skylab: rework interface

broker.go

@@ -2,104 +2,29 @@ package gotelem
 
 import (
 	"errors"
-	"fmt"
 	"sync"
 
+	"github.com/kschamplin/gotelem/skylab"
 	"golang.org/x/exp/slog"
 )
 
-type BrokerRequest struct {
-	Source string // the name of the sender
-	Msg    Frame  // the message to send
-}
-type BrokerClient struct {
-	Name string     // the name of the client
-	Ch   chan Frame // the channel to send frames to this client
-}
-type Broker struct {
-	subs map[string]chan Frame
-
-	publishCh chan BrokerRequest
-
-	subsCh  chan BrokerClient
-	unsubCh chan BrokerClient
-}
-
-
-// Start runs the broker and sends messages to the subscribers (but not the sender)
-func (b *Broker) Start() {
-
-	for {
-		select {
-		case newClient := <-b.subsCh:
-			b.subs[newClient.Name] = newClient.Ch
-		case req := <-b.publishCh:
-			for name, ch := range b.subs {
-				if name == req.Source {
-					continue // don't send to ourselves.
-				}
-				// a kinda-inelegant non-blocking push.
-				// if we can't do it, we just drop it. this should ideally never happen.
-				select {
-				case ch <- req.Msg:
-				default:
-					fmt.Printf("we dropped a packet to dest %s", name)
-				}
-			}
-		case clientToRemove := <-b.unsubCh:
-			close(b.subs[clientToRemove.Name])
-			delete(b.subs, clientToRemove.Name)
-		}
-	}
-}
-
-func (b *Broker) Publish(name string, msg Frame) {
-	breq := BrokerRequest{
-		Source: name,
-		Msg:    msg,
-	}
-	b.publishCh <- breq
-}
-
-func (b *Broker) Subscribe(name string) <-chan Frame {
-	ch := make(chan Frame, 3)
-
-	bc := BrokerClient{
-		Name: name,
-		Ch:   ch,
-	}
-	b.subsCh <- bc
-	return ch
-}
-
-func (b *Broker) Unsubscribe(name string) {
-	bc := BrokerClient{
-		Name: name,
-	}
-	b.unsubCh <- bc
-}
-
-
-
-
 type JBroker struct {
-	subs map[string] chan CANDumpEntry // contains the channel for each subsciber
+	subs map[string]chan skylab.BusEvent // contains the channel for each subsciber
 
 	logger  *slog.Logger
 	lock    sync.RWMutex
 	bufsize int // size of chan buffer in elements.
 }
 
-
 func NewBroker(bufsize int, logger *slog.Logger) *JBroker {
 	return &JBroker{
-		subs: make(map[string]chan CANDumpEntry),
+		subs:    make(map[string]chan skylab.BusEvent),
 		logger:  logger,
 		bufsize: bufsize,
 	}
 }
 
-func (b *JBroker) Subscribe(name string) (ch chan CANDumpEntry, err error) {
+func (b *JBroker) Subscribe(name string) (ch chan skylab.BusEvent, err error) {
 	// get rw lock.
 	b.lock.Lock()
 	defer b.lock.Unlock()
@@ -108,7 +33,7 @@ func (b *JBroker) Subscribe(name string) (ch chan CANDumpEntry, err error) {
 		return nil, errors.New("name already in use")
 	}
 	b.logger.Info("new subscriber", "name", name)
-	ch = make(chan CANDumpEntry, b.bufsize)
+	ch = make(chan skylab.BusEvent, b.bufsize)
 
 	b.subs[name] = ch
 	return
@@ -121,7 +46,7 @@ func (b *JBroker) Unsubscribe(name string) {
 	delete(b.subs, name)
 }
 
-func (b *JBroker) Publish(sender string, message CANDumpEntry) {
+func (b *JBroker) Publish(sender string, message skylab.BusEvent) {
 	b.lock.RLock()
 	defer b.lock.RUnlock()
 	for name, ch := range b.subs {

cmd/gotelem/cli/client.go

@@ -3,18 +3,16 @@ package cli
 import (
 	"fmt"
 
+	imgui "github.com/AllenDang/cimgui-go"
 	"github.com/kschamplin/gotelem"
 	"github.com/kschamplin/gotelem/mprpc"
 	"github.com/urfave/cli/v2"
-	imgui "github.com/AllenDang/cimgui-go"
 )
 
-
 func init() {
 	subCmds = append(subCmds, clientCmd)
 }
 
-
 var clientCmd = &cli.Command{
 	Name:      "client",
 	Aliases:   []string{"c"},
@@ -33,7 +31,6 @@ Connects to a gotelem server or relay. Can be used to
 	Action: client,
 }
 
-
 func loop() {
 	imgui.ShowDemoWindow()
 }
@@ -45,13 +42,8 @@ func client(ctx *cli.Context) error {
 	return nil
 }
 
-
 // the client should connect to a TCP server and listen to packets.
 func CANFrameHandler(f *gotelem.Frame) (*mprpc.RPCEmpty, error) {
 	fmt.Printf("got frame, %v\n", f)
 	return nil, nil
 }
-
-var initialRPCHandlers = map[string]mprpc.ServiceFunc{
-	"can": mprpc.MakeService(CANFrameHandler),
-}

cmd/gotelem/cli/server.go

@@ -37,11 +37,9 @@ var serveCmd = &cli.Command{
 	Action:  serve,
 }
 
-
 // FIXME: naming
 // this is a server handler for i.e tcp socket, http server, socketCAN, xbee,
 // etc. we can register them in init() functions.
-type testThing func(cCtx *cli.Context, broker *gotelem.Broker, logger *slog.Logger) (err error)
 
 type service interface {
 	fmt.Stringer
@@ -58,12 +56,6 @@ var serveThings = []service{
 	&rpcService{},
 }
 
