diff --git a/py/.gitignore b/py/.gitignore new file mode 100644 index 0000000..68bc17f --- /dev/null +++ b/py/.gitignore @@ -0,0 +1,160 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ diff --git a/py/.idea/.gitignore b/py/.idea/.gitignore new file mode 100644 index 0000000..13566b8 --- /dev/null +++ b/py/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Editor-based HTTP Client requests +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/py/.idea/inspectionProfiles/Project_Default.xml b/py/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 0000000..c3f28b7 --- /dev/null +++ b/py/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,13 @@ + + + + \ No newline at end of file diff --git a/py/.idea/inspectionProfiles/profiles_settings.xml b/py/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000..105ce2d --- /dev/null +++ b/py/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/py/.idea/misc.xml b/py/.idea/misc.xml new file mode 100644 index 0000000..5fb2565 --- /dev/null +++ b/py/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/py/.idea/modules.xml b/py/.idea/modules.xml new file mode 100644 index 0000000..3a65488 --- /dev/null +++ b/py/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/py/.idea/other.xml b/py/.idea/other.xml new file mode 100644 index 0000000..a708ec7 --- /dev/null +++ b/py/.idea/other.xml @@ -0,0 +1,6 @@ + + + + + \ No newline at end of file diff --git a/py/.idea/py.iml b/py/.idea/py.iml new file mode 100644 index 0000000..f95c69b --- /dev/null +++ b/py/.idea/py.iml @@ -0,0 +1,19 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/py/.idea/vcs.xml b/py/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/py/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/py/Hello_.ini b/py/Hello_.ini new file mode 100644 index 0000000..8f17fdd --- /dev/null +++ b/py/Hello_.ini @@ -0,0 +1,48 @@ +[Window][Main window (title bar invisible)] +Pos=0,0 +Size=1279,911 +Collapsed=0 + +[Window][Debug##Default] +Pos=60,60 +Size=400,400 +Collapsed=0 + +[Window][my application] +Pos=144,131 +Size=503,728 +Collapsed=0 +DockId=0x00000002,0 + +[Window][Dear ImGui Demo] +Pos=649,131 +Size=501,728 +Collapsed=0 +DockId=0x00000003,0 + +[Window][DockSpace Demo] +Pos=0,0 +Size=1279,911 +Collapsed=0 + +[Window][Delete?] +Pos=507,390 +Size=264,130 +Collapsed=0 + +[Window][Stacked 2] +Pos=539,417 +Size=200,77 +Collapsed=0 + +[Window][Stacked 1] +Pos=456,361 +Size=367,188 +Collapsed=0 + +[Docking][Data] +DockNode ID=0x00000001 Pos=144,131 Size=1006,728 Split=X Selected=0xE87781F4 + DockNode ID=0x00000002 Parent=0x00000001 SizeRef=503,728 Selected=0xFC0731F4 + DockNode ID=0x00000003 Parent=0x00000001 SizeRef=501,728 Selected=0xE87781F4 +DockSpace ID=0x3BC79352 Window=0x4647B76E Pos=0,21 Size=1279,890 CentralNode=1 + diff --git a/py/README.md b/py/README.md new file mode 100644 index 0000000..b7ce52a --- /dev/null +++ b/py/README.md @@ -0,0 +1,8 @@ +# Pytelem +this is a GUI (using DearPyGui) and a solver helper process (using numpy/scipy). + +The GUI is used for clients to connect to the `gotelem` server. The solver code +can be run headless and interface with the gotelem server to use the data from the server +and provide solutions for other clients to ingest. + +more to come. \ No newline at end of file diff --git a/py/backend.py b/py/backend.py new file mode 100644 index 0000000..dcf4430 --- /dev/null +++ b/py/backend.py @@ -0,0 +1,3 @@ +import aiohttp +import orjson +import threading diff --git a/py/gui.py b/py/gui.py new file mode 100644 index 0000000..57d9526 --- /dev/null +++ b/py/gui.py @@ -0,0 +1,47 @@ +import sys + +import pyqtgraph.parametertree +from PySide6 import QtWidgets, QtCore +from PySide6.QtCore import QDir, Qt +from PySide6.QtWidgets import ( + QApplication, + QWidget, + QMainWindow, + QTreeView, + QDockWidget, +) + + +class MainApp(QMainWindow): + def __init__(self): + super().