From 0c8a25a2f4fae9b690f461e5d6697bc4fc20b315 Mon Sep 17 00:00:00 2001
From: saji <champ189@umn.edu>
Date: Mon, 12 Feb 2024 14:38:01 -0600
Subject: [PATCH] move parsers to internal library many fixes related to
 previous changes added import command

---
 cmd/gotelem/cli/client.go       | 141 +++++-
 cmd/gotelem/cli/server.go       |  10 +-
 cmd/gotelem/cli/socketcan.go    |  14 +-
 cmd/skylabify/skylabify.go      | 167 +------
 frame_kind.go                   |  26 -
 http.go                         |  13 +-
 internal/db/db.go               |  12 +-
 internal/logparsers/parsers.go  | 168 +++++++
 py/pytelem/skylab_attr.py       |  11 +-
 skylab/skylab.go                |  11 +-
 skylab/skylab_gen.go            | 822 +++++++++++++++++++-------------
 skylab/templates/golang.go.tmpl |  14 +-
 12 files changed, 861 insertions(+), 548 deletions(-)
 delete mode 100644 frame_kind.go
 create mode 100644 internal/logparsers/parsers.go

diff --git a/cmd/gotelem/cli/client.go b/cmd/gotelem/cli/client.go
index 54caf77..7d97ef6 100644
--- a/cmd/gotelem/cli/client.go
+++ b/cmd/gotelem/cli/client.go
@@ -1,21 +1,148 @@
 package cli
 
 import (
+	"bufio"
+	"errors"
 	"fmt"
+	"io"
+	"os"
+	"strings"
 
-	"github.com/kschamplin/gotelem"
+	"github.com/kschamplin/gotelem/internal/db"
+	"github.com/kschamplin/gotelem/internal/logparsers"
+	"github.com/kschamplin/gotelem/skylab"
 	"github.com/urfave/cli/v2"
 )
 
+var parsersString string
+
 func init() {
 	subCmds = append(subCmds, clientCmd)
+	parsersString = func() string {
+		// create a string like "'telem', 'candump', 'anotherparser'"
+		keys := make([]string, len(logparsers.ParsersMap))
+		i := 0
+		for k := range logparsers.ParsersMap {
+			keys[i] = k
+			i++
+		}
+		s := strings.Join(keys, "', '")
+		return "'" + s + "'"
+	}()
+}
+
+var importCmd = &cli.Command{
+	Name:      "import",
+	Aliases:   []string{"i"},
+	Usage:     "import a log file into a database",
+	ArgsUsage: "[log file]",
+	Flags: []cli.Flag{
+		&cli.StringFlag{
+			Name:    "format",
+			Aliases: []string{"f"},
+			Usage:   "the format of the log file. One of " + parsersString,
+			Value:   "telem",
+		},
+		&cli.PathFlag{
+			Name:    "database",
+			Aliases: []string{"d", "db"},
+			Usage:   "the path of the database",
+			Value:   "./gotelem.db",
+		},
+		&cli.UintFlag{
+			Name:  "batch-size",
+			Usage: "the maximum size of each SQL transaction",
+			Value: 50,
+		},
+	},
+	Action: importAction,
+}
+
+func importAction(ctx *cli.Context) error {
+	path := ctx.Args().Get(0)
+	if path == "" {
+		fmt.Println("missing log file!")
+		cli.ShowAppHelpAndExit(ctx, -1)
+	}
+	fstream, err := os.Open(path)
+	if err != nil {
+		return err
+	}
+	fReader := bufio.NewReader(fstream)
+
+	pfun, ok := logparsers.ParsersMap[ctx.String("format")]
+	if !ok {
+		fmt.Println("invalid format provided: must be one of " + parsersString)
+		cli.ShowAppHelpAndExit(ctx, -1)
+	}
+
+	dbPath := ctx.Path("database")
+	db, err := db.OpenTelemDb(dbPath)
+	if err != nil {
+		return fmt.Errorf("error opening database: %w", err)
+	}
+
+	// we should batch data, avoiding individual transactions to the database.
+	bSize := ctx.Uint("batch-size")
+	eventsBatch := make([]*skylab.BusEvent, bSize)
+
+	batchIdx := 0
+
+	// stats for imports
+	n_packets := 0
+	n_unknown := 0
+	n_error := 0
+	for {
+		line, err := fReader.ReadString('\n')
+		if err != nil {
+			if errors.Is(err, io.EOF) {
+				break // end of file, go to the flush sequence
+			}
+			return err
+		}
+		f, err := pfun(line)
+		var idErr *skylab.UnknownIdError
+		if errors.As(err, &idErr) {
+			// unknown id
+			fmt.Printf("unknown id %v\n", idErr.Error())
+			n_unknown++
+			continue
+		} else if err != nil {
+			// TODO: we should consider absorbing all errors.
+			fmt.Printf("got an error %v\n", err)
+			n_error++
+			continue
+		}
+		n_packets++
+		eventsBatch[batchIdx] = f
+		batchIdx++
+		if batchIdx >= int(bSize) {
+			// flush it!!!!
+			err = db.AddEventsCtx(ctx.Context, eventsBatch...)
+			if err != nil {
+				fmt.Printf("error adding to database %v\n", err)
+			}
+			batchIdx = 0 // reset the batch
+		}
+
+	}
+	// check if we have remaining packets and flush them
+	if batchIdx > 0 {
+		err = db.AddEventsCtx(ctx.Context, eventsBatch[:batchIdx]...) // note the slice here!
+		if err != nil {
+			fmt.Printf("error adding to database %v\n", err)
+		}
+	}
+	fmt.Printf("import status: %d successful, %d unknown, %d errors\n", n_packets, n_unknown, n_error)
+
+	return nil
 }
 
 var clientCmd = &cli.Command{
-	Name:      "client",
-	Aliases:   []string{"c"},
-	Usage:     "interact with a gotelem server",
-	ArgsUsage: "[server url]",
+	Name:        "client",
+	Aliases:     []string{"c"},
+	Subcommands: []*cli.Command{importCmd},
+	Usage:       "Client utilities and tools",
 	Flags: []cli.Flag{
 		&cli.BoolFlag{
 			Name:    "gui",
@@ -24,13 +151,11 @@ var clientCmd = &cli.Command{
 		},
 	},
 	Description: `
-Connects to a gotelem server or relay. Can be used to 
+Connects to a gotelem server or relay. Also acts as a helper command line tool.
 	`,
 	Action: client,
 }
 
-
 func client(ctx *cli.Context) error {
 	return nil
 }
-
diff --git a/cmd/gotelem/cli/server.go b/cmd/gotelem/cli/server.go
index 713e3f2..3437c30 100644
--- a/cmd/gotelem/cli/server.go
+++ b/cmd/gotelem/cli/server.go
@@ -32,9 +32,10 @@ var serveFlags = []cli.Flag{
 		Usage:       "file to store log to",
 	},
 	&cli.PathFlag{
-		Name:  "db",
-		Value: "gotelem.db",
-		Usage: "database to serve",
+		Name:        "db",
+		Aliases:     []string{"d"},
+		DefaultText: "gotelem.db",
+		Usage:       "database to serve, if not specified will use memory",
 	},
 }
 
@@ -161,7 +162,6 @@ func (r *rpcService) Start(ctx *cli.Context, deps svcDeps) error {
 }
 
 func handleCon(conn net.Conn, broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}) {
-	//	reader := msgp.NewReader(conn)
 
 	subname := fmt.Sprint("tcp", conn.RemoteAddr().String())
 
@@ -353,7 +353,7 @@ func (d *dbLoggingService) Start(cCtx *cli.Context, deps svcDeps) (err error) {
 	for {
 		select {
 		case msg := <-rxCh:
-			tdb.AddEventsCtx(cCtx.Context, msg)
+			tdb.AddEventsCtx(cCtx.Context, &msg)
 		case <-cCtx.Done():
 			return
 		}
diff --git a/cmd/gotelem/cli/socketcan.go b/cmd/gotelem/cli/socketcan.go
index 1994084..8f140aa 100644
--- a/cmd/gotelem/cli/socketcan.go
+++ b/cmd/gotelem/cli/socketcan.go
@@ -5,7 +5,7 @@ package cli
 import (
 	"time"
 
-	"github.com/kschamplin/gotelem"
+	"github.com/kschamplin/gotelem/internal/can"
 	"github.com/kschamplin/gotelem/skylab"
 	"github.com/kschamplin/gotelem/socketcan"
 	"github.com/urfave/cli/v2"
@@ -77,7 +77,7 @@ func (s *socketCANService) Start(cCtx *cli.Context, deps svcDeps) (err error) {
 	defer broker.Unsubscribe("socketCAN")
 
 	// make a channel to receive socketCAN frames.
-	rxCan := make(chan gotelem.Frame)
+	rxCan := make(chan can.Frame)
 
 	go func() {
 		for {
@@ -89,27 +89,25 @@ func (s *socketCANService) Start(cCtx *cli.Context, deps svcDeps) (err error) {
 		}
 	}()
 
-	var frame gotelem.Frame
+	var frame can.Frame
 	for {
 		select {
 		case msg := <-rxCh:
 
-			id, d, _ := skylab.ToCanFrame(msg.Data)
+			frame, err = skylab.ToCanFrame(msg.Data)
 
-			frame.Id = id
-			frame.Data = d
 
 			s.sock.Send(&frame)
 
 		case msg := <-rxCan:
-			p, err := skylab.FromCanFrame(msg.Id, msg.Data)
+			p, err := skylab.FromCanFrame(msg)
 			if err != nil {
 				logger.Warn("error parsing can packet", "id", msg.Id)
 				continue
 			}
 			cde := skylab.BusEvent{
 				Timestamp: time.Now(),
-				Id:        msg.Id,
+				Name: p.String(),
 				Data:      p,
 			}
 			broker.Publish("socketCAN", cde)
diff --git a/cmd/skylabify/skylabify.go b/cmd/skylabify/skylabify.go
index fe30fef..83d4021 100644
--- a/cmd/skylabify/skylabify.go
+++ b/cmd/skylabify/skylabify.go
@@ -2,19 +2,15 @@ package main
 
 import (
 	"bufio"
-	"encoding/hex"
 	"encoding/json"
 	"errors"
 	"fmt"
 	"io"
 	"os"
-	"regexp"
-	"strconv"
 	"strings"
 	"syscall"
-	"time"
 
-	"github.com/kschamplin/gotelem/internal/can"
+	"github.com/kschamplin/gotelem/internal/logparsers"
 	"github.com/kschamplin/gotelem/skylab"
 	"github.com/urfave/cli/v2"
 	"golang.org/x/exp/slog"
@@ -46,6 +42,17 @@ required for piping candump into skylabify. Likewise, data should be stored with
 -l.
 