-
-func deriveLogger (oldLogger *slog.Logger, svc service) (newLogger *slog.Logger) {
-	newLogger = oldLogger.With("svc", svc.String())
-	return
-}
-
 func serve(cCtx *cli.Context) error {
 	// TODO: output both to stderr and a file.
 	logger := slog.New(slog.NewTextHandler(os.Stderr))
@@ -85,14 +77,11 @@ func serve(cCtx *cli.Context) error {
 		}(svc, logger)
 	}
 
-
 	wg.Wait()
 
-
 	return nil
 }
 
-
 type rpcService struct {
 }
 
@@ -162,7 +151,6 @@ func (c *CanLoggerService) String() string {
 func (c *CanLoggerService) Status() {
 }
 
-
 func (c *CanLoggerService) Start(cCtx *cli.Context, broker *gotelem.JBroker, l *slog.Logger) (err error) {
 	rxCh, err := broker.Subscribe("canDump")
 	if err != nil {
@@ -194,7 +182,6 @@ func (c *CanLoggerService)  Start(cCtx *cli.Context, broker *gotelem.JBroker, l
 	}
 }
 
-
 // XBeeService provides data over an Xbee device, either by serial or TCP
 // based on the url provided in the xbee flag. see the description for details.
 type XBeeService struct {
@@ -207,7 +194,6 @@ func (x *XBeeService) String() string {
 func (x *XBeeService) Status() {
 }
 
-
 func (x *XBeeService) Start(cCtx *cli.Context, broker *gotelem.JBroker, logger *slog.Logger) (err error) {
 	if cCtx.String("xbee") == "" {
 		logger.Info("not using xbee")
@@ -245,7 +231,5 @@ func (x *XBeeService) Start(cCtx *cli.Context, broker *gotelem.JBroker, logger *
 			}
 		}
 
-
 	}
 }
-

cmd/gotelem/cli/socketcan.go

@@ -37,10 +37,9 @@ func init() {
 	subCmds = append(subCmds, socketCANCmd)
 }
 
-
 type socketCANService struct {
 	name string
-	sock socketcan.CanSocket
+	sock *socketcan.CanSocket
 }
 
 func (s *socketCANService) Status() {
@@ -66,13 +65,13 @@ func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.JBroker, log
 		go vcanTest(cCtx.String("can"))
 	}
 
-	sock, err := socketcan.NewCanSocket(cCtx.String("can"))
+	s.sock, err = socketcan.NewCanSocket(cCtx.String("can"))
 	if err != nil {
 		logger.Error("error opening socket", "err", err)
 		return
 	}
-	defer sock.Close()
+	defer s.sock.Close()
-	s.name = sock.Name()
+	s.name = s.sock.Name()
 
 	// connect to the broker
 	rxCh, err := broker.Subscribe("socketCAN")
@@ -81,13 +80,12 @@ func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.JBroker, log
 	}
 	defer broker.Unsubscribe("socketCAN")
 
-
 	// make a channel to receive socketCAN frames.
 	rxCan := make(chan gotelem.Frame)
 
 	go func() {
 		for {
-			pkt, err := sock.Recv()
+			pkt, err := s.sock.Recv()
 			if err != nil {
 				logger.Warn("error receiving CAN packet", "err", err)
 			}
@@ -100,12 +98,12 @@ func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.JBroker, log
 		select {
 		case msg := <-rxCh:
 
-			id, d, _ := skylab.CanSend(msg.Data)
+			id, d, _ := skylab.ToCanFrame(msg.Data)
 
 			frame.Id = id
 			frame.Data = d
 
-			sock.Send(&frame)
+			s.sock.Send(&frame)
 
 		case msg := <-rxCan:
 			p, err := skylab.FromCanFrame(msg.Id, msg.Data)
@@ -113,7 +111,7 @@ func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.JBroker, log
 				logger.Warn("error parsing can packet", "id", msg.Id)
 				continue
 			}
-			cde := gotelem.CANDumpEntry{
+			cde := skylab.BusEvent{
 				Timestamp: float64(time.Now().UnixNano()) / 1e9,
 				Id:        uint64(msg.Id),
 				Data:      p,
@@ -161,14 +159,13 @@ func vcanTest(devname string) {
 		Id: 0.2,
 	}
 
-	id, data, err := skylab.CanSend(&testPkt)
+	id, data, err := skylab.ToCanFrame(&testPkt)
 	testFrame := gotelem.Frame{
 		Id:   id,
 		Data: data,
 		Kind: gotelem.CanSFFFrame,
 	}
 
-
 	for {
 		slog.Info("sending test packet")
 		sock.Send(&testFrame)

cmd/skylabify/skylabify.go

@@ -12,7 +12,6 @@ import (
 	"strings"
 	"syscall"
 
-	"github.com/kschamplin/gotelem"
 	"github.com/kschamplin/gotelem/skylab"
 	"github.com/urfave/cli/v2"
 )
@@ -92,7 +91,7 @@ func run(ctx *cli.Context) (err error) {
 
 		segments := strings.Split(dumpLine, " ")
 
-		var cd gotelem.CANDumpEntry
+		var cd skylab.BusEvent
 		// this is cursed but easiest way to get a float from a string.
 		fmt.Sscanf(segments[0], "(%g)", &cd.Timestamp)
 

frame.go

@@ -6,7 +6,6 @@
 // by writing "adapters" to various devices/formats (xbee, sqlite, network socket, socketcan)
 package gotelem
 
-
 // Frame represents a protocol-agnostic CAN frame. The Id can be standard or extended,
 // but if it is extended, the Kind should be EFF.
 type Frame struct {
@@ -15,7 +14,6 @@ type Frame struct {
 	Kind Kind
 }
 