__init__() + self.setWindowTitle("Hey there") + + ptree = PacketTree(self) + self.setCentralWidget(ptree) + + +class PacketTree(QWidget): + """PacketView is a widget that shows a tree of packets as well as properties on them when selected.""" + + def __init__(self, parent: QtWidgets.QWidget | None = None): + super().__init__(parent) + self.setWindowTitle("Packet Overview") + splitter = QtWidgets.QSplitter(self) + layout = QtWidgets.QVBoxLayout() + + splitter.setOrientation(Qt.Vertical) + self.tree = QTreeView() + self.prop_table = pyqtgraph.parametertree.ParameterTree() + splitter.addWidget(self.tree) + splitter.addWidget(self.prop_table) + layout.addWidget(splitter) + + self.setLayout(layout) + + +if __name__ == "__main__": + app = QApplication(sys.argv) + main_window = MainApp() + main_window.show() + app.exec() diff --git a/py/optimus.py b/py/optimus.py new file mode 100644 index 0000000..e949245 --- /dev/null +++ b/py/optimus.py @@ -0,0 +1,10 @@ +# hyperspeed analytics and planning + +import numpy as np +from scipy.integrate import solve_bvp, solve_ivp +from numba import njit, vectorize, guvectorize + + +def fsolve_discrete(): ... + + diff --git a/py/poetry.lock 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= "^1.24.3" +aiohttp = "^3.8.4" +pyside6 = "^6.5.1" +pydantic = "^1.10.9" +pyyaml = "^6.0" +jinja2 = "^3.1.2" +pyqtgraph = "^0.13.3" +scipy = "^1.10.1" +numba = "^0.57.0" + + +[tool.poetry.group.dev.dependencies] +mypy = "^1.3.0" +pytest = "^7.3.2" +types-pyyaml = "^6.0.12.10" + +[build-system] +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" + + +[tool.poetry.scripts] +pytelem = "pytelem:main" diff --git a/py/pytelem.py b/py/pytelem.py new file mode 100644 index 0000000..d45eba1 --- /dev/null +++ b/py/pytelem.py @@ -0,0 +1,114 @@ +import time +import numpy as np + +from imgui_bundle import implot, imgui_knobs, imgui, immapp, hello_imgui +import aiohttp +import orjson + +# Fill x and y whose plot is a heart +vals = np.arange(0, np.pi * 2, 0.01) +x = np.power(np.sin(vals), 3) * 16 +y = 13 * np.cos(vals) - 5 * np.cos(2 * vals) - 2 * np.cos(3 * vals) - np.cos(4 * vals) +# Heart pulse rate and time tracking +phase = 0 +t0 = time.time() + 0.2 +heart_pulse_rate = 80 + + +class PacketState: + """PacketState is the state representation for a packet. It contains metadata about the packet + as well as a description of the packet fields. Also contains a buffer. + """ + + def render_tree(self): + """Render the Tree view entry for the packet. Only called if the packet is shown.""" + pass + + def render_graphs(self): + pass + + def __init__(self, name: str, description: str | None = None): + self.name = name + self.description = description + + # take the data fragment and create internal data representing it. + + +boards = { + "bms": { + "bms_measurement": { + "description": "Voltages for main battery and aux pack", + "id": 0x10, + "data": { + "battery_voltage": 127.34, + "aux_voltage": 23.456, + "current": 1.23, + }, + }, + "battery_status": { + "description": "Status bits for the battery", + "id": 0x11, + "data": { + "battery_state": { + "startup": True, + "precharge": False, + "discharging": False, + "lv_only": False, + "charging": False, + "wall_charging": False, + "killed": False, + }, # repeat for rest fo fields + }, + }, + } +} + + +def gui(): + global heart_pulse_rate, phase, t0, x, y + # Make sure that the animation is smooth + hello_imgui.get_runner_params().fps_idling.enable_idling = False + + t = time.time() + phase += (t - t0) * heart_pulse_rate / (np.pi * 2) + k = 0.8 + 0.1 * np.cos(phase) + t0 = t + + imgui.show_demo_window() + main_window_flags: imgui.WindowFlags = imgui.WindowFlags_.no_collapse.value + imgui.begin("my application", p_open=None, flags=main_window_flags) + + imgui.text("Bloat free code") + if implot.begin_plot("Heart", immapp.em_to_vec2(21, 21)): + implot.plot_line("", x * k, y * k) + implot.end_plot() + + for board_name, board_packets in boards.items(): + if imgui.tree_node(board_name): + for packet_name in board_packets: + if imgui.tree_node(packet_name): + # display description if hovered + pkt = board_packets[packet_name] + if imgui.is_item_hovered(): + imgui.set_tooltip(pkt["description"]) + imgui.text(f"0x{pkt['id']:03X}") + imgui.tree_pop() + imgui.tree_pop() + imgui.end() # my application + + _, heart_pulse_rate = imgui_knobs.knob("Pulse", heart_pulse_rate, 30, 180) + + +# class State: +# def __init__(self): +# +# def gui(self): + +if __name__ == "__main__": + immapp.run( + gui, + window_size=(300, 450), + window_title="Hello!", + with_implot=True, + fps_idle=0, + ) # type: ignore diff --git a/py/skylab.py b/py/skylab.py new file mode 100644 index 0000000..2bff671 --- /dev/null +++ b/py/skylab.py @@ -0,0 +1,459 @@ +# this file describes a skylab yaml and it's associated fields. It also +# provides functions to parse a skylab packet folder and a few AST operators. +from abc import ABC, abstractmethod +import re +from pathlib import Path +from typing import Callable, Iterable, NewType, TypedDict, List, Protocol, Union, Set + +from pydantic import BaseModel, validator +from enum import Enum +import yaml +import jinja2 + + +# This part of the file is dedicated to parsing the skylab yaml files. We define +# classes that represent objects in the yaml files, and perform basic validation on +# the input data. We also define a load_yamls function that loads a directory of skylab files. + + +class FieldType(str, Enum): + """FieldType indicates the type of the field - the enum represents the C type, + but you can use a map to convert the type to another language.""" + + # used to ensure types are valid, and act as representations for other languages/mappings. + U8 = "uint8_t" + U16 = "uint16_t" + U32 = "uint32_t" + U64 = "uint64_t" + I8 = "int8_t" + I16 = "int16_t" + I32 = "int32_t" + I64 = "int64_t" + F32 = "float" + + Bitfield = "bitfield" + + def size(self) -> int: + """Returns the size, in bytes, of the type.""" + match self: + case FieldType.U8: + return 1 + case FieldType.U16: + return 2 + case FieldType.U32: + return 4 + case FieldType.U64: + return 8 + case FieldType.I8: + return 1 + case FieldType.I16: + return 2 + case FieldType.I32: + return 4 + case FieldType.I64: + return 8 + case FieldType.F32: + return 4 + case FieldType.Bitfield: + return 1 + return -1 + + +# A FieldTypeMapper is any function that takes a field type and returns +# either a mapped string (based on the type) or none if there was not a match. +FieldTypeMapper = Callable[[FieldType], str | None] + + +class _Bits(TypedDict): + """Internal class: a bits object just has a name.""" + + name: str + + +class SkylabField(BaseModel): + """Represents a field (data element) inside a Skylab Packet.""" + + name: str + "the name of the field. must be alphanumeric and underscores" + type: FieldType + "the type of the field" + units: str | None + "optional descriptor of the unit representation" + conversion: float | None + "optional conversion factor to be applied when parsing" + bits: List[_Bits] | None + "if the type if a bitfield, " + + @validator("bits") + def bits_must_exist_if_bitfield(cls, v, values): + if v is None and "type" in values and values["type"] is FieldType.Bitfield: + raise ValueError("bits are not present on bitfield type") + if ( + v is not None + and "type" in values + and values["type"] is not FieldType.Bitfield + ): + raise ValueError("bits are present on