 `
+	parsersString := func() string {
+		// create a string like "'telem', 'candump', 'anotherparser'"
+		keys := make([]string, len(logparsers.ParsersMap))
+		i := 0
+		for k := range logparsers.ParsersMap {
+			keys[i] = k
+			i++
+		}
+		s := strings.Join(keys, "', '")
+		return "'" + s + "'"
+	}()
 
 	app.Flags = []cli.Flag{
 		&cli.BoolFlag{
@@ -55,7 +62,7 @@ required for piping candump into skylabify. Likewise, data should be stored with
 		&cli.StringFlag{
 			Name:    "format",
 			Aliases: []string{"f"},
-			Usage:   "the format of the incoming data. One of 'telem', 'candump'",
+			Usage:   "the format of the incoming data. One of " + parsersString,
 		},
 	}
 
@@ -65,150 +72,6 @@ required for piping candump into skylabify. Likewise, data should be stored with
 	}
 }
 
-// A FormatError is an error when parsing a format. Typically we simply ignore
-// these and move on, but they can optionally wrap another error that is fatal.
-type FormatError struct {
-	msg string
-	err error
-}
-
-func (e *FormatError) Error() string {
-	return fmt.Sprintf("%s:%s", e.msg, e.err.Error())
-}
-func (e *FormatError) Unwrap() error {
-	return e.err
-}
-
-func NewFormatError(msg string, err error) error {
-	return &FormatError{msg: msg, err: err}
-}
-
-// A Parser takes a string containing one line of a particular log file
-// and returns an associated skylab.BusEvent representing the packet.
-// if no packet is found, an error is returned instead.
-type ParserFunc func(string) (skylab.BusEvent, error)
-
-func parseCanDumpLine(dumpLine string) (b skylab.BusEvent, err error) {
-	// dumpline looks like this:
-	// (1684538768.521889) can0 200#8D643546
-	// remove trailing newline
-	dumpLine = strings.TrimSpace(dumpLine)
-	segments := strings.Split(dumpLine, " ")
-
-	var unixSeconds, unixMicros int64
-	fmt.Sscanf(segments[0], "(%d.%d)", &unixSeconds, &unixMicros)
-	b.Timestamp = time.Unix(unixSeconds, unixMicros)
-
-	// now we extract the remaining data:
-	hexes := strings.Split(segments[2], "#") // first portion is id, second is data
-
-	id, err := strconv.ParseUint(hexes[0], 16, 64)
-	if err != nil {
-		err = NewFormatError("failed to parse id", err)
-		return
-	}
-	if (len(hexes[1]) % 2) != 0 {
-		err = NewFormatError("odd number of hex characters", nil)
-		return
-	}
-	rawData, err := hex.DecodeString(hexes[1])
-	if err != nil {
-		err = NewFormatError("failed to decode hex data", err)
-		return
-	}
-
-	frame := can.Frame{
-		// TODO: fix extended ids. we assume not extended for now.
-		Id:   can.CanID{Id: uint32(id), Extended: false},
-		Data: rawData,
-		Kind: can.CanDataFrame,
-	}
-
-	b.Data, err = skylab.FromCanFrame(frame)
-
-	if err != nil {
-		err = NewFormatError("failed to parse can frame", err)
-		return
-	}
-
-	// set the name
-	b.Name = b.Data.String()
-
-	return
-}
-
-func parseTelemLogLine(line string) (b skylab.BusEvent, err error) {
-	// strip trailng newline since we rely on it being gone
-	line = strings.TrimSpace(line)
-	// data is of the form
-	// 1698180835.318 0619D80564080EBE241
-	// the second part there is 3 nibbles (12 bits, 3 hex chars) for can ID,
-	// the rest is data.
-	// this regex does the processing.
-	r := regexp.MustCompile(`^(\d+).(\d{3}) (\w{3})(\w+)$`)
-
-	// these files tend to get corrupted. there are all kinds of nasties that can happen.
-	// defense against random panics
-	defer func() {
-		if r := recover(); r != nil {
-			err = NewFormatError("caught panic", nil)
-		}
-	}()
-	a := r.FindStringSubmatch(line)
-	if a == nil {
-		err = NewFormatError("no regex match", nil)
-		return
-	}
-	var unixSeconds, unixMillis int64
-	// note that a contains 5 elements, the first being the full match.
-	// so we start from the second element
-	unixSeconds, err = strconv.ParseInt(a[1], 10, 0)
-	if err != nil {
-		err = NewFormatError("failed to parse unix seconds", err)
-		return
-	}
-	unixMillis, err = strconv.ParseInt(a[2], 10, 0)
-	if err != nil {
-		err = NewFormatError("failed to parse unix millis", err)
-		return
-	}
-	ts := time.Unix(unixSeconds, unixMillis*1e6)
-
-	id, err := strconv.ParseUint(a[3], 16, 16)
-	if err != nil {
-		err = NewFormatError("failed to parse id", err)
-		return
-	}
-
-	if len(a[4])%2 != 0 {
-		// odd hex chars, protect against a panic
-		err = NewFormatError("wrong amount of hex chars", nil)
-	}
-	rawData, err := hex.DecodeString(a[4])
-	if err != nil {
-		err = NewFormatError("failed to parse hex data", err)
-		return
-	}
-	frame := can.Frame{
-		Id:   can.CanID{Id: uint32(id), Extended: false},
-		Data: rawData,
-		Kind: can.CanDataFrame,
-	}
-	b.Timestamp = ts
-	b.Data, err = skylab.FromCanFrame(frame)
-	if err != nil {
-		err = NewFormatError("failed to parse can frame", err)
-		return
-	}
-	b.Name = b.Data.String()
-
-	return
-}
-
-var parseMap = map[string]ParserFunc{
-	"telem":   parseTelemLogLine,
-	"candump": parseCanDumpLine,
-}
 
 func run(ctx *cli.Context) (err error) {
 	path := ctx.Args().Get(0)
@@ -229,9 +92,9 @@ func run(ctx *cli.Context) (err error) {
 
 	fileReader := bufio.NewReader(istream)
 
-	var pfun ParserFunc
+	var pfun logparsers.ParserFunc
 
-	pfun, ok := parseMap[ctx.String("format")]
+	pfun, ok := logparsers.ParsersMap[ctx.String("format")]
 	if !ok {
 		fmt.Println("invalid format!")
 		cli.ShowAppHelpAndExit(ctx, int(syscall.EINVAL))
diff --git a/frame_kind.go b/frame_kind.go
deleted file mode 100644
index 4ee7502..0000000
--- a/frame_kind.go
+++ /dev/null
@@ -1,26 +0,0 @@
-// Code generated by "stringer -output=frame_kind.go -type Kind"; DO NOT EDIT.
-
-package gotelem
-
-import "strconv"
-
-func _() {
-	// An "invalid array index" compiler error signifies that the constant values have changed.
-	// Re-run the stringer command to generate them again.
-	var x [1]struct{}
-	_ = x[CanSFFFrame-0]
-	_ = x[CanEFFFrame-1]
-	_ = x[CanRTRFrame-2]
-	_ = x[CanErrFrame-3]
-}
-
-const _Kind_name = "CanSFFFrameCanEFFFrameCanRTRFrameCanErrFrame"
-
-var _Kind_index = [...]uint8{0, 11, 22, 33, 44}
-
-func (i Kind) String() string {
-	if i >= Kind(len(_Kind_index)-1) {
-		return "Kind(" + strconv.FormatInt(int64(i), 10) + ")"
-	}
-	return _Kind_name[_Kind_index[i]:_Kind_index[i+1]]
-}
diff --git a/http.go b/http.go
index 6fae3be..a762296 100644
--- a/http.go
+++ b/http.go
@@ -46,8 +46,6 @@ func TelemRouter(log *slog.Logger, broker *Broker, db *db.TelemDb) http.Handler
 	// To future residents - you can add new API calls/systems in /api/v2
 	// Don't break anything in api v1! keep legacy code working!
 
-	// serve up a local status page.
-
 	return r
 }
 
@@ -69,7 +67,7 @@ func apiV1(broker *Broker, db *db.TelemDb) chi.Router {
 	r.Route("/packets", func(r chi.Router) {
 		r.Get("/subscribe", apiV1PacketSubscribe(broker, db))
 		r.Post("/", func(w http.ResponseWriter, r *http.Request) {
-			var pkgs []skylab.BusEvent
+			var pkgs []*skylab.BusEvent
 			decoder := json.NewDecoder(r.Body)
 			if err := decoder.Decode(&pkgs); err != nil {
 				w.WriteHeader(http.StatusTeapot)
@@ -111,7 +109,7 @@ func apiV1(broker *Broker, db *db.TelemDb) chi.Router {
 
 // apiV1Subscriber is a websocket session for the v1 api.
 type apiV1Subscriber struct {
-	idFilter []uint32 // list of Ids to subscribe to. If it's empty, subscribes to all.
+	nameFilter []string // names of packets we care about.
 }
 
 // this is a websocket stream.
@@ -143,13 +141,14 @@ func apiV1PacketSubscribe(broker *Broker, db *db.TelemDb) http.HandlerFunc {
 			case <-r.Context().Done():
 				return
 			case msgIn := <-sub:
-				if len(sess.idFilter) == 0 {
+				if len(sess.nameFilter) == 0 {
 					// send it.
 					wsjson.Write(r.Context(), c, msgIn)
 				}
-				for _, id := range sess.idFilter {
-					if id == msgIn.Id {
+				for _, name := range sess.nameFilter {
+					if name == msgIn.Name {
 						// send it
+						wsjson.Write(r.Context(), c, msgIn)
 						break
 					}
 				}
diff --git a/internal/db/db.go b/internal/db/db.go
index 867bc1a..7f98916 100644
--- a/internal/db/db.go
+++ b/internal/db/db.go
@@ -7,7 +7,6 @@ import (
 	"database/sql"
 	"encoding/json"
 	"fmt"
-	"strconv"
 	"strings"
 	"time"
 
@@ -72,11 +71,11 @@ func (tdb *TelemDb) SetVersion(version int) error {
 
 // sql expression to insert a bus event into the packets database.1
 const sqlInsertEvent = `
-INSERT INTO "bus_events" (ts, name, data) VALUES ($1, $2, json($3));
+INSERT INTO "bus_events" (ts, name, data) VALUES
 `
 
 // AddEvent adds the bus event to the database.
-func (tdb *TelemDb) AddEventsCtx(ctx context.Context, events ...skylab.BusEvent) (err error) {
+func (tdb *TelemDb) AddEventsCtx(ctx context.Context, events ...*skylab.BusEvent) (err error) {
 	//
 	tx, err := tdb.db.BeginTx(ctx, nil)
 	if err != nil {
@@ -107,7 +106,7 @@ func (tdb *TelemDb) AddEventsCtx(ctx context.Context, events ...skylab.BusEvent)
 		tx.Rollback()
 		return
 	}
-	//TODO: log the number of rows modified/inserted 
+	//TODO: log the number of rows modified/inserted
 	_, err = stmt.ExecContext(ctx, vals...)
 	if err != nil {
 		tx.Rollback()
@@ -118,12 +117,11 @@ func (tdb *TelemDb) AddEventsCtx(ctx context.Context, events ...skylab.BusEvent)
 	return
 }
 
-func (tdb *TelemDb) AddEvents(events ...skylab.BusEvent) (err error) {
+func (tdb *TelemDb) AddEvents(events ...*skylab.BusEvent) (err error) {
 
 	return tdb.AddEventsCtx(context.Background(), events...)
 }
 
-
 /// Query fragment guide:
 /// We need to be able to easily construct safe(!) and meaningful queries programatically
 /// so we make some new types that can be turned into SQL fragments that go inside the where clause.
@@ -198,7 +196,7 @@ func (tdb *TelemDb) GetEvents(limit int, where ...QueryFrag) (events []skylab.Bu
 
 		BusEv := skylab.BusEvent{
 			Timestamp: time.UnixMilli(int64(ev.Timestamp)),
-			Name:       ev.Name,
+			Name:      ev.Name,
 		}
 		BusEv.Data, err = skylab.FromJson(ev.Name, ev.Data)
 