-//go:generate msgp
 type CANFrame interface {
 	Id() uint32
 	Data() []byte
@@ -58,4 +56,3 @@ type CanTransciever interface {
 	CanSink
 	CanSource
 }
-

go.mod

@@ -20,4 +20,5 @@ require (
 	github.com/russross/blackfriday/v2 v2.1.0 // indirect
 	github.com/stretchr/testify v1.8.0 // indirect
 	github.com/xrash/smetrics v0.0.0-20201216005158-039620a65673 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
 )

skylab/make_skylab.go

@@ -19,7 +19,6 @@ import (
 type SkylabFile struct {
 	Packets []PacketDef
 	Boards  []BoardSpec
-
 }
 
 type BoardSpec struct {
@@ -80,6 +79,10 @@ var typeSizeMap = map[string]uint{
 	"bitfield": 1,
 }
 
+func MapType(ctype string) string {
+	return typeMap[ctype]
+}
+
 func (d *DataField) ToStructMember(parentName string) string {
 
 	if d.Type == "bitfield" {
@@ -96,7 +99,7 @@ func (d *DataField) MakeMarshal(offset int) string {
 	if d.Type == "uint8_t" || d.Type == "int8_t" {
 		return fmt.Sprintf("b[%d] = p.%s", offset, fieldName)
 	} else if d.Type == "bitfield" {
-		return fmt.Sprintf("b[%d] = p.%s.Marshal()", offset,fieldName)
+		return fmt.Sprintf("b[%d] = p.%s.MarshalByte()", offset, fieldName)
 	} else if d.Type == "float" {
 
 		return fmt.Sprintf("float32ToBytes(b[%d:], p.%s, false)", offset, fieldName)
@@ -114,14 +117,13 @@ func (d *DataField) MakeMarshal(offset int) string {
 	return "panic(\"failed to do it\")\n"
 }
 
-
 func (d *DataField) MakeUnmarshal(offset int) string {
 
 	fieldName := toCamelInitCase(d.Name, true)
 	if d.Type == "uint8_t" || d.Type == "int8_t" {
 		return fmt.Sprintf("p.%s = b[%d]", fieldName, offset)
 	} else if d.Type == "bitfield" {
-		return fmt.Sprintf("p.%s.Unmarshal(b[%d])", fieldName, offset)
+		return fmt.Sprintf("p.%s.UnmarshalByte(b[%d])", fieldName, offset)
 	} else if d.Type == "float" {
 
 		return fmt.Sprintf("p.%s = float32FromBytes(b[%d:], false)", fieldName, offset)
@@ -140,8 +142,6 @@ func (d *DataField) MakeUnmarshal(offset int) string {
 	panic("unhandled type")
 }
 
-
-
 func (p PacketDef) CalcSize() int {
 	// makes a function that returns the size of the code.
 
@@ -153,7 +153,6 @@ func (p PacketDef) CalcSize() int {
 	return size
 }
 
-
 func (p PacketDef) MakeMarshal() string {
 	var buf strings.Builder
 
@@ -170,14 +169,12 @@ func (p PacketDef) MakeMarshal() string {
 		offset += int(typeSizeMap[val.Type])
 	}
 
-
 	return buf.String()
 }
 
 func (p PacketDef) MakeUnmarshal() string {
 	var buf strings.Builder
 
-
 	var offset int = 0
 	for _, val := range p.Data {
 
@@ -190,7 +187,6 @@ func (p PacketDef) MakeUnmarshal() string {
 	return buf.String()
 }
 
-
 // stolen camelCaser code. initCase = true means CamelCase, false means camelCase
 func toCamelInitCase(s string, initCase bool) string {
 	s = strings.TrimSpace(s)
@@ -241,7 +237,6 @@ func N(start, end int) (stream chan int) {
 	return
 }
 
-
 // Nx takes a start, a quantity, and an offset and returns a stream
 // of `times` values which count from start and increment by `offset` each
 // time.
@@ -259,9 +254,9 @@ func uint32ToInt(i uint32) (o int) {
 	return int(i)
 }
 
-
 // strJoin is a remapping of strings.Join so that we can use
 // it in a pipeline.
+//
 //	{{.Names | strJoin ", " }}
 func strJoin(delim string, elems []string) string {
 	return strings.Join(elems, delim)
@@ -277,7 +272,6 @@ func mapf(format string, els []int) []string {
 	return resp
 }
 
-
 func main() {
 	// read path as the first arg, glob it for yamls, read each yaml into a skylabFile.
 	// then take each skylab file, put all the packets into one big array.
@@ -321,6 +315,7 @@ func main() {
 		"int":       uint32ToInt,
 		"strJoin":   strJoin,
 		"mapf":      mapf,
+		"maptype":   MapType,
 	}
 
 	tmpl, err := template.New("golang.go.tmpl").Funcs(fnMap).ParseGlob("templates/*.go.tmpl")
@@ -336,7 +331,6 @@ func main() {
 	}
 	err = tmpl.Execute(f, v)
 
-
 	if err != nil {
 		panic(err)
 	}
@@ -354,4 +348,3 @@ func main() {
 	tests.Execute(testF, v)
 
 }
-

skylab/skylab.go

@@ -61,7 +61,7 @@ type Sizer interface {
 }
 
 // CanSend takes a packet and makes CAN framing data.
-func CanSend(p Packet) (id uint32, data []byte, err error) {
+func ToCanFrame(p Packet) (id uint32, data []byte, err error) {
 
 	id, err = p.CANId()
 	if err != nil {
@@ -71,29 +71,86 @@ func CanSend(p Packet) (id uint32, data []byte, err error) {
 	return
 }
 
-// ---- JSON encoding business ----
+// ---- other wire encoding business ----
 
-type JSONPacket struct {
+// internal structure for partially decoding json object.
+type jsonRawEvent struct {
+	Timestamp float64
 	Id        uint32
+	Name      string
 	Data      json.RawMessage
 }
 
-func ToJson(p Packet) (*JSONPacket, error) {
+// BusEvent is a timestamped Skylab packet designed to be serialized.
-
+type BusEvent struct {
-	d, err := json.Marshal(p)
+	Timestamp float64 `json:"ts"`
+	Id        uint64  `json:"id"`
+	Name      string  `json:"name"`
+	Data      Packet  `json:"data"`
+}
 