non-bitfield type") + return v + + @validator("name") + def name_valid_string(cls, v: str): + if not re.match(r"^[A-Za-z0-9_]+$", v): + return ValueError("invalid name") + return v + + @validator("name") + def name_nonzero_length(cls, v: str): + if len(v) == 0: + return ValueError("name cannot be empty string") + return v + + +class Endian(str, Enum): + """Symbol representing the endianness of the packet""" + + Big = "big" + Little = "little" + + +class SkylabPacket(BaseModel): + """Represents a CAN packet. Contains SkylabFields with information on the structure of the data.""" + + name: str + description: str | None + id: int + endian: Endian + repeat: int | None + offset: int | None + data: List[SkylabField] + + # @validator("data") + # def packet_size_limit(cls, v: List[SkylabField]): + # tot = sum([f.type.size() for f in v]) + # if tot > 8: + # return ValueError("Total packet size cannot exceed 8 bytes") + # return v + + @validator("id") + def id_non_negative(cls, v: int) -> int: + if v < 0: + raise ValueError("id must be above zero") + return v + + @validator("name") + def name_valid_string(cls, v: str) -> str: + if not re.match(r"^[A-Za-z0-9_]+$", v): + raise ValueError("invalid name", v) + return v + + @validator("name") + def name_nonzero_length(cls, v: str) -> str: + if len(v) == 0: + raise ValueError("name cannot be empty string") + return v + + @validator("offset") + def offset_must_have_repeat(cls, v: int | None, values) -> int | None: + if v is not None and "repeat" in values and values["repeat"] is not None: + raise ValueError("field with offset must have repeat defined") + return v + + @validator("repeat") + def repeat_gt_one(cls, v: int | None): + if v is not None and v <= 1: + raise ValueError("repeat must be strictly greater than one") + return v + + +class SkylabBoard(BaseModel): + """Represents a single board. Each board has packets that it sends and receives + + Validations: + - There can only be one sender of a packet, but multiple receivers + - every name in the transmit/receive list must have a corresponding packet. + """ + + name: str + "The name of the board" + transmit: List[str] + "The packets sent by this board" + receive: List[str] + "The packets received by this board." + + @validator("name") + def name_valid_string(cls, v: str): + if not re.match(r"^[A-Za-z0-9_]+$", v): + return ValueError("invalid name", v) + return v + + @validator("name") + def name_nonzero_length(cls, v: str): + if len(v) == 0: + return ValueError("name cannot be empty string") + return v + + +class SkylabBus(BaseModel): + name: str + "The name of the bus" + baud_rate: int + "Baud rate setting for the bus" + extended_id: bool + "If the bus uses extended ids" + + @validator("name") + def name_valid_string(cls, v: str): + if not re.match(r"^[A-Za-z0-9_]+$", v): + return ValueError("invalid name", v) + return v + + @validator("baud_rate") + def baud_rate_supported(cls, v: int): + if v not in [125000, 250000, 500000, 750000, 1000000]: + raise ValueError("unsupported baud rate", v) + return v + + +class SkylabFile(BaseModel): + """Represents an entire skylab yaml file. Performs additional cross-validation between + boards and packets.""" + + packets: List[SkylabPacket] = [] + boards: List[SkylabBoard] = [] + busses: List[SkylabBus] = [] + + # TODO: add extra validators here? + + +def load_skylab_dir(path: Path) -> SkylabFile: + """Loads all the .yaml files in a directory and merges them into one large SkylabFile, which is then returned.""" + files = [f for f in path.iterdir() if re.search(r".