 32, + "size": 32, + "endianness": "little", + "signed": true, + "unit": "m", + "scale": 0.001, + "offset": 0, + "min": -2147483.648, + "max": 2147483.647 + }, + "PRESSURE_ABS": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "unit": "Pa", + "scale": 0.001, + "offset": 0, + "min": 0, + "max": 4294967.295 + } + } + }, + "SBG_ECAN_MSG_AIR_DATA_INFO": { + "id": 354, + "length": 7, + "sender": "Vector__XXX", + "signals": { + "AIR_DATA_STATUS": { + "start_bit": 32, + "size": 8, + "endianness": "little", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "AIR_TEMPERATURE": { + "start_bit": 40, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "\ufffdC", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + }, + "TIME_STAMP": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "unit": "us", + "scale": 1, + "offset": 0, + "min": 0, + "max": 4294970000 + } + } + }, + "SBG_ECAN_MSG_AUTO_SLIP_CURV": { + "id": 544, + "length": 7, + "sender": "Vector__XXX", + "signals": { + "ANGLE_SLIP": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + }, + "ANGLE_TRACK": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + }, + "AUTO_STATUS": { + "start_bit": 48, + "size": 8, + "endianness": "little", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "CURVATURE_RADIUS": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "unit": "m", + "scale": 0.01, + "offset": 0, + "min": 0, + "max": 655.35 + } + } + }, + "SBG_ECAN_MSG_DEPTH_ALTITUDE": { + "id": 359, + "length": 8, + "sender": "Vector__XXX", + "signals": { + "DEPTH": { + "start_bit": 32, + "size": 32, + "endianness": "little", + "signed": true, + "unit": "m", + "scale": 0.001, + "offset": 0, + "min": -2147480, + "max": 2147480 + }, + "PRESSURE_ABS": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "unit": "Pa", + "scale": 0.1, + "offset": 0, + "min": 0, + "max": 429497000 + } + } + }, + "SBG_ECAN_MSG_DEPTH_INFO": { + "id": 358, + "length": 5, + "sender": "Vector__XXX", + "signals": { + "DEPTH_STATUS": { + "start_bit": 32, + "size": 8, + "endianness": "little", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "TIME_STAMP": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "unit": "us", + "scale": 1, + "offset": 0, + "min": 0, + "max": 4294970000 + } + } + }, + "SBG_ECAN_MSG_EKF_ALTITUDE": { + "id": 309, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "ALTITUDE": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "signed": true, + "unit": "m", + "scale": 0.001, + "offset": 0, + "min": -2147480, + "max": 2147480 + }, + "UNDULATION": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m", + "scale": 0.005, + "offset": 0, + "min": -163.84, + "max": 163.835 + } + } + }, + "SBG_ECAN_MSG_EKF_EULER": { + "id": 306, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "PITCH": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + }, + "ROLL": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + }, + "YAW": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": -3.2768, + "max": 3.2767 + } + } + }, + "SBG_ECAN_MSG_EKF_INFO": { + "id": 304, + "length": 4, + "sender": "Vector__XXX", + "signals": { + "TIME_STAMP": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "unit": "\ufffds", + "scale": 1, + "offset": 0, + "min": 0, + "max": 4294970000 + } + } + }, + "SBG_ECAN_MSG_EKF_ORIENTATION_ACC": { + "id": 307, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "PITCH_ACC": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": 0, + "max": 6.5535 + }, + "ROLL_ACC": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": 0, + "max": 6.5535 + }, + "YAW_ACC": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "unit": "rad", + "scale": 0.0001, + "offset": 0, + "min": 0, + "max": 6.5535 + } + } + }, + "SBG_ECAN_MSG_EKF_POS": { + "id": 308, + "length": 8, + "sender": "Vector__XXX", + "signals": { + "LATITUDE": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "signed": true, + "unit": "\ufffd", + "scale": 1e-7, + "offset": 0, + "min": -214.7483648, + "max": 214.7483647 + }, + "LONGITUDE": { + "start_bit": 32, + "size": 32, + "endianness": "little", + "signed": true, + "unit": "\ufffd", + "scale": 1e-7, + "offset": 0, + "min": -214.7483648, + "max": 214.7483647 + } + } + }, + "SBG_ECAN_MSG_EKF_POS_ACC": { + "id": 310, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "ALTITUDE_ACC": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "unit": "m", + "scale": 0.01, + "offset": 0, + "min": 0, + "max": 655.35 + }, + "LATITUDE_ACC": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "unit": "m", + "scale": 0.01, + "offset": 0, + "min": 0, + "max": 655.35 + }, + "LONGITUDE_ACC": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "unit": "m", + "scale": 0.01, + "offset": 0, + "min": 0, + "max": 655.35 + } + } + }, + "SBG_ECAN_MSG_EKF_QUAT": { + "id": 305, + "length": 8, + "sender": "Vector__XXX", + "signals": { + "Q0": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "signed": true, + "scale": 0.0000305185094759972, + "offset": 0, + "min": -1, + "max": 1 + }, + "Q1": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "signed": true, + "scale": 0.0000305185094759972, + "offset": 0, + "min": -1, + "max": 1 + }, + "Q2": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "scale": 0.0000305185094759972, + "offset": 0, + "min": -1, + "max": 1 + }, + "Q3": { + "start_bit": 48, + "size": 16, + "endianness": "little", + "signed": true, + "scale": 0.0000305185094759972, + "offset": 0, + "min": -1, + "max": 1 + } + } + }, + "SBG_ECAN_MSG_EKF_VEL_BODY": { + "id": 313, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "VELOCITY_X": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + }, + "VELOCITY_Y": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + }, + "VELOCITY_Z": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + } + } + }, + "SBG_ECAN_MSG_EKF_VEL_NED": { + "id": 311, + "length": 6, + "sender": "Vector__XXX", + "signals": { + "VELOCITY_D": { + "start_bit": 32, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + }, + "VELOCITY_E": { + "start_bit": 16, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + "min": -327.68, + "max": 327.67 + }, + "VELOCITY_N": { + "start_bit": 0, + "size": 16, + "endianness": "little", + "signed": true, + "unit": "m.s-1", + "scale": 0.01, + "offset": 0, + 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"max": 65535 + }, + "SOLUTION": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "scale": 1, + "offset": 0, + "min": 0, + "max": 4294970000 + } + } + }, + "SBG_ECAN_MSG_UTC_0": { + "id": 272, + "length": 8, + "sender": "Vector__XXX", + "signals": { + "GPS_TOW": { + "start_bit": 32, + "size": 32, + "endianness": "little", + "unit": "ms", + "scale": 1, + "offset": 0, + "min": 0, + "max": 4294970000 + }, + "TIME_STAMP": { + "start_bit": 0, + "size": 32, + "endianness": "little", + "unit": "\ufffds", + "scale": 1, + "offset": 0, + "min": 0, + "max": 4294970000 + } + } + }, + "SBG_ECAN_MSG_UTC_1": { + "id": 273, + "length": 8, + "sender": "Vector__XXX", + "signals": { + "DAY": { + "start_bit": 16, + "size": 8, + "endianness": "little", + "unit": "d", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "HOUR": { + "start_bit": 24, + "size": 8, + "endianness": "little", + "unit": "h", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "MICRO_SEC": { + "start_bit": 48, + "size": 16, + "endianness": "little", + "unit": "us", + "scale": 100, + "offset": 0, + "min": 0, + "max": 6553500 + }, + "MIN": { + "start_bit": 32, + "size": 8, + "endianness": "little", + "unit": "min", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "MONTH": { + "start_bit": 8, + "size": 8, + "endianness": "little", + "unit": "month", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "SEC": { + "start_bit": 40, + "size": 8, + "endianness": "little", + "unit": "s", + "scale": 1, + "offset": 0, + "min": 0, + "max": 255 + }, + "YEAR": { + "start_bit": 0, + "size": 8, + "endianness": "little", + "unit": "year", + "scale": 1, + "offset": 2000, + "min": 2000, + "max": 2255 + } + } + } + }, + "signal_enums": null +} \ No newline at end of file diff --git a/SC24/scripts/generate_ids.py b/SC24/scripts/generate_ids.py index 3e118ca..e7b79be 100644 --- a/SC24/scripts/generate_ids.py +++ b/SC24/scripts/generate_ids.py @@ -7,7 +7,7 @@ ecu_ids = mcb["signal_enums"]["ecu_id_Enum"]; for message in mcb["messages"]: sender = mcb["messages"][message]["sender"] - if sender == "IMU" : + if sender == "BRUSA" : continue sender_ecu_id = ecu_ids[sender] message_id = mcb["messages"][message]["message-id_dec"]