+// FIXME: handle Name field.
+func (e *BusEvent) MarshalJSON() (b []byte, err error) {
+	// create the underlying raw event
+	j := &jsonRawEvent{
+		Timestamp: e.Timestamp,
+		Id:        uint32(e.Id),
+	}
+	// now we use the magic Packet -> map[string]interface{} function
+	j.Data, err = json.Marshal(e.Data)
 	if err != nil {
 		return nil, err
 	}
 
-	id, err := p.CANId()
+	return json.Marshal(j)
+
+}
+
+func (e *BusEvent) UnmarshalJSON(b []byte) error {
+	var jRaw *jsonRawEvent
+
+	err := json.Unmarshal(b, jRaw)
+
+	if err != nil {
+		return err
+	}
+
+	e.Timestamp = jRaw.Timestamp
+	e.Id = uint64(jRaw.Id)
+	e.Data, err = FromJson(jRaw.Id, jRaw.Data)
+
+	return err
+}
+
+// FIXME: handle name field.
+func (e *BusEvent) MarshalMsg(b []byte) ([]byte, error) {
+
+	// we need to send the bytes as a []byte instead of
+	// an object like the JSON one (lose self-documenting)
+	data, err := e.Data.MarshalPacket()
 	if err != nil {
 		return nil, err
 	}
+	rawEv := &msgpRawEvent{
+		Timestamp: e.Timestamp,
+		Id:        uint32(e.Id),
+		Data:      data,
+	}
 
-	jp := &JSONPacket{Id: id, Data: d}
+	return rawEv.MarshalMsg(b)
+}
 
-	return jp, nil
+func (e *BusEvent) UnmarshalMsg(b []byte) ([]byte, error) {
+	rawEv := &msgpRawEvent{}
+	remain, err := rawEv.UnmarshalMsg(b)
+	if err != nil {
+		return remain, err
+	}
+	e.Timestamp = rawEv.Timestamp
+	e.Id = uint64(rawEv.Id)
+	e.Data, err = FromCanFrame(rawEv.Id, rawEv.Data)
+
+	return remain, err
 }
 
 // we need to be able to parse the JSON as well.  this is done using the

skylab/skylab_msgp.go

@@ -0,0 +1,18 @@
+package skylab
+
+//go:generate msgp -unexported
+
+// internal structure for handling
+type msgpRawEvent struct {
+	Timestamp float64 `msg:"ts"`
+	Id        uint32  `msg:"id"`
+	Data      []byte  `msg:"data"`
+}
+
+// internal structure to represent a raw can packet over the network.
+// this is what's sent over the solar car to lead xbee connection
+// for brevity while still having some robustness.
+type msgpRawPacket struct {
+	Id   uint32 `msg:"id"`
+	Data []byte `msg:"data"`
+}

skylab/skylab_msgp_gen.go

@@ -1,4 +1,4 @@
-package gotelem
+package skylab
 
 // Code generated by github.com/tinylib/msgp DO NOT EDIT.
 
@@ -7,7 +7,7 @@ import (
 )
 