*\.ya?ml$", str(f))] + sky_files: List[SkylabFile] = [] + for file in files: + with open(file, "r") as f: + obj = yaml.load(f, Loader=yaml.Loader) + sky_files.append(SkylabFile.parse_obj(obj)) + # merge the files + + # this is not very fast or elegant but who cares. + all_pkts = [] + all_boards = [] + for sky_f in sky_files: + d = sky_f.dict() + all_pkts.append(d["packets"]) + all_boards.append(d["boards"]) + collected_skyfile = SkylabFile.parse_obj( + {"packets": all_pkts, "boards": all_boards} + ) + + return collected_skyfile + + +# hey. The next bit of code is entirely optional for you to use! It's totally acceptable to just skip it and manually +# iterate over the SkylabFile yourself. The reason we use the walk tree/visitor pattern here is to abstract away +# traversing the tree from the functions that process it. + +# While this is generally a pretty common use case (hence the abstraction), it +# can be difficult to wrap certain processes around it. + + +SkylabObject = Union[SkylabFile, SkylabPacket, SkylabBoard, SkylabField, SkylabBus] +"SkylabObject is any object that will be walked when making a parsing pass on the AST" + + +class SkylabWalker(Protocol): + """A SkylabWalker is any class that implements walk(self, SkylabObject).""" + + def walk(self, obj: SkylabObject): + ... + + "walk is called for each SkylabObject in the SkylabFile tree" + + +class SkylabVisitor(ABC): + """SkylabVisitor is an abstract class that makes children walkable. Children must + implement the visit_* functions which contain explicit signatures for each discrete unit in a Skylabfile. + """ + + @abstractmethod + def visit_file(self, file: SkylabFile): + ... + + @abstractmethod + def visit_board(self, board: SkylabBoard): + ... + + @abstractmethod + def visit_packet(self, packet: SkylabPacket): + ... + + @abstractmethod + def visit_field(self, field: SkylabField, parent: SkylabPacket): + ... + + @abstractmethod + def visit_bus(self, bus: SkylabBus): + ... + + _last_parent: SkylabPacket | None = None + "internal variable storing the parent packet for visit_field" + + def walk(self, obj: SkylabObject): + match obj: + case SkylabFile(): + self.visit_file(obj) + case SkylabBoard(): + self.visit_board(obj) + case SkylabPacket(): + self._last_parent = obj + self.visit_packet(obj) + case SkylabBus(): + self.visit_bus(obj) + case SkylabField(): + if self._last_parent is None: + raise Error("Unexpected field without parent") + self.visit_field(obj, self._last_parent) + + +def walk_tree(tree: SkylabFile, walker: SkylabWalker): + """Walks the tree using the given walker""" + + walker.walk(tree) + + for bus in tree.busses: + walker.walk(bus) + + for board in tree.boards: + walker.walk(board) + + for packet in tree.packets: + walker.walk(packet) + for field in packet.data: + walker.walk(field) + + +class Error(Exception): + """An exception when processing the tree""" + + +class RelationValidator: + """This class is a processor that validates the relation between boards and + packets. + + - Each packet MAY have AT MOST one transmitter. + - Each packet MUST have AT LEAST one board reference. + - Boards MUST ONLY reference packets that exist in 'packets' + - Boards MUST have a UNIQUE name + - Packets MUST have a UNIQUE name""" + + seen_packets: Set[str] + "A set of all the packets in the 'packets' field" + + sent_packets: Set[str] + "A set of all the packet names that are sent by boards" + recv_packets: Set[str] + "A set of all packets recv'd by boards" + + board_names: Set[str] + + def __init__(self): + self.board_names = set() + self.seen_packets = set() + self.sent_packets = set() + self.board_names = set() + + # The first test: make sure that no two boards send the same packet. + # check sent_packets for existing element before adding. + + # the second test: each packet should have a unique name. + + # the third test -> Union of sent_packets and recv_packets should + # be exactly equal to seen_packets + + def walk(self, obj: SkylabObject): + match