diff --git a/internal/logparsers/parsers.go b/internal/logparsers/parsers.go
new file mode 100644
index 0000000..e4b47cc
--- /dev/null
+++ b/internal/logparsers/parsers.go
@@ -0,0 +1,168 @@
+package logparsers
+
+import (
+	"encoding/hex"
+	"fmt"
+	"regexp"
+	"strconv"
+	"strings"
+	"time"
+
+	"github.com/kschamplin/gotelem/internal/can"
+	"github.com/kschamplin/gotelem/skylab"
+)
+
+// A FormatError is an error when parsing a format. Typically we simply ignore
+// these and move on, but they can optionally wrap another error that is fatal.
+type FormatError struct {
+	msg string
+	err error
+}
+
+func (e *FormatError) Error() string {
+	if e.err != nil {
+		return fmt.Sprintf("%s:%s", e.msg, e.err.Error())
+	}
+	return fmt.Sprintf("%s", e.msg)
+
+}
+func (e *FormatError) Unwrap() error {
+	return e.err
+}
+
+func NewFormatError(msg string, err error) error {
+	return &FormatError{msg: msg, err: err}
+}
+
+// A Parser takes a string containing one line of a particular log file
+// and returns an associated skylab.BusEvent representing the packet.
+// if no packet is found, an error is returned instead.
+type ParserFunc func(string) (*skylab.BusEvent, error)
+
+func parseCanDumpLine(dumpLine string) (b *skylab.BusEvent, err error) {
+	// dumpline looks like this:
+	// (1684538768.521889) can0 200#8D643546
+	// remove trailing newline
+	dumpLine = strings.TrimSpace(dumpLine)
+	segments := strings.Split(dumpLine, " ")
+
+	var unixSeconds, unixMicros int64
+	fmt.Sscanf(segments[0], "(%d.%d)", &unixSeconds, &unixMicros)
+
+	// now we extract the remaining data:
+	hexes := strings.Split(segments[2], "#") // first portion is id, second is data
+
+	id, err := strconv.ParseUint(hexes[0], 16, 64)
+	if err != nil {
+		err = NewFormatError("failed to parse id", err)
+		return
+	}
+	if (len(hexes[1]) % 2) != 0 {
+		err = NewFormatError("odd number of hex characters", nil)
+		return
+	}
+	rawData, err := hex.DecodeString(hexes[1])
+	if err != nil {
+		err = NewFormatError("failed to decode hex data", err)
+		return
+	}
+
+	frame := can.Frame{
+		// TODO: fix extended ids. we assume not extended for now.
+		Id:   can.CanID{Id: uint32(id), Extended: false},
+		Data: rawData,
+		Kind: can.CanDataFrame,
+	}
+
+	b = &skylab.BusEvent{
+		Timestamp: time.Unix(unixSeconds, unixMicros),
+	}
+
+	b.Data, err = skylab.FromCanFrame(frame)
+
+	if err != nil {
+		err = NewFormatError("failed to parse can frame", err)
+		return
+	}
+
+	// set the name
+	b.Name = b.Data.String()
+
+	return
+}
+
+func parseTelemLogLine(line string) (b *skylab.BusEvent, err error) {
+	// strip trailng newline since we rely on it being gone
+	line = strings.TrimSpace(line)
+	// data is of the form
+	// 1698180835.318 0619D80564080EBE241
+	// the second part there is 3 nibbles (12 bits, 3 hex chars) for can ID,
+	// the rest is data.
+	// this regex does the processing.
+	r := regexp.MustCompile(`^(\d+).(\d{3}) (\w{3})(\w+)$`)
+
+	// these files tend to get corrupted. there are all kinds of nasties that can happen.
+	// defense against random panics
+	defer func() {
+		if r := recover(); r != nil {
+			err = NewFormatError("caught panic", nil)
+		}
+	}()
+	a := r.FindStringSubmatch(line)
+	if a == nil || len(a) != 5 {
+		err = NewFormatError("no regex match", nil)
+		return
+	}
+	var unixSeconds, unixMillis int64
+	// note that a contains 5 elements, the first being the full match.
+	// so we start from the second element
+	unixSeconds, err = strconv.ParseInt(a[1], 10, 0)
+	if err != nil {
+		err = NewFormatError("failed to parse unix seconds", err)
+		return
+	}
+	unixMillis, err = strconv.ParseInt(a[2], 10, 0)
+	if err != nil {
+		err = NewFormatError("failed to parse unix millis", err)
+		return
+	}
+	ts := time.Unix(unixSeconds, unixMillis*1e6)
+
+	id, err := strconv.ParseUint(a[3], 16, 16)
+	if err != nil {
+		err = NewFormatError("failed to parse id", err)
+		return
+	}
+
+	if len(a[4])%2 != 0 {
+		// odd hex chars, protect against a panic
+		err = NewFormatError("wrong amount of hex chars", nil)
+	}
+	rawData, err := hex.DecodeString(a[4])
+	if err != nil {
+		err = NewFormatError("failed to parse hex data", err)
+		return
+	}
+	frame := can.Frame{
+		Id:   can.CanID{Id: uint32(id), Extended: false},
+		Data: rawData,
+		Kind: can.CanDataFrame,
+	}
+
+	b = &skylab.BusEvent{
+		Timestamp: ts,
+	}
+	b.Data, err = skylab.FromCanFrame(frame)
+	if err != nil {
+		err = NewFormatError("failed to parse can frame", err)
+		return
+	}
+	b.Name = b.Data.String()
+
+	return
+}
+
+var ParsersMap = map[string]ParserFunc{
+	"telem":   parseTelemLogLine,
+	"candump": parseCanDumpLine,
+}
diff --git a/py/pytelem/skylab_attr.py b/py/pytelem/skylab_attr.py
index 4b17230..06061f6 100644
--- a/py/pytelem/skylab_attr.py
+++ b/py/pytelem/skylab_attr.py
@@ -3,6 +3,9 @@ from typing import Dict, Optional, List, Union
 from enum import Enum
 from attrs import define, field, validators
 
+# we define a validator for our names - alphanumeric and underscores
+# most things can't support numbers as the first character, so we don't either.
+name_validator = validators.matches_re(r"^[A-Za-z_][A-Za-z0-9_]?$")
 
 @define
 class Bus():
@@ -58,7 +61,7 @@ class FieldType(str, Enum):
 
 @define
 class CustomTypeDef():
-    name: str
+    name: str = field(validator=[name_validator])
     base_type: FieldType # should be a strict size
     values: Union[List[str], Dict[str, int]]
 
@@ -66,11 +69,11 @@ class CustomTypeDef():
 @define
 class BitfieldBit():
     "micro class to represent one bit in bitfields"
-    name: str
+    name: str = field(validator=[name_validator])
 
 @define
 class Field():
-    name: str = field(validator=[validators.matches_re(r"^[A-Za-z0-9_]+$")])
+    name: str = field(validator=[name_validator])
     type: FieldType
 
     #metadata
@@ -80,7 +83,7 @@ class Field():
 
 @define
 class BitField():
-    name: str = field(validator=[validators.matches_re(r"^[A-Za-z0-9_]+$")])
+    name: str = field(validator=[name_validator])
     type: str = field(default="bitfield", init=False) # it's a constant value
     bits: List[BitfieldBit]
 
diff --git a/skylab/skylab.go b/skylab/skylab.go
index 62e6363..48038b7 100644
--- a/skylab/skylab.go
+++ b/skylab/skylab.go
@@ -12,6 +12,7 @@ import (
 	// this is needed so that we can run make_skylab.go
 	// without this, the yaml library will be removed
 	// when we run `go mod tidy`
+	"github.com/kschamplin/gotelem/internal/can"
 	_ "gopkg.in/yaml.v3"
 )
 
@@ -62,7 +63,7 @@ type Unmarshaler interface {
 
 // Ider is a packet that can get its ID, based on the index of the packet, if any.
 type Ider interface {
-	CANId() (uint32, error)
+	CanId() (can.CanID, error)
 }
 
 // Sizer allows for fast allocation.
@@ -71,13 +72,15 @@ type Sizer interface {
 }
 
 // CanSend takes a packet and makes CAN framing data.
-func ToCanFrame(p Packet) (id uint32, data []byte, err error) {
+func ToCanFrame(p Packet) (f can.Frame, err error) {
 
-	id, err = p.CANId()
+
+	f.Id, err = p.CanId()
 	if err != nil {
 		return
 	}
-	data, err = p.MarshalPacket()
+	f.Data, err = p.MarshalPacket()
+	f.Kind = can.CanDataFrame
 	return
 }
 
diff --git a/skylab/skylab_gen.go b/skylab/skylab_gen.go
index 0bc8504..f9938c5 100644
--- a/skylab/skylab_gen.go
+++ b/skylab/skylab_gen.go
@@ -1,4 +1,4 @@
-// generated by gen_skylab.go at 2024-02-12 01:42:40.427923631 -0600 CST m=+0.004005217 DO NOT EDIT!
+// generated by gen_skylab.go at 2024-02-12 10:42:55.884248761 -0600 CST m=+0.003327461 DO NOT EDIT!
 
 package skylab
 
@@ -111,144 +111,144 @@ var nameToIdMap = map[string]can.CanID{
 // list of every packet ID. can be used for O(1) checks.
 var idMap = map[can.CanID]bool{
 	
-	can.CanID{ Id: 0x10, Extended: false }: true,
-	can.CanID{ Id: 0x11, Extended: false }: true,
-	can.CanID{ Id: 0x12, Extended: false }: true,
-	can.CanID{ Id: 0x13, Extended: false }: true,
-	can.CanID{ Id: 0x14, Extended: false }: true,
-	can.CanID{ Id: 0x15, Extended: false }: true,
-	can.CanID{ Id: 0x18, Extended: false }: true,
-	can.CanID{ Id: 0x19, Extended: false }: true,
-	can.CanID{ Id: 0x1B, Extended: false }: true, 
-	can.CanID{ Id: 0x40, Extended: false }: true,
-	can.CanID{ Id: 0x41, Extended: false }: true,
-	can.CanID{ Id: 0x42, Extended: false }: true,
-	can.CanID{ Id: 0x43, Extended: false }: true,
-	can.CanID{ Id: 0x44, Extended: false }: true,
-	can.CanID{ Id: 0x45, Extended: false }: true,
-	can.CanID{ Id: 0x46, Extended: false }: true,
-	can.CanID{ Id: 0x47, Extended: false }: true,
-	can.CanID{ Id: 0x48, Extended: false }: true,
-	can.CanID{ Id: 0x49, Extended: false }: true,
-	can.CanID{ Id: 0x4A, Extended: false }: true,
-	can.CanID{ Id: 0x4B, Extended: false }: true,
-	can.CanID{ Id: 0x4C, Extended: false }: true,
-	can.CanID{ Id: 0x4D, Extended: false }: true,
-	can.CanID{ Id: 0x4E, Extended: false }: true,
-	can.CanID{ Id: 0x4F, Extended: false }: true,
-	can.CanID{ Id: 0x50, Extended: false }: true,
-	can.CanID{ Id: 0x51, Extended: false }: true,
-	can.CanID{ Id: 0x52, Extended: false }: true,
-	can.CanID{ Id: 0x53, Extended: false }: true,
-	can.CanID{ Id: 0x54, Extended: false }: true,
-	can.CanID{ Id: 0x55, Extended: false }: true,
-	can.CanID{ Id: 0x56, Extended: false }: true,
-	can.CanID{ Id: 0x57, Extended: false }: true,
-	can.CanID{ Id: 0x58, Extended: false }: true,
-	can.CanID{ Id: 0x59, Extended: false }: true,
-	can.CanID{ Id: 0x5A, Extended: false }: true,
-	can.CanID{ Id: 0x5B, Extended: false }: true,
-	can.CanID{ Id: 0x5C, Extended: false }: true,
-	can.CanID{ Id: 0x5D, Extended: false }: true,
-	can.CanID{ Id: 0x5E, Extended: false }: true,
-	can.CanID{ Id: 0x5F, Extended: false }: true,
-	can.CanID{ Id: 0x60, Extended: false }: true,
-	can.CanID{ Id: 0x61, Extended: false }: true,
-	can.CanID{ Id: 0x62, Extended: false }: true,
-	can.CanID{ Id: 0x63, Extended: false }: true,
+	{ Id: 0x10, Extended: false }: true,
+	{ Id: 0x11, Extended: false }: true,
+	{ Id: 0x12, Extended: false }: true,
+	{ Id: 0x13, Extended: false }: true,
+	{ Id: 0x14, Extended: false }: true,
+	{ Id: 0x15, Extended: false }: true,
+	{ Id: 0x18, Extended: false }: true,
+	{ Id: 0x19, Extended: false }: true,
+	{ Id: 0x1B, Extended: false }: true, 
+	{ Id: 0x40, Extended: false }: true,
+	{ Id: 0x41, Extended: false }: true,
+	{ Id: 0x42, Extended: false }: true,
+	{ Id: 0x43, Extended: false }: true,
+	{ Id: 0x44, Extended: false }: true,
+	{ Id: 0x45, Extended: false }: true,
+	{ Id: 0x46, Extended: false }: true,
+	{ Id: 0x47, Extended: false }: true,
+	{ Id: 0x48, Extended: false }: true,
+	{ Id: 0x49, Extended: false }: true,
+	{ Id: 0x4A, Extended: false }: true,
+	{ Id: 0x4B, Extended: false }: true,
+	{ Id: 0x4C, Extended: false }: true,
+	{ Id: 0x4D, Extended: false }: true,
+	{ Id: 0x4E, Extended: false }: true,
+	{ Id: 0x4F, Extended: false }: true,
+	{ Id: 0x50, Extended: false }: true,
+	{ Id: 0x51, Extended: false }: true,
+	{ Id: 0x52, Extended: false }: true,
+	{ Id: 0x53, Extended: false }: true,
+	{ Id: 0x54, Extended: false }: true,
+	{ Id: 0x55, Extended: false }: true,
+	{ Id: 0x56, Extended: false }: true,
+	{ Id: 0x57, Extended: false }: true,
+	{ Id: 0x58, Extended: false }: true,
+	{ Id: 0x59, Extended: false }: true,
+	{ Id: 0x5A, Extended: false }: true,
+	{ Id: 0x5B, Extended: false }: true,
+	{ Id: 0x5C, Extended: false }: true,
+	{ Id: 0x5D, Extended: false }: true,
+	{ Id: 0x5E, Extended: false }: true,
+	{ Id: 0x5F, Extended: false }: true,
+	{ Id: 0x60, Extended: false }: true,
+	{ Id: 0x61, Extended: false }: true,
+	{ Id: 0x62, Extended: false }: true,
+	{ Id: 0x63, Extended: false }: true,
 	