 // DecodeMsg implements msgp.Decodable
-func (z *CanFilter) DecodeMsg(dc *msgp.Reader) (err error) {
+func (z *msgpRawEvent) DecodeMsg(dc *msgp.Reader) (err error) {
 	var field []byte
 	_ = field
 	var zb0001 uint32
@@ -24,181 +24,24 @@ func (z *CanFilter) DecodeMsg(dc *msgp.Reader) (err error) {
 			return
 		}
 		switch msgp.UnsafeString(field) {
-		case "Id":
+		case "ts":
+			z.Timestamp, err = dc.ReadFloat64()
+			if err != nil {
+				err = msgp.WrapError(err, "Timestamp")
+				return
+			}
+		case "id":
 			z.Id, err = dc.ReadUint32()
 			if err != nil {
 				err = msgp.WrapError(err, "Id")
 				return
 			}
-		case "Mask":
+		case "data":
-			z.Mask, err = dc.ReadUint32()
-			if err != nil {
-				err = msgp.WrapError(err, "Mask")
-				return
-			}
-		case "Inverted":
-			z.Inverted, err = dc.ReadBool()
-			if err != nil {
-				err = msgp.WrapError(err, "Inverted")
-				return
-			}
-		default:
-			err = dc.Skip()
-			if err != nil {
-				err = msgp.WrapError(err)
-				return
-			}
-		}
-	}
-	return
-}
-
-// EncodeMsg implements msgp.Encodable
-func (z CanFilter) EncodeMsg(en *msgp.Writer) (err error) {
-	// map header, size 3
-	// write "Id"
-	err = en.Append(0x83, 0xa2, 0x49, 0x64)
-	if err != nil {
-		return
-	}
-	err = en.WriteUint32(z.Id)
-	if err != nil {
-		err = msgp.WrapError(err, "Id")
-		return
-	}
-	// write "Mask"
-	err = en.Append(0xa4, 0x4d, 0x61, 0x73, 0x6b)
-	if err != nil {
-		return
-	}
-	err = en.WriteUint32(z.Mask)
-	if err != nil {
-		err = msgp.WrapError(err, "Mask")
-		return
-	}
-	// write "Inverted"
-	err = en.Append(0xa8, 0x49, 0x6e, 0x76, 0x65, 0x72, 0x74, 0x65, 0x64)
-	if err != nil {
-		return
-	}
-	err = en.WriteBool(z.Inverted)
-	if err != nil {
-		err = msgp.WrapError(err, "Inverted")
-		return
-	}
-	return
-}
-
-// MarshalMsg implements msgp.Marshaler
-func (z CanFilter) MarshalMsg(b []byte) (o []byte, err error) {
-	o = msgp.Require(b, z.Msgsize())
-	// map header, size 3
-	// string "Id"
-	o = append(o, 0x83, 0xa2, 0x49, 0x64)
-	o = msgp.AppendUint32(o, z.Id)
-	// string "Mask"
-	o = append(o, 0xa4, 0x4d, 0x61, 0x73, 0x6b)
-	o = msgp.AppendUint32(o, z.Mask)
-	// string "Inverted"
-	o = append(o, 0xa8, 0x49, 0x6e, 0x76, 0x65, 0x72, 0x74, 0x65, 0x64)
-	o = msgp.AppendBool(o, z.Inverted)
-	return
-}
-
-// UnmarshalMsg implements msgp.Unmarshaler
-func (z *CanFilter) UnmarshalMsg(bts []byte) (o []byte, err error) {
-	var field []byte
-	_ = field
-	var zb0001 uint32
-	zb0001, bts, err = msgp.ReadMapHeaderBytes(bts)
-	if err != nil {
-		err = msgp.WrapError(err)
-		return
-	}
-	for zb0001 > 0 {
-		zb0001--
-		field, bts, err = msgp.ReadMapKeyZC(bts)
-		if err != nil {
-			err = msgp.WrapError(err)
-			return
-		}
-		switch msgp.UnsafeString(field) {
-		case "Id":
-			z.Id, bts, err = msgp.ReadUint32Bytes(bts)
-			if err != nil {
-				err = msgp.WrapError(err, "Id")
-				return
-			}
-		case "Mask":
-			z.Mask, bts, err = msgp.ReadUint32Bytes(bts)
-			if err != nil {
-				err = msgp.WrapError(err, "Mask")
-				return
-			}
-		case "Inverted":
-			z.Inverted, bts, err = msgp.ReadBoolBytes(bts)
-			if err != nil {
-				err = msgp.WrapError(err, "Inverted")
-				return
-			}
-		default:
-			bts, err = msgp.Skip(bts)
-			if err != nil {
-				err = msgp.WrapError(err)
-				return
-			}
-		}
-	}
-	o = bts
-	return
-}
-
-// Msgsize returns an upper bound estimate of the number of bytes occupied by the serialized message
-func (z CanFilter) Msgsize() (s int) {
-	s = 1 + 3 + msgp.Uint32Size + 5 + msgp.Uint32Size + 9 + msgp.BoolSize
-	return
-}
-
-// DecodeMsg implements msgp.Decodable
-func (z *Frame) DecodeMsg(dc *msgp.Reader) (err error) {
-	var field []byte
-	_ = field
-	var zb0001 uint32
-	zb0001, err = dc.ReadMapHeader()
-	if err != nil {
-		err = msgp.WrapError(err)
-		return
-	}
-	for zb0001 > 0 {
-		zb0001--
-		field, err = dc.ReadMapKeyPtr()
-		if err != nil {
-			err = msgp.WrapError(err)
-			return
-		}
-		switch msgp.UnsafeString(field) {
-		case "Id":
-			z.Id, err = dc.ReadUint32()
-			if err != nil {
-				err = msgp.WrapError(err, "Id")
-				return
-			}
-		case "Data":
 			z.Data, err = dc.ReadBytes(z.Data)
 			if err != nil {
 				err = msgp.WrapError(err, "Data")
 				return
 			}
-		case "Kind":
-			{
-				var zb0002 uint8
-				zb0002, err = dc.ReadUint8()
-				if err != nil {
-					err = msgp.WrapError(err, "Kind")
-					return
-				}
-				z.Kind = Kind(zb0002)
-			}
 		default:
 			err = dc.Skip()
 			if err != nil {
@@ -211,10 +54,20 @@ func (z *Frame) DecodeMsg(dc *msgp.Reader) (err error) {
 }
 
 // EncodeMsg implements msgp.Encodable
-func (z *Frame) EncodeMsg(en *msgp.Writer) (err error) {
+func (z *msgpRawEvent) EncodeMsg(en *msgp.Writer) (err error) {
 	// map header, size 3
-	// write "Id"
+	// write "ts"
-	err = en.Append(0x83, 0xa2, 0x49, 0x64)
+	err = en.Append(0x83, 0xa2, 0x74, 0x73)
+	if err != nil {
+		return
+	}
+	err = en.WriteFloat64(z.Timestamp)
+	if err != nil {
+		err = msgp.WrapError(err, "Timestamp")
+		return
+	}
+	// write "id"
+	err = en.Append(0xa2, 0x69, 0x64)
 	if err != nil {
 		return
 	}
@@ -223,8 +76,8 @@ func (z *Frame) EncodeMsg(en *msgp.Writer) (err error) {
 		err = msgp.WrapError(err, "Id")
 		return
 	}
-	// write "Data"
+	// write "data"
-	err = en.Append(0xa4, 0x44, 0x61, 0x74, 0x61)
+	err = en.Append(0xa4, 0x64, 0x61, 0x74, 0x61)
 	if err != nil {
 		return
 	}
@@ -233,37 +86,27 @@ func (z *Frame) EncodeMsg(en *msgp.Writer) (err error) {
 		err = msgp.WrapError(err, "Data")
 		return
 	}
-	// write "Kind"
-	err = en.Append(0xa4, 0x4b, 0x69, 0x6e, 0x64)
-	if err != nil {
-		return
-	}
-	err = en.WriteUint8(uint8(z.Kind))
-	if err != nil {
-		err = msgp.WrapError(err, "Kind")
-		return
-	}
 	return
 }
 
 // MarshalMsg implements msgp.Marshaler
-func (z *Frame) MarshalMsg(b []byte) (o []byte, err error) {
+func (z *msgpRawEvent) MarshalMsg(b []byte) (o []byte, err error) {
 	o = msgp.Require(b, z.Msgsize())
 	// map header, size 3
-	// string "Id"
+	// string "ts"
-	o = append(o, 0x83, 0xa2, 0x49, 0x64)
+	o = append(o, 0x83, 0xa2, 0x74, 0x73)
+	o = msgp.AppendFloat64(o, z.Timestamp)
+	// string "id"
+	o = append(o, 0xa2, 0x69, 0x64)
 	o = msgp.AppendUint32(o, z.Id)
-	// string "Data"
+	// string "data"
-	o = append(o, 0xa4, 0x44, 0x61, 0x74, 0x61)
+	o = append(o, 0xa4, 0x64, 0x61, 0x74, 0x61)
 	o = msgp.AppendBytes(o, z.Data)
-	// string "Kind"
-	o = append(o, 0xa4, 0x4b, 0x69, 0x6e, 0x64)
-	o = msgp.AppendUint8(o, uint8(z.Kind))
 	return
 }
 