obj: + case SkylabPacket(name=n): + if n in self.seen_packets: + raise Error(f"packet {n} declared twice") + self.seen_packets.add(n) + case SkylabBoard(transmit=tx, receive=rx, name=n): + if n in self.board_names: + raise Error(f"board {n} declared twice") + self.board_names.add(n) + for r_pkt in rx: + self.recv_packets.add(r_pkt) + + for t_pkt in tx: + if t_pkt in self.sent_packets: + raise Error(f"packet {t_pkt} is sent from two sources") + self.sent_packets.add(t_pkt) + case _: + ... # skip others. + + def validate(self): + """runs final checks""" + # perform third check: packets must all be used. + board_ref_packets = self.recv_packets.union(self.sent_packets) + + # xor = symmetric_difference, which is packets in one or the other but not both. + unref_packets = board_ref_packets ^ self.seen_packets + if len(unref_packets) > 0: + raise Error(f"packets missing a link: {unref_packets}") + + +class CollisionDetector: + """This class detects ID collisions of packets. It expands the repeated packet to ensure that there is + no overlap""" + + seen_ids: Set[int] = set() + + def add_or_fail(self, idx: int): + if idx in self.seen_ids: + raise ValueError(f"Collision on packet {idx}") + self.seen_ids.add(idx) + + def walk(self, obj: SkylabObject): + match obj: + case SkylabPacket(id=idx, offset=None, repeat=None): + # matches single packets - just add it directly. + self.add_or_fail(idx) + + # we need the guard clause cause pyright/mypy isn't smart enough to read the entire match block. + case SkylabPacket( + id=base_idx, offset=off, repeat=rpt + ) if off is not None and rpt is not None: + for i in range(0, rpt): + self.add_or_fail(base_idx + i * off) + case _: + ... # do nothing for packets or fields. + + def validate(self): + print(f"{len(self.seen_ids)} packet IDs discovered with no collisions") + + +class ExampleGenerator: + """Demonstrates how to use Jinja templates with a custom environment to generate output documents from + the skylab objects.""" + + env: jinja2.Environment + + def __init__(self): + self.env = jinja2.Environment( + loader=jinja2.loaders.PackageLoader(".templates.c") + ) + + def render(self, skylab: SkylabFile): + ... + + +class GraphvizGenerator: + """This class converts the Skylab files into a GraphViz document + detailing the flow of data as well as information about the data.""" + + +class CGenerator: + """This class generates C files for our microcontrollers.""" + + +class PyGenerator: + """This class generates a python module that can serialize/deserialize packets.""" diff --git a/py/templates/c/skylab.h.jinja2 b/py/templates/c/skylab.h.jinja2 new file mode 100644 index 0000000..9b770da --- /dev/null +++ b/py/templates/c/skylab.h.jinja2 @@ -0,0 +1,40 @@ +// Generated by skylab2.py +#pragma once +#include "skylab2_types.h" +namespace umnsvp::skylab2 { + +typedef union { + uint8_t b[4]; + uint32_t i; + float f; +} can_float_union_t; + +///@brief enumeration for CAN packet IDs +enum class CANPacketId : uint32_t { + {% for p in packets %} + /// {{p.description}} {# '%#x' is a python format string.#} + CAN_PACKET_{{ p.name | upper }} = {{ '%#x' % p.id}}, + + {% endfor %} +}; + + +{% for p in packets %} +///@brief {{p.description}} +struct can_packet_{{ p.name | lower }} { + {% for field in p.data %} + {% if field.__class__.__name__ == "CANMessageBitfieldDef" %} + struct { + {% for subfield in field.bits %} + uint8_t {{subfield.name}}:1; + + {% endfor %} + } {{ field.name | lower }}; + {% else %}{{ field.data_type }} {{field.name}};{% endif %} + {% endfor %} +}; + +/// the length of the {{p.name | lower}} packet +constexpr size_t CAN_LENGTH_{{ p.name | upper }} = sizeof(can_packet_{{p.name | lower}}); +{% endfor %} +} // namespace umnsvp::skylab2 \ No newline at end of file