-	can.CanID{ Id: 0x75, Extended: false }: true,
-	can.CanID{ Id: 0x38, Extended: false }: true,
-	can.CanID{ Id: 0x37, Extended: false }: true,
-	can.CanID{ Id: 0x290, Extended: false }: true,
-	can.CanID{ Id: 0x291, Extended: false }: true,
-	can.CanID{ Id: 0x292, Extended: false }: true,
-	can.CanID{ Id: 0x299, Extended: false }: true,
-	can.CanID{ Id: 0x29A, Extended: false }: true,
-	can.CanID{ Id: 0x29B, Extended: false }: true,
-	can.CanID{ Id: 0x29C, Extended: false }: true,
-	can.CanID{ Id: 0x29D, Extended: false }: true,
-	can.CanID{ Id: 0x19E, Extended: false }: true,
-	can.CanID{ Id: 0x19F, Extended: false }: true,
-	can.CanID{ Id: 0x119, Extended: false }: true,
-	can.CanID{ Id: 0x120, Extended: false }: true,
-	can.CanID{ Id: 0x2B0, Extended: false }: true,
-	can.CanID{ Id: 0x2B1, Extended: false }: true,
-	can.CanID{ Id: 0x2B2, Extended: false }: true,
-	can.CanID{ Id: 0x2B3, Extended: false }: true,
-	can.CanID{ Id: 0x2B4, Extended: false }: true,
-	can.CanID{ Id: 0x2B5, Extended: false }: true, 
-	can.CanID{ Id: 0x610, Extended: false }: true,
-	can.CanID{ Id: 0x611, Extended: false }: true,
-	can.CanID{ Id: 0x612, Extended: false }: true,
-	can.CanID{ Id: 0x613, Extended: false }: true,
-	can.CanID{ Id: 0x614, Extended: false }: true,
-	can.CanID{ Id: 0x615, Extended: false }: true,
+	{ Id: 0x75, Extended: false }: true,
+	{ Id: 0x38, Extended: false }: true,
+	{ Id: 0x37, Extended: false }: true,
+	{ Id: 0x290, Extended: false }: true,
+	{ Id: 0x291, Extended: false }: true,
+	{ Id: 0x292, Extended: false }: true,
+	{ Id: 0x299, Extended: false }: true,
+	{ Id: 0x29A, Extended: false }: true,
+	{ Id: 0x29B, Extended: false }: true,
+	{ Id: 0x29C, Extended: false }: true,
+	{ Id: 0x29D, Extended: false }: true,
+	{ Id: 0x19E, Extended: false }: true,
+	{ Id: 0x19F, Extended: false }: true,
+	{ Id: 0x119, Extended: false }: true,
+	{ Id: 0x120, Extended: false }: true,
+	{ Id: 0x2B0, Extended: false }: true,
+	{ Id: 0x2B1, Extended: false }: true,
+	{ Id: 0x2B2, Extended: false }: true,
+	{ Id: 0x2B3, Extended: false }: true,
+	{ Id: 0x2B4, Extended: false }: true,
+	{ Id: 0x2B5, Extended: false }: true, 
+	{ Id: 0x610, Extended: false }: true,
+	{ Id: 0x611, Extended: false }: true,
+	{ Id: 0x612, Extended: false }: true,
+	{ Id: 0x613, Extended: false }: true,
+	{ Id: 0x614, Extended: false }: true,
+	{ Id: 0x615, Extended: false }: true,
 	
-	can.CanID{ Id: 0x19D, Extended: false }: true,
-	can.CanID{ Id: 0x573, Extended: false }: true,
-	can.CanID{ Id: 0x74, Extended: false }: true,
-	can.CanID{ Id: 0x576, Extended: false }: true,
-	can.CanID{ Id: 0x577, Extended: false }: true,
-	can.CanID{ Id: 0x18E54024, Extended: true }: true,
-	can.CanID{ Id: 0x2B6, Extended: false }: true,
-	can.CanID{ Id: 0x2B7, Extended: false }: true,
-	can.CanID{ Id: 0x300, Extended: false }: true,
-	can.CanID{ Id: 0x301, Extended: false }: true,
-	can.CanID{ Id: 0x302, Extended: false }: true,
-	can.CanID{ Id: 0x240, Extended: false }: true,
-	can.CanID{ Id: 0x250, Extended: false }: true,
-	can.CanID{ Id: 0x241, Extended: false }: true,
-	can.CanID{ Id: 0x251, Extended: false }: true,
-	can.CanID{ Id: 0x242, Extended: false }: true,
-	can.CanID{ Id: 0x18EB2440, Extended: true }: true, 
-	can.CanID{ Id: 0x600, Extended: false }: true,
-	can.CanID{ Id: 0x601, Extended: false }: true,
-	can.CanID{ Id: 0x602, Extended: false }: true,
-	can.CanID{ Id: 0x603, Extended: false }: true,
-	can.CanID{ Id: 0x604, Extended: false }: true,
-	can.CanID{ Id: 0x605, Extended: false }: true,
+	{ Id: 0x19D, Extended: false }: true,
+	{ Id: 0x573, Extended: false }: true,
+	{ Id: 0x74, Extended: false }: true,
+	{ Id: 0x576, Extended: false }: true,
+	{ Id: 0x577, Extended: false }: true,
+	{ Id: 0x18E54024, Extended: true }: true,
+	{ Id: 0x2B6, Extended: false }: true,
+	{ Id: 0x2B7, Extended: false }: true,
+	{ Id: 0x300, Extended: false }: true,
+	{ Id: 0x301, Extended: false }: true,
+	{ Id: 0x302, Extended: false }: true,
+	{ Id: 0x240, Extended: false }: true,
+	{ Id: 0x250, Extended: false }: true,
+	{ Id: 0x241, Extended: false }: true,
+	{ Id: 0x251, Extended: false }: true,
+	{ Id: 0x242, Extended: false }: true,
+	{ Id: 0x18EB2440, Extended: false }: true, 
+	{ Id: 0x600, Extended: false }: true,
+	{ Id: 0x601, Extended: false }: true,
+	{ Id: 0x602, Extended: false }: true,
+	{ Id: 0x603, Extended: false }: true,
+	{ Id: 0x604, Extended: false }: true,
+	{ Id: 0x605, Extended: false }: true,
 	
-	can.CanID{ Id: 0x121, Extended: false }: true,
-	can.CanID{ Id: 0x122, Extended: false }: true,
-	can.CanID{ Id: 0x123, Extended: false }: true,
-	can.CanID{ Id: 0x161, Extended: false }: true,
-	can.CanID{ Id: 0x162, Extended: false }: true,
-	can.CanID{ Id: 0x163, Extended: false }: true,
-	can.CanID{ Id: 0x16, Extended: false }: true,
-	can.CanID{ Id: 0x17, Extended: false }: true,
-	can.CanID{ Id: 0x1A, Extended: false }: true,
-	can.CanID{ Id: 0x700, Extended: false }: true,
-	can.CanID{ Id: 0x140, Extended: false }: true,
-	can.CanID{ Id: 0x141, Extended: false }: true,
-	can.CanID{ Id: 0x142, Extended: false }: true,
-	can.CanID{ Id: 0x143, Extended: false }: true,
-	can.CanID{ Id: 0x144, Extended: false }: true,
-	can.CanID{ Id: 0x145, Extended: false }: true,
-	can.CanID{ Id: 0x146, Extended: false }: true,
-	can.CanID{ Id: 0x147, Extended: false }: true,
-	can.CanID{ Id: 0x148, Extended: false }: true,
-	can.CanID{ Id: 0x149, Extended: false }: true,
-	can.CanID{ Id: 0x14B, Extended: false }: true,
-	can.CanID{ Id: 0x14C, Extended: false }: true,
-	can.CanID{ Id: 0x14D, Extended: false }: true,
-	can.CanID{ Id: 0x14E, Extended: false }: true,
-	can.CanID{ Id: 0x157, Extended: false }: true,
-	can.CanID{ Id: 0x100, Extended: false }: true,
-	can.CanID{ Id: 0x101, Extended: false }: true,
-	can.CanID{ Id: 0x102, Extended: false }: true,
-	can.CanID{ Id: 0x103, Extended: false }: true,
-	can.CanID{ Id: 0x104, Extended: false }: true,
-	can.CanID{ Id: 0x105, Extended: false }: true,
-	can.CanID{ Id: 0x106, Extended: false }: true,
-	can.CanID{ Id: 0x107, Extended: false }: true,
-	can.CanID{ Id: 0x108, Extended: false }: true,
-	can.CanID{ Id: 0x109, Extended: false }: true,
-	can.CanID{ Id: 0x10B, Extended: false }: true,
-	can.CanID{ Id: 0x10C, Extended: false }: true,
-	can.CanID{ Id: 0x10E, Extended: false }: true,
-	can.CanID{ Id: 0x10D, Extended: false }: true,
-	can.CanID{ Id: 0x117, Extended: false }: true,
+	{ Id: 0x121, Extended: false }: true,
+	{ Id: 0x122, Extended: false }: true,
+	{ Id: 0x123, Extended: false }: true,
+	{ Id: 0x161, Extended: false }: true,
+	{ Id: 0x162, Extended: false }: true,
+	{ Id: 0x163, Extended: false }: true,
+	{ Id: 0x16, Extended: false }: true,
+	{ Id: 0x17, Extended: false }: true,
+	{ Id: 0x1A, Extended: false }: true,
+	{ Id: 0x700, Extended: false }: true,
+	{ Id: 0x140, Extended: false }: true,
+	{ Id: 0x141, Extended: false }: true,
+	{ Id: 0x142, Extended: false }: true,
+	{ Id: 0x143, Extended: false }: true,
+	{ Id: 0x144, Extended: false }: true,
+	{ Id: 0x145, Extended: false }: true,
+	{ Id: 0x146, Extended: false }: true,
+	{ Id: 0x147, Extended: false }: true,
+	{ Id: 0x148, Extended: false }: true,
+	{ Id: 0x149, Extended: false }: true,
+	{ Id: 0x14B, Extended: false }: true,
+	{ Id: 0x14C, Extended: false }: true,
+	{ Id: 0x14D, Extended: false }: true,
+	{ Id: 0x14E, Extended: false }: true,
+	{ Id: 0x157, Extended: false }: true,
+	{ Id: 0x100, Extended: false }: true,
+	{ Id: 0x101, Extended: false }: true,
+	{ Id: 0x102, Extended: false }: true,
+	{ Id: 0x103, Extended: false }: true,
+	{ Id: 0x104, Extended: false }: true,
+	{ Id: 0x105, Extended: false }: true,
+	{ Id: 0x106, Extended: false }: true,
+	{ Id: 0x107, Extended: false }: true,
+	{ Id: 0x108, Extended: false }: true,
+	{ Id: 0x109, Extended: false }: true,
+	{ Id: 0x10B, Extended: false }: true,
+	{ Id: 0x10C, Extended: false }: true,
+	{ Id: 0x10E, Extended: false }: true,
+	{ Id: 0x10D, Extended: false }: true,
+	{ Id: 0x117, Extended: false }: true,
 }
 