 // UnmarshalMsg implements msgp.Unmarshaler
-func (z *Frame) UnmarshalMsg(bts []byte) (o []byte, err error) {
+func (z *msgpRawEvent) UnmarshalMsg(bts []byte) (o []byte, err error) {
 	var field []byte
 	_ = field
 	var zb0001 uint32
@@ -280,28 +123,24 @@ func (z *Frame) UnmarshalMsg(bts []byte) (o []byte, err error) {
 			return
 		}
 		switch msgp.UnsafeString(field) {
-		case "Id":
+		case "ts":
+			z.Timestamp, bts, err = msgp.ReadFloat64Bytes(bts)
+			if err != nil {
+				err = msgp.WrapError(err, "Timestamp")
+				return
+			}
+		case "id":
 			z.Id, bts, err = msgp.ReadUint32Bytes(bts)
 			if err != nil {
 				err = msgp.WrapError(err, "Id")
 				return
 			}
-		case "Data":
+		case "data":
 			z.Data, bts, err = msgp.ReadBytesBytes(bts, z.Data)
 			if err != nil {
 				err = msgp.WrapError(err, "Data")
 				return
 			}
-		case "Kind":
-			{
-				var zb0002 uint8
-				zb0002, bts, err = msgp.ReadUint8Bytes(bts)
-				if err != nil {
-					err = msgp.WrapError(err, "Kind")
-					return
-				}
-				z.Kind = Kind(zb0002)
-			}
 		default:
 			bts, err = msgp.Skip(bts)
 			if err != nil {
@@ -315,59 +154,135 @@ func (z *Frame) UnmarshalMsg(bts []byte) (o []byte, err error) {
 }
 
 // Msgsize returns an upper bound estimate of the number of bytes occupied by the serialized message
-func (z *Frame) Msgsize() (s int) {
+func (z *msgpRawEvent) Msgsize() (s int) {
-	s = 1 + 3 + msgp.Uint32Size + 5 + msgp.BytesPrefixSize + len(z.Data) + 5 + msgp.Uint8Size
+	s = 1 + 3 + msgp.Float64Size + 3 + msgp.Uint32Size + 5 + msgp.BytesPrefixSize + len(z.Data)
 	return
 }
 
 // DecodeMsg implements msgp.Decodable
-func (z *Kind) DecodeMsg(dc *msgp.Reader) (err error) {
+func (z *msgpRawPacket) DecodeMsg(dc *msgp.Reader) (err error) {
-	{
+	var field []byte
-		var zb0001 uint8
+	_ = field
-		zb0001, err = dc.ReadUint8()
+	var zb0001 uint32
+	zb0001, err = dc.ReadMapHeader()
 	if err != nil {
 		err = msgp.WrapError(err)
 		return
 	}
-		(*z) = Kind(zb0001)
+	for zb0001 > 0 {
+		zb0001--
+		field, err = dc.ReadMapKeyPtr()
+		if err != nil {
+			err = msgp.WrapError(err)
+			return
+		}
+		switch msgp.UnsafeString(field) {
+		case "id":
+			z.Id, err = dc.ReadUint32()
+			if err != nil {
+				err = msgp.WrapError(err, "Id")
+				return
+			}
+		case "data":
+			z.Data, err = dc.ReadBytes(z.Data)
+			if err != nil {
+				err = msgp.WrapError(err, "Data")
+				return
+			}
+		default:
+			err = dc.Skip()
+			if err != nil {
+				err = msgp.WrapError(err)
+				return
+			}
+		}
 	}
 	return
 }
 
 // EncodeMsg implements msgp.Encodable
-func (z Kind) EncodeMsg(en *msgp.Writer) (err error) {
+func (z *msgpRawPacket) EncodeMsg(en *msgp.Writer) (err error) {
-	err = en.WriteUint8(uint8(z))
+	// map header, size 2
+	// write "id"
+	err = en.Append(0x82, 0xa2, 0x69, 0x64)
 	if err != nil {
-		err = msgp.WrapError(err)
+		return
+	}
+	err = en.WriteUint32(z.Id)
+	if err != nil {
+		err = msgp.WrapError(err, "Id")
+		return
+	}
+	// write "data"
+	err = en.Append(0xa4, 0x64, 0x61, 0x74, 0x61)
+	if err != nil {
+		return
+	}
+	err = en.WriteBytes(z.Data)
+	if err != nil {
+		err = msgp.WrapError(err, "Data")
 		return
 	}
 	return
 }
 
 // MarshalMsg implements msgp.Marshaler
-func (z Kind) MarshalMsg(b []byte) (o []byte, err error) {
+func (z *msgpRawPacket) MarshalMsg(b []byte) (o []byte, err error) {
 	o = msgp.Require(b, z.Msgsize())
-	o = msgp.AppendUint8(o, uint8(z))
+	// map header, size 2
+	// string "id"
+	o = append(o, 0x82, 0xa2, 0x69, 0x64)
+	o = msgp.AppendUint32(o, z.Id)
+	// string "data"
+	o = append(o, 0xa4, 0x64, 0x61, 0x74, 0x61)
+	o = msgp.AppendBytes(o, z.Data)
 	return
 }
 
 // UnmarshalMsg implements msgp.Unmarshaler
-func (z *Kind) UnmarshalMsg(bts []byte) (o []byte, err error) {
+func (z *msgpRawPacket) UnmarshalMsg(bts []byte) (o []byte, err error) {
-	{
+	var field []byte
-		var zb0001 uint8
+	_ = field
-		zb0001, bts, err = msgp.ReadUint8Bytes(bts)
+	var zb0001 uint32
+	zb0001, bts, err = msgp.ReadMapHeaderBytes(bts)
 	if err != nil {
 		err = msgp.WrapError(err)
 		return
 	}
-		(*z) = Kind(zb0001)
+	for zb0001 > 0 {
+		zb0001--
+		field, bts, err = msgp.ReadMapKeyZC(bts)
+		if err != nil {
+			err = msgp.WrapError(err)
+			return
+		}
+		switch msgp.UnsafeString(field) {
+		case "id":
+			z.Id, bts, err = msgp.ReadUint32Bytes(bts)
+			if err != nil {
+				err = msgp.WrapError(err, "Id")
+				return
+			}
+		case "data":
+			z.Data, bts, err = msgp.ReadBytesBytes(bts, z.Data)
+			if err != nil {
+				err = msgp.WrapError(err, "Data")
+				return
+			}
+		default:
+			bts, err = msgp.Skip(bts)
+			if err != nil {
+				err = msgp.WrapError(err)
+				return
+			}
+		}
 	}
 	o = bts
 	return
 }
 
 // Msgsize returns an upper bound estimate of the number of bytes occupied by the serialized message
-func (z Kind) Msgsize() (s int) {
+func (z *msgpRawPacket) Msgsize() (s int) {
-	s = msgp.Uint8Size
+	s = 1 + 3 + msgp.Uint32Size + 5 + msgp.BytesPrefixSize + len(z.Data)
 	return
 }

skylab/skylab_msgp_gen_test.go

@@ -1,4 +1,4 @@
-package gotelem
+package skylab
 
 // Code generated by github.com/tinylib/msgp DO NOT EDIT.
 
@@ -9,8 +9,8 @@ import (
 	"github.com/tinylib/msgp/msgp"
 )
 
-func TestMarshalUnmarshalCanFilter(t *testing.T) {
+func TestMarshalUnmarshalmsgpRawEvent(t *testing.T) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	bts, err := v.MarshalMsg(nil)
 	if err != nil {
 		t.Fatal(err)
@@ -32,8 +32,8 @@ func TestMarshalUnmarshalCanFilter(t *testing.T) {
 	}
 }
 
-func BenchmarkMarshalMsgCanFilter(b *testing.B) {
+func BenchmarkMarshalMsgmsgpRawEvent(b *testing.B) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	b.ReportAllocs()
 	b.ResetTimer()
 	for i := 0; i < b.N; i++ {
@@ -41,8 +41,8 @@ func BenchmarkMarshalMsgCanFilter(b *testing.B) {
 	}
 }
 
-func BenchmarkAppendMsgCanFilter(b *testing.B) {
+func BenchmarkAppendMsgmsgpRawEvent(b *testing.B) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	bts := make([]byte, 0, v.Msgsize())
 	bts, _ = v.MarshalMsg(bts[0:0])
 	b.SetBytes(int64(len(bts)))
@@ -53,8 +53,8 @@ func BenchmarkAppendMsgCanFilter(b *testing.B) {
 	}
 }
 
-func BenchmarkUnmarshalCanFilter(b *testing.B) {
+func BenchmarkUnmarshalmsgpRawEvent(b *testing.B) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	bts, _ := v.MarshalMsg(nil)
 	b.ReportAllocs()
 	b.SetBytes(int64(len(bts)))
@@ -67,17 +67,17 @@ func BenchmarkUnmarshalCanFilter(b *testing.B) {
 	}
 }
 
-func TestEncodeDecodeCanFilter(t *testing.T) {
+func TestEncodeDecodemsgpRawEvent(t *testing.T) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	var buf bytes.Buffer
 	msgp.Encode(&buf, &v)
 
 	m := v.Msgsize()
 	if buf.Len() > m {
-		t.Log("WARNING: TestEncodeDecodeCanFilter Msgsize() is inaccurate")
+		t.Log("WARNING: TestEncodeDecodemsgpRawEvent Msgsize() is inaccurate")
 	}
 
-	vn := CanFilter{}
+	vn := msgpRawEvent{}
 	err := msgp.Decode(&buf, &vn)
 	if err != nil {
 		t.Error(err)
@@ -91,8 +91,8 @@ func TestEncodeDecodeCanFilter(t *testing.T) {
 	}
 }
 
-func BenchmarkEncodeCanFilter(b *testing.B) {
+func BenchmarkEncodemsgpRawEvent(b *testing.B) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	var buf bytes.Buffer
 	msgp.Encode(&buf, &v)
 	b.SetBytes(int64(buf.Len()))
@@ -105,8 +105,8 @@ func BenchmarkEncodeCanFilter(b *testing.B) {
 	en.Flush()
 }
 
-func BenchmarkDecodeCanFilter(b *testing.B) {
+func BenchmarkDecodemsgpRawEvent(b *testing.B) {
-	v := CanFilter{}
+	v := msgpRawEvent{}
 	var buf bytes.Buffer
 	msgp.Encode(&buf, &v)
 	b.SetBytes(int64(buf.Len()))
@@ -122,8 +122,8 @@ func BenchmarkDecodeCanFilter(b *testing.B) {
 	}
 }
 
-func TestMarshalUnmarshalFrame(t *testing.T) {
+func TestMarshalUnmarshalmsgpRawPacket(t *testing.T) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	bts, err := v.MarshalMsg(nil)
 	if err != nil {
 		t.Fatal(err)
@@ -145,8 +145,8 @@ func TestMarshalUnmarshalFrame(t *testing.T) {
 	}
 }
 
-func BenchmarkMarshalMsgFrame(b *testing.B) {
+func BenchmarkMarshalMsgmsgpRawPacket(b *testing.B) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	b.ReportAllocs()
 	b.ResetTimer()
 	for i := 0; i < b.N; i++ {
@@ -154,8 +154,8 @@ func BenchmarkMarshalMsgFrame(b *testing.B) {
 	}
 }
 