 // FromCanFrame creates a Packet from a given CAN ID and data payload.
@@ -453,7 +453,7 @@ func FromCanFrame(f can.Frame) (Packet, error) {
 		var res = &SteeringHorn{}
 		res.UnmarshalPacket(f.Data)
 		return res, nil
-	case can.CanID{ Id: 0x18EB2440, Extended: true }:
+	case can.CanID{ Id: 0x18EB2440, Extended: false }:
 		var res = &ThunderstruckStatusMessage{}
 		res.UnmarshalPacket(f.Data)
 		return res, nil
@@ -1008,8 +1008,10 @@ type BmsMeasurement struct {
 	Current float32 `json:"current"`
 }
 
-func (p *BmsMeasurement) CANId() (uint32, error) {
-	return 0x10, nil
+func (p *BmsMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x10
+	return c, nil
 }
 
 func (p *BmsMeasurement) Size() uint {
@@ -1258,8 +1260,10 @@ type BatteryStatus struct {
 	PackChoice BatteryStatusPackChoice `json:"pack_choice"`
 }
 
-func (p *BatteryStatus) CANId() (uint32, error) {
-	return 0x11, nil
+func (p *BatteryStatus) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x11
+	return c, nil
 }
 
 func (p *BatteryStatus) Size() uint {
@@ -1383,8 +1387,10 @@ type BmsKillReason struct {
 	Value float32 `json:"value"`
 }
 
-func (p *BmsKillReason) CANId() (uint32, error) {
-	return 0x12, nil
+func (p *BmsKillReason) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x12
+	return c, nil
 }
 
 func (p *BmsKillReason) Size() uint {
@@ -1428,8 +1434,10 @@ type BmsModuleMinMax struct {
 	ModuleMinVoltage uint16 `json:"module_min_voltage"`
 }
 
-func (p *BmsModuleMinMax) CANId() (uint32, error) {
-	return 0x13, nil
+func (p *BmsModuleMinMax) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x13
+	return c, nil
 }
 
 func (p *BmsModuleMinMax) Size() uint {
@@ -1466,8 +1474,10 @@ type BmsSoc struct {
 	Soc float32 `json:"soc"`
 }
 
-func (p *BmsSoc) CANId() (uint32, error) {
-	return 0x14, nil
+func (p *BmsSoc) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x14
+	return c, nil
 }
 
 func (p *BmsSoc) Size() uint {
@@ -1499,8 +1509,10 @@ type BmsCapacity struct {
 	Wh float32 `json:"Wh"`
 }
 
-func (p *BmsCapacity) CANId() (uint32, error) {
-	return 0x15, nil
+func (p *BmsCapacity) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x15
+	return c, nil
 }
 
 func (p *BmsCapacity) Size() uint {
@@ -1536,8 +1548,10 @@ type BmsCurrentlimit struct {
 	CurrentMin int16 `json:"current_min"`
 }
 
-func (p *BmsCurrentlimit) CANId() (uint32, error) {
-	return 0x18, nil
+func (p *BmsCurrentlimit) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x18
+	return c, nil
 }
 
 func (p *BmsCurrentlimit) Size() uint {
@@ -1577,8 +1591,10 @@ type BmsFanInfo struct {
 	Fan4 uint16 `json:"fan4"`
 }
 
-func (p *BmsFanInfo) CANId() (uint32, error) {
-	return 0x19, nil
+func (p *BmsFanInfo) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x19
+	return c, nil
 }
 
 func (p *BmsFanInfo) Size() uint {
@@ -1618,8 +1634,10 @@ type BmsSetMinFanSpeed struct {
 	Time uint16 `json:"time"`
 }
 
-func (p *BmsSetMinFanSpeed) CANId() (uint32, error) {
-	return 0x1B, nil
+func (p *BmsSetMinFanSpeed) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x1B
+	return c, nil
 }
 
 func (p *BmsSetMinFanSpeed) Size() uint {
@@ -1657,11 +1675,13 @@ type BmsModule struct {
 	Idx uint32 `json:"idx"`
 }
 
-func (p *BmsModule) CANId() (uint32, error) {
+func (p *BmsModule) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
 	if p.Idx >= 36 {
-		return 0, &UnknownIdError{ 0x40 }
+		return c, &UnknownIdError{ 0x40 }
 	}
-	return 0x40 + p.Idx, nil
+	c.Id = 0x40 + p.Idx
+	return c, nil
 }
 
 func (p *BmsModule) Size() uint {
@@ -1710,8 +1730,10 @@ type BmsChargerResponse struct {
 	ResponseFlags BmsChargerResponseResponseFlags `json:"response_flags"`
 }
 
-func (p *BmsChargerResponse) CANId() (uint32, error) {
-	return 0x75, nil
+func (p *BmsChargerResponse) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x75
+	return c, nil
 }
 
 func (p *BmsChargerResponse) Size() uint {
@@ -1758,8 +1780,10 @@ type ChassisIsolationFault struct {
 	FaultDetected ChassisIsolationFaultFaultDetected `json:"fault_detected"`
 }
 
-func (p *ChassisIsolationFault) CANId() (uint32, error) {
-	return 0x38, nil
+func (p *ChassisIsolationFault) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x38
+	return c, nil
 }
 
 func (p *ChassisIsolationFault) Size() uint {
@@ -1998,8 +2022,10 @@ type BmsImdInfo struct {
 	DVifcStatus2 BmsImdInfoDVifcStatus2 `json:"d_vifc_status_2"`
 }
 
-func (p *BmsImdInfo) CANId() (uint32, error) {
-	return 0x37, nil
+func (p *BmsImdInfo) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x37
+	return c, nil
 }
 
 func (p *BmsImdInfo) Size() uint {
@@ -2039,8 +2065,10 @@ type DashboardPedalPercentages struct {
 	BrakePedalValue uint8 `json:"brake_pedal_value"`
 }
 
-func (p *DashboardPedalPercentages) CANId() (uint32, error) {
-	return 0x290, nil
+func (p *DashboardPedalPercentages) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x290
+	return c, nil
 }
 
 func (p *DashboardPedalPercentages) Size() uint {
@@ -2073,8 +2101,10 @@ type CarState struct {
 	State uint8 `json:"state"`
 }
 
-func (p *CarState) CANId() (uint32, error) {
-	return 0x291, nil
+func (p *CarState) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x291
+	return c, nil
 }
 
 func (p *CarState) Size() uint {
@@ -2106,8 +2136,10 @@ type DashboardPedalFault struct {
 	AccelFaultCount uint8 `json:"accel_fault_count"`
 }
 
-func (p *DashboardPedalFault) CANId() (uint32, error) {
-	return 0x292, nil
+func (p *DashboardPedalFault) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x292
+	return c, nil
 }
 
 func (p *DashboardPedalFault) Size() uint {
@@ -2191,8 +2223,10 @@ type DashboardSystemTimeoutTest struct {
 	FlagSet0 DashboardSystemTimeoutTestFlagSet0 `json:"flag_set_0"`
 }
 
-func (p *DashboardSystemTimeoutTest) CANId() (uint32, error) {
-	return 0x299, nil
+func (p *DashboardSystemTimeoutTest) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x299
+	return c, nil
 }
 
 func (p *DashboardSystemTimeoutTest) Size() uint {
@@ -2223,8 +2257,10 @@ type CarSpeed struct {
 	Speed float32 `json:"speed"`
 }
 
-func (p *CarSpeed) CANId() (uint32, error) {
-	return 0x29A, nil
+func (p *CarSpeed) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x29A
+	return c, nil
 }
 
 func (p *CarSpeed) Size() uint {
@@ -2260,8 +2296,10 @@ type FlightComputerLvBoardDisconnectCounts struct {
 	CenterConsole uint8 `json:"center_console"`
 }
 
-func (p *FlightComputerLvBoardDisconnectCounts) CANId() (uint32, error) {
-	return 0x29B, nil
+func (p *FlightComputerLvBoardDisconnectCounts) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x29B
+	return c, nil
 }
 
 func (p *FlightComputerLvBoardDisconnectCounts) Size() uint {
@@ -2307,8 +2345,10 @@ type FlightComputerHvBoardDisconnectCounts struct {
 	MpptRear uint8 `json:"mppt_rear"`
 }
 
-func (p *FlightComputerHvBoardDisconnectCounts) CANId() (uint32, error) {
-	return 0x29C, nil
+func (p *FlightComputerHvBoardDisconnectCounts) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x29C
+	return c, nil
 }
 
 func (p *FlightComputerHvBoardDisconnectCounts) Size() uint {
@@ -2453,8 +2493,10 @@ type FlightComputerInternalState struct {
 	Internal FlightComputerInternalStateInternal `json:"internal"`
 }
 
-func (p *FlightComputerInternalState) CANId() (uint32, error) {
-	return 0x29D, nil
+func (p *FlightComputerInternalState) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x29D
+	return c, nil
 }
 
 func (p *FlightComputerInternalState) Size() uint {
@@ -2495,8 +2537,10 @@ type PowerToDrive struct {
 	MovingAverage10K int16 `json:"moving_average_10k"`
 }
 
-func (p *PowerToDrive) CANId() (uint32, error) {
-	return 0x19E, nil
+func (p *PowerToDrive) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x19E
+	return c, nil
 }
 
 func (p *PowerToDrive) Size() uint {
@@ -2534,8 +2578,10 @@ type ArrayPower struct {
 	RearArrayChannel1 uint16 `json:"rear_array_channel_1"`
 }
 
-func (p *ArrayPower) CANId() (uint32, error) {
-	return 0x19F, nil
+func (p *ArrayPower) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x19F
+	return c, nil
 }
 
 func (p *ArrayPower) Size() uint {
@@ -2573,8 +2619,10 @@ type ArrayEnergy struct {
 	Energy float32 `json:"energy"`
 }
 
-func (p *ArrayEnergy) CANId() (uint32, error) {
-	return 0x119, nil
+func (p *ArrayEnergy) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x119
+	return c, nil
 }
 
 func (p *ArrayEnergy) Size() uint {
@@ -2606,8 +2654,10 @@ type ArrayEnergyReset struct {
 	Energy float32 `json:"energy"`
 }
 
-func (p *ArrayEnergyReset) CANId() (uint32, error) {
-	return 0x120, nil
+func (p *ArrayEnergyReset) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x120
+	return c, nil
 }
 
 func (p *ArrayEnergyReset) Size() uint {
@@ -2674,8 +2724,10 @@ type VisionTurnSignalsCommand struct {
 	Lights VisionTurnSignalsCommandLights `json:"lights"`
 }
 
-func (p *VisionTurnSignalsCommand) CANId() (uint32, error) {
-	return 0x2B0, nil
+func (p *VisionTurnSignalsCommand) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B0
+	return c, nil
 }
 
 func (p *VisionTurnSignalsCommand) Size() uint {
@@ -2737,8 +2789,10 @@ type VisionBrakeLightsCommand struct {
 	Lights VisionBrakeLightsCommandLights `json:"lights"`
 }
 
-func (p *VisionBrakeLightsCommand) CANId() (uint32, error) {
-	return 0x2B1, nil
+func (p *VisionBrakeLightsCommand) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B1
+	return c, nil
 }
 
 func (p *VisionBrakeLightsCommand) Size() uint {
@@ -2806,8 +2860,10 @@ type VisionHeadlightsCommand struct {
 	Brightness float32 `json:"brightness"`
 }
 
-func (p *VisionHeadlightsCommand) CANId() (uint32, error) {
-	return 0x2B2, nil
+func (p *VisionHeadlightsCommand) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B2
+	return c, nil
 }
 
 func (p *VisionHeadlightsCommand) Size() uint {
@@ -2861,8 +2917,10 @@ type VisionHornCommand struct {
 	Horn VisionHornCommandHorn `json:"horn"`
 }
 
-func (p *VisionHornCommand) CANId() (uint32, error) {
-	return 0x2B3, nil
+func (p *VisionHornCommand) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B3
+	return c, nil
 }
 
 func (p *VisionHornCommand) Size() uint {
@@ -2914,8 +2972,10 @@ type VisionArrayLatchesCommand struct {
 	ArrayLatches VisionArrayLatchesCommandArrayLatches `json:"array_latches"`
 }
 
-func (p *VisionArrayLatchesCommand) CANId() (uint32, error) {
-	return 0x2B4, nil
+func (p *VisionArrayLatchesCommand) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B4
+	return c, nil
 }
 
 func (p *VisionArrayLatchesCommand) Size() uint {
@@ -2972,8 +3032,10 @@ type VisionRearviewCommand struct {
 	Cameras VisionRearviewCommandCameras `json:"cameras"`
 }
 
-func (p *VisionRearviewCommand) CANId() (uint32, error) {
-	return 0x2B5, nil
+func (p *VisionRearviewCommand) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B5
+	return c, nil
 }
 
 func (p *VisionRearviewCommand) Size() uint {
@@ -3006,11 +3068,13 @@ type TrackerEnable struct {
 	Idx uint32 `json:"idx"`
 }
 
-func (p *TrackerEnable) CANId() (uint32, error) {
+func (p *TrackerEnable) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
 	if p.Idx >= 6 {
-		return 0, &UnknownIdError{ 0x610 }
+		return c, &UnknownIdError{ 0x610 }
 	}
-	return 0x610 + p.Idx, nil
+	c.Id = 0x610 + p.Idx
+	return c, nil
 }
 
 func (p *TrackerEnable) Size() uint {
@@ -3042,8 +3106,10 @@ type DistanceTraveled struct {
 	TripDistance float32 `json:"trip_distance"`
 }
 
-func (p *DistanceTraveled) CANId() (uint32, error) {
-	return 0x19D, nil
+func (p *DistanceTraveled) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x19D
+	return c, nil
 }
 
 func (p *DistanceTraveled) Size() uint {
@@ -3146,8 +3212,10 @@ type ChargerState struct {
 	ChargingCurrent float32 `json:"charging_current"`
 }
 
-func (p *ChargerState) CANId() (uint32, error) {
-	return 0x573, nil
+func (p *ChargerState) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x573
+	return c, nil
 }
 
 func (p *ChargerState) Size() uint {
@@ -3200,8 +3268,10 @@ type ChargerBmsRequest struct {
 	RequestFlags ChargerBmsRequestRequestFlags `json:"request_flags"`
 }
 
-func (p *ChargerBmsRequest) CANId() (uint32, error) {
-	return 0x74, nil
+func (p *ChargerBmsRequest) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x74
+	return c, nil
 }
 
 func (p *ChargerBmsRequest) Size() uint {
@@ -3235,8 +3305,10 @@ type ChargerCurrentVoltage struct {
 	MaxCapacity float32 `json:"max_capacity"`
 }
 
-func (p *ChargerCurrentVoltage) CANId() (uint32, error) {
-	return 0x576, nil
+func (p *ChargerCurrentVoltage) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x576
+	return c, nil
 }
 
 func (p *ChargerCurrentVoltage) Size() uint {
@@ -3270,8 +3342,10 @@ type ChargerPower struct {
 	Power float32 `json:"power"`
 }
 
-func (p *ChargerPower) CANId() (uint32, error) {
-	return 0x577, nil
+func (p *ChargerPower) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x577
+	return c, nil
 }
 
 func (p *ChargerPower) Size() uint {
@@ -3311,8 +3385,10 @@ type ThunderstruckControlMessage struct {
 	RESERVED uint16 `json:"RESERVED"`
 }
 
-func (p *ThunderstruckControlMessage) CANId() (uint32, error) {
-	return 0x18E54024, nil
+func (p *ThunderstruckControlMessage) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: true}
+	c.Id = 0x18E54024
+	return c, nil
 }
 
 func (p *ThunderstruckControlMessage) Size() uint {
@@ -3483,8 +3559,10 @@ type VisionStatusFront struct {
 	ArrayLatches VisionStatusFrontArrayLatches `json:"array_latches"`
 }
 
-func (p *VisionStatusFront) CANId() (uint32, error) {
-	return 0x2B6, nil
+func (p *VisionStatusFront) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B6
+	return c, nil
 }
 
 func (p *VisionStatusFront) Size() uint {
@@ -3653,8 +3731,10 @@ type VisionStatusRear struct {
 	ArrayLatches VisionStatusRearArrayLatches `json:"array_latches"`
 }
 
-func (p *VisionStatusRear) CANId() (uint32, error) {
-	return 0x2B7, nil
+func (p *VisionStatusRear) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x2B7
+	return c, nil
 }
 
 func (p *VisionStatusRear) Size() uint {
@@ -3696,8 +3776,10 @@ type LightsFrontId struct {
 	FaultCode uint16 `json:"fault_code"`
 }
 
-func (p *LightsFrontId) CANId() (uint32, error) {
-	return 0x300, nil
+func (p *LightsFrontId) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x300
+	return c, nil
 }
 
 func (p *LightsFrontId) Size() uint {
@@ -3739,8 +3821,10 @@ type LightsBackId struct {
 	FaultCode uint16 `json:"fault_code"`
 }
 
-func (p *LightsBackId) CANId() (uint32, error) {
-	return 0x301, nil
+func (p *LightsBackId) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x301
+	return c, nil
 }
 
 func (p *LightsBackId) Size() uint {
@@ -3782,8 +3866,10 @@ type VisionId struct {
 	FaultCode uint16 `json:"fault_code"`
 }
 
-func (p *VisionId) CANId() (uint32, error) {
-	return 0x302, nil
+func (p *VisionId) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x302
+	return c, nil
 }
 
 func (p *VisionId) Size() uint {
@@ -3826,8 +3912,10 @@ type SteeringPressCount1 struct {
 	Button6 uint8 `json:"button6"`
 }
 
-func (p *SteeringPressCount1) CANId() (uint32, error) {
-	return 0x240, nil
+func (p *SteeringPressCount1) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x240
+	return c, nil
 }
 
 func (p *SteeringPressCount1) Size() uint {
@@ -3873,8 +3961,10 @@ type SteeringPressCount2 struct {
 	Button10 uint8 `json:"button10"`
 }
 
-func (p *SteeringPressCount2) CANId() (uint32, error) {
-	return 0x250, nil
+func (p *SteeringPressCount2) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x250
+	return c, nil
 }
 
 func (p *SteeringPressCount2) Size() uint {
@@ -3917,8 +4007,10 @@ type SteeringButtonColors1 struct {
 	Button6 uint8 `json:"button6"`
 }
 
-func (p *SteeringButtonColors1) CANId() (uint32, error) {
-	return 0x241, nil
+func (p *SteeringButtonColors1) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x241
+	return c, nil
 }
 
 func (p *SteeringButtonColors1) Size() uint {
@@ -3964,8 +4056,10 @@ type SteeringButtonColors2 struct {
 	Button10 uint8 `json:"button10"`
 }
 
-func (p *SteeringButtonColors2) CANId() (uint32, error) {
-	return 0x251, nil
+func (p *SteeringButtonColors2) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x251
+	return c, nil
 }
 
 func (p *SteeringButtonColors2) Size() uint {
@@ -4002,8 +4096,10 @@ type SteeringHorn struct {
 	Horn uint8 `json:"horn"`
 }
 
-func (p *SteeringHorn) CANId() (uint32, error) {
-	return 0x242, nil
+func (p *SteeringHorn) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x242
+	return c, nil
 }
 
 func (p *SteeringHorn) Size() uint {
@@ -4045,8 +4141,10 @@ type ThunderstruckStatusMessage struct {
 	RESERVED uint8 `json:"RESERVED"`
 }
 
-func (p *ThunderstruckStatusMessage) CANId() (uint32, error) {
-	return 0x18EB2440, nil
+func (p *ThunderstruckStatusMessage) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x18EB2440
+	return c, nil
 }
 
 func (p *ThunderstruckStatusMessage) Size() uint {
@@ -4096,11 +4194,13 @@ type TrackerData struct {
 	Idx uint32 `json:"idx"`
 }
 
-func (p *TrackerData) CANId() (uint32, error) {
+func (p *TrackerData) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
 	if p.Idx >= 6 {
-		return 0, &UnknownIdError{ 0x600 }
+		return c, &UnknownIdError{ 0x600 }
 	}
-	return 0x600 + p.Idx, nil
+	c.Id = 0x600 + p.Idx
+	return c, nil
 }
 
 func (p *TrackerData) Size() uint {
@@ -4138,8 +4238,10 @@ type TritiumMotorDriveL struct {
 	MotorCurrent float32 `json:"motor_current"`
 }
 
-func (p *TritiumMotorDriveL) CANId() (uint32, error) {
-	return 0x121, nil
+func (p *TritiumMotorDriveL) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x121
+	return c, nil
 }
 
 func (p *TritiumMotorDriveL) Size() uint {
@@ -4173,8 +4275,10 @@ type TritiumMotorPowerL struct {
 	BusCurrent float32 `json:"bus_current"`
 }
 
-func (p *TritiumMotorPowerL) CANId() (uint32, error) {
-	return 0x122, nil
+func (p *TritiumMotorPowerL) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x122
+	return c, nil
 }
 
 func (p *TritiumMotorPowerL) Size() uint {
@@ -4208,8 +4312,10 @@ type TritiumResetL struct {
 	Unused2 float32 `json:"unused2"`
 }
 
-func (p *TritiumResetL) CANId() (uint32, error) {
-	return 0x123, nil
+func (p *TritiumResetL) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x123
+	return c, nil
 }
 
 func (p *TritiumResetL) Size() uint {
@@ -4243,8 +4349,10 @@ type TritiumMotorDriveR struct {
 	MotorCurrent float32 `json:"motor_current"`
 }
 
-func (p *TritiumMotorDriveR) CANId() (uint32, error) {
-	return 0x161, nil
+func (p *TritiumMotorDriveR) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x161
+	return c, nil
 }
 
 func (p *TritiumMotorDriveR) Size() uint {
@@ -4278,8 +4386,10 @@ type TritiumMotorPowerR struct {
 	BusCurrent float32 `json:"bus_current"`
 }
 
-func (p *TritiumMotorPowerR) CANId() (uint32, error) {
-	return 0x162, nil
+func (p *TritiumMotorPowerR) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x162
+	return c, nil
 }
 
 func (p *TritiumMotorPowerR) Size() uint {
@@ -4313,8 +4423,10 @@ type TritiumResetR struct {
 	Unused2 float32 `json:"unused2"`
 }
 
-func (p *TritiumResetR) CANId() (uint32, error) {
-	return 0x163, nil
+func (p *TritiumResetR) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x163
+	return c, nil
 }
 
 func (p *TritiumResetR) Size() uint {
@@ -4347,8 +4459,10 @@ type BmsAhSet struct {
 	Ah uint32 `json:"ah"`
 }
 
-func (p *BmsAhSet) CANId() (uint32, error) {
-	return 0x16, nil
+func (p *BmsAhSet) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x16
+	return c, nil
 }
 
 func (p *BmsAhSet) Size() uint {
@@ -4379,8 +4493,10 @@ type BmsWhSet struct {
 	Wh uint32 `json:"wh"`
 }
 
-func (p *BmsWhSet) CANId() (uint32, error) {
-	return 0x17, nil
+func (p *BmsWhSet) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x17
+	return c, nil
 }
 
 func (p *BmsWhSet) Size() uint {
@@ -4427,8 +4543,10 @@ type BmsKill struct {
 	KillType BmsKillKillType `json:"kill_type"`
 }
 
-func (p *BmsKill) CANId() (uint32, error) {
-	return 0x1A, nil
+func (p *BmsKill) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x1A
+	return c, nil
 }
 
 func (p *BmsKill) Size() uint {
@@ -4464,8 +4582,10 @@ type TelemetryRtcReset struct {
 	Second uint8 `json:"second"`
 }
 
-func (p *TelemetryRtcReset) CANId() (uint32, error) {
-	return 0x700, nil
+func (p *TelemetryRtcReset) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x700
+	return c, nil
 }
 
 func (p *TelemetryRtcReset) Size() uint {
@@ -4507,8 +4627,10 @@ type WsrIdentification struct {
 	SerialNumber uint32 `json:"serial_number"`
 }
 
-func (p *WsrIdentification) CANId() (uint32, error) {
-	return 0x140, nil
+func (p *WsrIdentification) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x140
+	return c, nil
 }
 
 func (p *WsrIdentification) Size() uint {
@@ -4699,8 +4821,10 @@ type WsrStatusInformation struct {
 	Reserved uint16 `json:"reserved"`
 }
 
-func (p *WsrStatusInformation) CANId() (uint32, error) {
-	return 0x141, nil
+func (p *WsrStatusInformation) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x141
+	return c, nil
 }
 
 func (p *WsrStatusInformation) Size() uint {
@@ -4744,8 +4868,10 @@ type WsrBusMeasurement struct {
 	BusCurrent float32 `json:"bus_current"`
 }
 
-func (p *WsrBusMeasurement) CANId() (uint32, error) {
-	return 0x142, nil
+func (p *WsrBusMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x142
+	return c, nil
 }
 
 func (p *WsrBusMeasurement) Size() uint {
@@ -4781,8 +4907,10 @@ type WsrVelocity struct {
 	VehicleVelocity float32 `json:"vehicle_velocity"`
 }
 
-func (p *WsrVelocity) CANId() (uint32, error) {
-	return 0x143, nil
+func (p *WsrVelocity) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x143
+	return c, nil
 }
 
 func (p *WsrVelocity) Size() uint {
@@ -4818,8 +4946,10 @@ type WsrPhaseCurrent struct {
 	PhaseCCurrent float32 `json:"phase_c_current"`
 }
 
-func (p *WsrPhaseCurrent) CANId() (uint32, error) {
-	return 0x144, nil
+func (p *WsrPhaseCurrent) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x144
+	return c, nil
 }
 
 func (p *WsrPhaseCurrent) Size() uint {
@@ -4855,8 +4985,10 @@ type WsrMotorVoltageVector struct {
 	Vd float32 `json:"vd"`
 }
 
-func (p *WsrMotorVoltageVector) CANId() (uint32, error) {
-	return 0x145, nil
+func (p *WsrMotorVoltageVector) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x145
+	return c, nil
 }
 
 func (p *WsrMotorVoltageVector) Size() uint {
@@ -4892,8 +5024,10 @@ type WsrMotorCurrentVector struct {
 	Id float32 `json:"id"`
 }
 
-func (p *WsrMotorCurrentVector) CANId() (uint32, error) {
-	return 0x146, nil
+func (p *WsrMotorCurrentVector) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x146
+	return c, nil
 }
 
 func (p *WsrMotorCurrentVector) Size() uint {
@@ -4929,8 +5063,10 @@ type WsrMotorBackemf struct {
 	Bemfd float32 `json:"bemfd"`
 }
 
-func (p *WsrMotorBackemf) CANId() (uint32, error) {
-	return 0x147, nil
+func (p *WsrMotorBackemf) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x147
+	return c, nil
 }
 
 func (p *WsrMotorBackemf) Size() uint {
@@ -4966,8 +5102,10 @@ type Wsr15165VoltageRail struct {
 	Supply15V float32 `json:"supply_15v"`
 }
 
-func (p *Wsr15165VoltageRail) CANId() (uint32, error) {
-	return 0x148, nil
+func (p *Wsr15165VoltageRail) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x148
+	return c, nil
 }
 
 func (p *Wsr15165VoltageRail) Size() uint {
@@ -5003,8 +5141,10 @@ type Wsr2512VoltageRail struct {
 	Supply25V float32 `json:"supply_25v"`
 }
 
-func (p *Wsr2512VoltageRail) CANId() (uint32, error) {
-	return 0x149, nil
+func (p *Wsr2512VoltageRail) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x149
+	return c, nil
 }
 
 func (p *Wsr2512VoltageRail) Size() uint {
@@ -5040,8 +5180,10 @@ type WsrHeatsinkMotorTemp struct {
 	HeatsinkTemp float32 `json:"heatsink_temp"`
 }
 
-func (p *WsrHeatsinkMotorTemp) CANId() (uint32, error) {
-	return 0x14B, nil
+func (p *WsrHeatsinkMotorTemp) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x14B
+	return c, nil
 }
 
 func (p *WsrHeatsinkMotorTemp) Size() uint {
@@ -5077,8 +5219,10 @@ type WsrDspBoardTemp struct {
 	Reserved float32 `json:"reserved"`
 }
 
-func (p *WsrDspBoardTemp) CANId() (uint32, error) {
-	return 0x14C, nil
+func (p *WsrDspBoardTemp) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x14C
+	return c, nil
 }
 
 func (p *WsrDspBoardTemp) Size() uint {
@@ -5112,8 +5256,10 @@ type WsrReserved struct {
 	Reserved1 float32 `json:"reserved1"`
 }
 
-func (p *WsrReserved) CANId() (uint32, error) {
-	return 0x14D, nil
+func (p *WsrReserved) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x14D
+	return c, nil
 }
 
 func (p *WsrReserved) Size() uint {
@@ -5149,8 +5295,10 @@ type WsrOdometerBusAmphoursMeasurement struct {
 	DcBusAmphours float32 `json:"dc_bus_amphours"`
 }
 
-func (p *WsrOdometerBusAmphoursMeasurement) CANId() (uint32, error) {
-	return 0x14E, nil
+func (p *WsrOdometerBusAmphoursMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x14E
+	return c, nil
 }
 
 func (p *WsrOdometerBusAmphoursMeasurement) Size() uint {
@@ -5186,8 +5334,10 @@ type WsrSlipSpeedMeasurement struct {
 	SlipSpeed float32 `json:"slip_speed"`
 }
 
-func (p *WsrSlipSpeedMeasurement) CANId() (uint32, error) {
-	return 0x157, nil
+func (p *WsrSlipSpeedMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x157
+	return c, nil
 }
 
 func (p *WsrSlipSpeedMeasurement) Size() uint {
@@ -5221,8 +5371,10 @@ type WslIdentification struct {
 	SerialNumber uint32 `json:"serial_number"`
 }
 
-func (p *WslIdentification) CANId() (uint32, error) {
-	return 0x100, nil
+func (p *WslIdentification) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x100
+	return c, nil
 }
 
 func (p *WslIdentification) Size() uint {
@@ -5413,8 +5565,10 @@ type WslStatusInformation struct {
 	Reserved uint16 `json:"reserved"`
 }
 
-func (p *WslStatusInformation) CANId() (uint32, error) {
-	return 0x101, nil
+func (p *WslStatusInformation) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x101
+	return c, nil
 }
 
 func (p *WslStatusInformation) Size() uint {
@@ -5458,8 +5612,10 @@ type WslBusMeasurement struct {
 	BusCurrent float32 `json:"bus_current"`
 }
 
-func (p *WslBusMeasurement) CANId() (uint32, error) {
-	return 0x102, nil
+func (p *WslBusMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x102
+	return c, nil
 }
 
 func (p *WslBusMeasurement) Size() uint {
@@ -5495,8 +5651,10 @@ type WslVelocity struct {
 	VehicleVelocity float32 `json:"vehicle_velocity"`
 }
 
-func (p *WslVelocity) CANId() (uint32, error) {
-	return 0x103, nil
+func (p *WslVelocity) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x103
+	return c, nil
 }
 
 func (p *WslVelocity) Size() uint {
@@ -5532,8 +5690,10 @@ type WslPhaseCurrent struct {
 	PhaseCCurrent float32 `json:"phase_c_current"`
 }
 
-func (p *WslPhaseCurrent) CANId() (uint32, error) {
-	return 0x104, nil
+func (p *WslPhaseCurrent) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x104
+	return c, nil
 }
 
 func (p *WslPhaseCurrent) Size() uint {
@@ -5569,8 +5729,10 @@ type WslMotorVoltageVector struct {
 	Vd float32 `json:"vd"`
 }
 
-func (p *WslMotorVoltageVector) CANId() (uint32, error) {
-	return 0x105, nil
+func (p *WslMotorVoltageVector) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x105
+	return c, nil
 }
 
 func (p *WslMotorVoltageVector) Size() uint {
@@ -5606,8 +5768,10 @@ type WslMotorCurrentVector struct {
 	Id float32 `json:"id"`
 }
 
-func (p *WslMotorCurrentVector) CANId() (uint32, error) {
-	return 0x106, nil
+func (p *WslMotorCurrentVector) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x106
+	return c, nil
 }
 
 func (p *WslMotorCurrentVector) Size() uint {
@@ -5643,8 +5807,10 @@ type WslMotorBackemf struct {
 	Bemfd float32 `json:"bemfd"`
 }
 
-func (p *WslMotorBackemf) CANId() (uint32, error) {
-	return 0x107, nil
+func (p *WslMotorBackemf) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x107
+	return c, nil
 }
 
 func (p *WslMotorBackemf) Size() uint {
@@ -5680,8 +5846,10 @@ type Wsl15165VoltageRail struct {
 	Supply15V float32 `json:"supply_15v"`
 }
 
-func (p *Wsl15165VoltageRail) CANId() (uint32, error) {
-	return 0x108, nil
+func (p *Wsl15165VoltageRail) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x108
+	return c, nil
 }
 
 func (p *Wsl15165VoltageRail) Size() uint {
@@ -5717,8 +5885,10 @@ type Wsl2512VoltageRail struct {
 	Supply25V float32 `json:"supply_25v"`
 }
 
-func (p *Wsl2512VoltageRail) CANId() (uint32, error) {
-	return 0x109, nil
+func (p *Wsl2512VoltageRail) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x109
+	return c, nil
 }
 
 func (p *Wsl2512VoltageRail) Size() uint {
@@ -5754,8 +5924,10 @@ type WslHeatsinkMotorTemp struct {
 	HeatsinkTemp float32 `json:"heatsink_temp"`
 }
 
-func (p *WslHeatsinkMotorTemp) CANId() (uint32, error) {
-	return 0x10B, nil
+func (p *WslHeatsinkMotorTemp) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x10B
+	return c, nil
 }
 
 func (p *WslHeatsinkMotorTemp) Size() uint {
@@ -5791,8 +5963,10 @@ type WslDspBoardTemp struct {
 	Reserved float32 `json:"reserved"`
 }
 
-func (p *WslDspBoardTemp) CANId() (uint32, error) {
-	return 0x10C, nil
+func (p *WslDspBoardTemp) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x10C
+	return c, nil
 }
 
 func (p *WslDspBoardTemp) Size() uint {
@@ -5828,8 +6002,10 @@ type WslOdometerBusAmphoursMeasurement struct {
 	DcBusAmphours float32 `json:"dc_bus_amphours"`
 }
 
-func (p *WslOdometerBusAmphoursMeasurement) CANId() (uint32, error) {
-	return 0x10E, nil
+func (p *WslOdometerBusAmphoursMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x10E
+	return c, nil
 }
 
 func (p *WslOdometerBusAmphoursMeasurement) Size() uint {
@@ -5863,8 +6039,10 @@ type WslReserved struct {
 	Reserved1 float32 `json:"reserved1"`
 }
 
-func (p *WslReserved) CANId() (uint32, error) {
-	return 0x10D, nil
+func (p *WslReserved) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x10D
+	return c, nil
 }
 
 func (p *WslReserved) Size() uint {
@@ -5900,8 +6078,10 @@ type WslSlipSpeedMeasurement struct {
 	SlipSpeed float32 `json:"slip_speed"`
 }
 
-func (p *WslSlipSpeedMeasurement) CANId() (uint32, error) {
-	return 0x117, nil
+func (p *WslSlipSpeedMeasurement) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: false}
+	c.Id = 0x117
+	return c, nil
 }
 
 func (p *WslSlipSpeedMeasurement) Size() uint {
@@ -5931,4 +6111,4 @@ func (p *WslSlipSpeedMeasurement) String() string {
 
 // The json representation that was used to generate this data.
 // can be used to share the parsing data for i.e dynamic python gui.
-const SkylabDefinitions = `{"Packets":[{"Name":"bms_measurement","Description":"Voltages for main battery and aux pack","Id":16,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"battery_voltage","Type":"uint16_t","Units":"V","Conversion":0.01,"Bits":null},{"Name":"aux_voltage","Type":"uint16_t","Units":"V","Conversion":0.001,"Bits":null},{"Name":"current","Type":"float","Units":"A","Conversion":1,"Bits":null}]},{"Name":"battery_status","Description":"Status bits for the battery","Id":17,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"battery_state","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"startup"},{"Name":"precharge"},{"Name":"discharging"},{"Name":"lv_only"},{"Name":"charging"},{"Name":"wall_charging"},{"Name":"killed"}]},{"Name":"contactor_state","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"battery_high_contactor"},{"Name":"battery_low_contactor"},{"Name":"battery_vicor_contactor"},{"Name":"battery_pre_contactor"},{"Name":"battery_high2_contactor"},{"Name":"battery_low2_contactor"},{"Name":"charger_high_contactor"},{"Name":"charger_pre_contactor"}]},{"Name":"lv_channel_status","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"aux_fault"},{"Name":"main_fault"},{"Name":"aux_power_valid"},{"Name":"main_power_valid"},{"Name":"aux_power_active"},{"Name":"main_power_active"}]},{"Name":"lv_control_status","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"aux_vicor_enable"},{"Name":"bat_vicor_enable"},{"Name":"aux_relay_held"},{"Name":"aux_ref_enable"},{"Name":"aux_charging_enable"},{"Name":"kill_hv"},{"Name":"kill_lv"},{"Name":"start_button"}]},{"Name":"pack_choice","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"large_pack"},{"Name":"small_pack"}]}]},{"Name":"bms_kill_reason","Description":"Information for when the car kills","Id":18,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"reason1","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"OVERVOLT"},{"Name":"UNDERVOLT"},{"Name":"OVERTEMP"},{"Name":"TEMP_DISCONNECT"},{"Name":"COMM_FAIL"}]},{"Name":"reason2","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"HARDWARE"},{"Name":"KILL_PACKET"},{"Name":"UKNOWN"},{"Name":"OVERCURRENT"},{"Name":"PRECHARGE_FAIL"},{"Name":"AUX_OVER_UNDER"},{"Name":"AUX_OVERTEMP"}]},{"Name":"module","Type":"uint16_t","Units":"","Conversion":0,"Bits":null},{"Name":"value","Type":"float","Units":"","Conversion":0,"Bits":null}]},{"Name":"bms_module_min_max","Description":"min and max cell voltages and temperatures","Id":19,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"module_max_temp","Type":"int16_t","Units":"C","Conversion":0.01,"Bits":null},{"Name":"module_min_temp","Type":"int16_t","Units":"C","Conversion":0.01,"Bits":null},{"Name":"module_max_voltage","Type":"uint16_t","Units":"V","Conversion":0.001,"Bits":null},{"Name":"module_min_voltage","Type":"uint16_t","Units":"V","Conversion":0.001,"Bits":null}]},{"Name":"bms_soc","Description":"State of charge","Id":20,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"soc","Type":"float","Units":"","Conversion":1,"Bits":null}]},{"Name":"bms_capacity","Description":"State of charge","Id":21,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"Ah","Type":"float","Units":"","Conversion":1,"Bits":null},{"Name":"Wh","Type":"float","Units":"","Conversion":1,"Bits":null}]},{"Name":"bms_currentlimit","Description":"reports BP params for current","Id":24,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"current_max","Type":"int16_t","Units":"A","Conversion":0.01,"Bits":null},{"Name":"current_min","Type":"int16_t","Units":"A","Conversion":0.01,"Bits":null}]},{"Name":"bms_fan_info","Description":"BP Fans","Id":25,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"fan1","Type":"uint16_t","Units":"RPM","Conversion":1,"Bits":null},{"Name":"fan2","Type":"uint16_t","Units":"RPM","Conversion":1,"Bits":null},{"Name":"fan3","Type":"uint16_t","Units":"RPM","Conversion":1,"Bits":null},{"Name":"fan4","Type":"uint16_t","Units":"RPM","Conversion":1,"Bits":null}]},{"Name":"bms_set_min_fan_speed","Description":"packet which sets a minimum fan speed of BMS for a specific time frame in seconds","Id":27,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"fan_percentage","Type":"float","Units":"percent","Conversion":0,"Bits":null},{"Name":"time","Type":"uint16_t","Units":"s","Conversion":0,"Bits":null}]},{"Name":"bms_module","Description":"Voltage and temperature for a single module","Id":64,"Endian":"little","Extended":false,"Repeat":36,"Offset":1,"Data":[{"Name":"voltage","Type":"float","Units":"V","Conversion":1,"Bits":null},{"Name":"temperature","Type":"float","Units":"C","Conversion":1,"Bits":null}]},{"Name":"bms_charger_response","Description":"Response packet from BMS for indicating whether BMS is ready for charging","Id":117,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"response_flags","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"charging_ready"}]}]},{"Name":"chassis_isolation_fault","Description":"chassiss is not isolated from the battery","Id":56,"Endian":"","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"fault_detected","Type":"bitfield","Units":"","Conversion":0,"Bits":[{"Name":"isolation_fault"}]}]},{"Name":"bms_imd_info","Description":"information from chassis 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LEFT Bus Measurement","Id":258,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"bus_voltage","Type":"float","Units":"V","Conversion":0,"Bits":null},{"Name":"bus_current","Type":"float","Units":"A","Conversion":0,"Bits":null}]},{"Name":"wsl_velocity","Description":"WS LEFT Velocity Measurement","Id":259,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"motor_velocity","Type":"float","Units":"rpm","Conversion":0,"Bits":null},{"Name":"vehicle_velocity","Type":"float","Units":"m/s","Conversion":0,"Bits":null}]},{"Name":"wsl_phase_current","Description":"WS LEFT Phase Current Measurement","Id":260,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"phase_b_current","Type":"float","Units":"A rms","Conversion":0,"Bits":null},{"Name":"phase_c_current","Type":"float","Units":"A rms","Conversion":0,"Bits":null}]},{"Name":"wsl_motor_voltage_vector","Description":"WS LEFT Motor Voltage Vector 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Measurement","Id":264,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"reference_165v","Type":"float","Units":"V","Conversion":0,"Bits":null},{"Name":"supply_15v","Type":"float","Units":"V","Conversion":0,"Bits":null}]},{"Name":"wsl_25_12_voltage_rail","Description":"WS LEFT 2.5V and 1.2V Voltage Rail Measurement","Id":265,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"supply_12v","Type":"float","Units":"V","Conversion":0,"Bits":null},{"Name":"supply_25v","Type":"float","Units":"V","Conversion":0,"Bits":null}]},{"Name":"wsl_heatsink_motor_temp","Description":"WS LEFT Heat-sink \u0026 Motor Temperature Measurement","Id":267,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"motor_temp","Type":"float","Units":"C","Conversion":0,"Bits":null},{"Name":"heatsink_temp","Type":"float","Units":"C","Conversion":0,"Bits":null}]},{"Name":"wsl_dsp_board_temp","Description":"WS LEFT DPS Board Temperature Measurement","Id":268,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"dsp_board_temp","Type":"float","Units":"C","Conversion":0,"Bits":null},{"Name":"reserved","Type":"float","Units":"C","Conversion":0,"Bits":null}]},{"Name":"wsl_odometer_bus_amphours_measurement","Description":"WS LEFT Odometer and Bus AmpHours Measurement","Id":270,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"odometer","Type":"float","Units":"m","Conversion":0,"Bits":null},{"Name":"dc_bus_amphours","Type":"float","Units":"Ah","Conversion":0,"Bits":null}]},{"Name":"wsl_reserved","Description":"WS LEFT Reserved","Id":269,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"reserved0","Type":"float","Units":"","Conversion":0,"Bits":null},{"Name":"reserved1","Type":"float","Units":"","Conversion":0,"Bits":null}]},{"Name":"wsl_slip_speed_measurement","Description":"WS LEFT Slip Speed Measurement","Id":279,"Endian":"little","Extended":false,"Repeat":0,"Offset":0,"Data":[{"Name":"reserved","Type":"float","Units":"C","Conversion":0,"Bits":null},{"Name":"slip_speed","Type":"float","Units":"Hz","Conversion":0,"Bits":null}]}],"Boards":[{"Name":"bms","Transmit":["bms_measurement","bms_capacity","bms_charger_response","battery_status","bms_kill_reason","bms_module_min_max","bms_soc","bms_currentlimit","bms_fan_info","bms_module"],"Receive":["bms_kill","bms_wh_set","bms_ah_set","bms_set_min_fan_speed","charger_bms_request","chassis_isolation_fault"]},{"Name":"bridge_board","Transmit":["chassis_isolation_fault"],"Receive":["bms_imd_info","battery_status"]},{"Name":"charger","Transmit":["charger_state","charger_bms_request","charger_power","thunderstruck_control_message"],"Receive":["bms_charger_response","battery_status","bms_module_min_max","bms_measurement","charger_current_voltage","bms_capacity","thunderstruck_status_message"]},{"Name":"flight_computer","Transmit":["tracker_enable","vision_turn_signals_command","vision_brake_lights_command","vision_headlights_command","vision_horn_command","tritium_motor_drive_l","tritium_motor_drive_r","steering_button_colors_1","steering_button_colors_2","tritium_reset_l","tritium_reset_r","dashboard_pedal_percentages","car_state","car_speed","dashboard_pedal_fault","flight_computer_hv_board_disconnect_counts","flight_computer_lv_board_disconnect_counts","flight_computer_internal_state","power_to_drive","array_power","array_energy","distance_traveled"],"Receive":["bms_module_min_max","charger_state","steering_press_count_1","steering_press_count_2","wsl_velocity","wsr_velocity","steering_horn","bms_kill_reason","bms_measurement","tracker_data","vision_status_front","vision_status_rear","wsl_odometer_bus_amphours_measurement","array_energy_reset","wsr_odometer_bus_amphours_measurement"]},{"Name":"g4_example","Transmit":["vision_status_front","vision_headlights_command","demo_packet"],"Receive":["vision_turn_signals_command","vision_brake_lights_command","vision_headlights_command","vision_horn_command","demo_packet"]},{"Name":"lights","Transmit":["vision_status_front","vision_status_rear","lights_front_id","lights_back_id"],"Receive":["vision_turn_signals_command","vision_brake_lights_command","vision_headlights_command","bms_kill_reason"]},{"Name":"skylab2_demo","Transmit":["vision_status_front","vision_headlights_command"],"Receive":["vision_turn_signals_command","vision_brake_lights_command","vision_headlights_command","vision_horn_command"]},{"Name":"steering","Transmit":["steering_press_count_1","steering_press_count_2","steering_horn"],"Receive":["steering_button_colors_1","steering_button_colors_2"]},{"Name":"vision","Transmit":["vision_status_front","vision_id"],"Receive":["vision_turn_signals_command","vision_brake_lights_command","vision_headlights_command","vision_horn_command","vision_array_latches_command","vision_rearview_command"]}]}`
diff --git a/skylab/templates/golang.go.tmpl b/skylab/templates/golang.go.tmpl
index 9b7ea79..b8b8034 100644
--- a/skylab/templates/golang.go.tmpl
+++ b/skylab/templates/golang.go.tmpl
@@ -45,15 +45,17 @@ type {{$structName}} struct {
 {{- end }}
 }
 
-func (p *{{$structName}}) CANId() (uint32, error) {
+func (p *{{$structName}}) CanId() (can.CanID, error) {
+	c := can.CanID{Extended: {{.Extended}}}
 {{- if .Repeat }}
 	if p.Idx >= {{.Repeat}} {
-		return 0, &UnknownIdError{ {{ printf "0x%X" .Id }} }
+		return c, &UnknownIdError{ {{ printf "0x%X" .Id }} }
 	}
-	return {{ printf "0x%X" .Id }} + p.Idx, nil
+	c.Id = {{ printf "0x%X" .Id }} + p.Idx
 {{- else }}
-	return {{ printf "0x%X" .Id }}, nil
+	c.Id = {{ printf "0x%X" .Id }}
 {{- end }}
+	return c, nil
 }
 
 func (p *{{$structName}}) Size() uint {
@@ -107,10 +109,10 @@ var idMap = map[can.CanID]bool{
 	{{ range $p := .Packets -}}
 	{{ if $p.Repeat }} 
 	{{ range $idx := Nx (int $p.Id) $p.Repeat $p.Offset -}}
-	can.CanID{ Id: {{ $idx | printf "0x%X"}}, Extended: {{$p.Extended}} }: true,
+	{ Id: {{ $idx | printf "0x%X"}}, Extended: {{$p.Extended}} }: true,
 	{{ end }}
 	{{- else }}
-	can.CanID{ Id: {{ $p.Id | printf "0x%X" }}, Extended: {{$p.Extended}} }: true,
+	{ Id: {{ $p.Id | printf "0x%X" }}, Extended: {{$p.Extended}} }: true,
 	{{- end}}
 	{{- end}}
 }