-func BenchmarkAppendMsgFrame(b *testing.B) {
+func BenchmarkAppendMsgmsgpRawPacket(b *testing.B) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	bts := make([]byte, 0, v.Msgsize())
 	bts, _ = v.MarshalMsg(bts[0:0])
 	b.SetBytes(int64(len(bts)))
@@ -166,8 +166,8 @@ func BenchmarkAppendMsgFrame(b *testing.B) {
 	}
 }
 
-func BenchmarkUnmarshalFrame(b *testing.B) {
+func BenchmarkUnmarshalmsgpRawPacket(b *testing.B) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	bts, _ := v.MarshalMsg(nil)
 	b.ReportAllocs()
 	b.SetBytes(int64(len(bts)))
@@ -180,17 +180,17 @@ func BenchmarkUnmarshalFrame(b *testing.B) {
 	}
 }
 
-func TestEncodeDecodeFrame(t *testing.T) {
+func TestEncodeDecodemsgpRawPacket(t *testing.T) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	var buf bytes.Buffer
 	msgp.Encode(&buf, &v)
 
 	m := v.Msgsize()
 	if buf.Len() > m {
-		t.Log("WARNING: TestEncodeDecodeFrame Msgsize() is inaccurate")
+		t.Log("WARNING: TestEncodeDecodemsgpRawPacket Msgsize() is inaccurate")
 	}
 
-	vn := Frame{}
+	vn := msgpRawPacket{}
 	err := msgp.Decode(&buf, &vn)
 	if err != nil {
 		t.Error(err)
@@ -204,8 +204,8 @@ func TestEncodeDecodeFrame(t *testing.T) {
 	}
 }
 
-func BenchmarkEncodeFrame(b *testing.B) {
+func BenchmarkEncodemsgpRawPacket(b *testing.B) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	var buf bytes.Buffer
 	msgp.Encode(&buf, &v)
 	b.SetBytes(int64(buf.Len()))
@@ -218,8 +218,8 @@ func BenchmarkEncodeFrame(b *testing.B) {
 	en.Flush()
 }
 
-func BenchmarkDecodeFrame(b *testing.B) {
+func BenchmarkDecodemsgpRawPacket(b *testing.B) {
-	v := Frame{}
+	v := msgpRawPacket{}
 	var buf bytes.Buffer
 	msgp.Encode(&buf, &v)
 	b.SetBytes(int64(buf.Len()))

skylab/templates/golang.go.tmpl

@@ -11,7 +11,7 @@ type {{$bfname}} struct {
 	{{- end}}
 }
 
-func (p *{{$bfname}}) Marshal() byte {
+func (p *{{$bfname}}) MarshalByte() byte {
 	var b byte
 	{{- range $idx, $el := .Bits}}
 	{{- $bitName := camelCase $el.Name true}}
@@ -22,7 +22,7 @@ func (p *{{$bfname}}) Marshal() byte {
 	return b
 }
 
-func (p *{{$bfname}}) Unmarshal(b byte) {
+func (p *{{$bfname}}) UnmarshalByte(b byte) {
 	{{- range $idx, $el := .Bits}}	
 	{{- $bitName := camelCase $el.Name true }}
 	p.{{$bitName}} = (b & (1 << {{ $idx }})) != 0
@@ -114,7 +114,7 @@ var idMap = map[uint32]bool{
 // If the CAN ID is unknown, it will return an error.
 func FromCanFrame(id uint32, data []byte) (Packet, error) {
 	if !idMap[id] {
-		return nil, errors.New("Unknown Id")
+		return nil, errors.New("unknown id")
 	}
 	switch id {
 {{- range $p := .Packets }}
@@ -133,34 +133,32 @@ func FromCanFrame(id uint32, data []byte) (Packet, error) {
 {{- end}}
 	}
 
-	return nil, errors.New("failed to match Id, something is really wrong!")
+	return nil, errors.New("failed to match Id, something is really wrong")
 }
 
-func FromJson (raw []byte) (Packet, error) {
+
-	// attempt to parse the JSON to a JSONPacket
+func FromJson (id uint32, raw []byte) (Packet, error) {
-	jp := &JSONPacket{}
+	if !idMap[id] {
-	err := json.Unmarshal(raw, jp)
+		return nil, errors.New("unknown id")
-	if err != nil {
-		return nil, err
 	}
-	switch jp.Id {
+	switch id {
 {{- range $p := .Packets }}
 	{{- if $p.Repeat }}
 	case {{ Nx (int $p.Id) $p.Repeat $p.Offset | mapf "0x%X" | strJoin ", " -}}:
 		var res = &{{camelCase $p.Name true}}{}
-		err := json.Unmarshal(jp.Data, res)
+		err := json.Unmarshal(raw, res)
-		res.Idx = jp.Id -  {{ $p.Id | printf "0x%X" }}
+		res.Idx = id -  {{ $p.Id | printf "0x%X" }}
 		return res, err
 	{{- else }}
 	case {{ $p.Id | printf "0x%X" }}:
 		var res = &{{camelCase $p.Name true}}{}
-		err := json.Unmarshal(jp.Data, res)
+		err := json.Unmarshal(raw, res)
 		return res, err
 	{{- end }}
 {{- end }}
 	}
 
-	return nil, errors.New("aaa")
+	return nil, errors.New("failed to match id")
 }
 
 {{range .Packets -}}

skylab/templates/golang_tests.go.tmpl

@@ -23,17 +23,14 @@ func TestMarshalUnmarshal{{$structName}}(t *testing.T) {
 func TestJSON{{$structName}}(t *testing.T) {
 
 	v := &{{$structName}}{}
-	jp, err := ToJson(v)
+
+	rawData, err := json.Marshal(v)
 	if err != nil {
 		t.Fatal(err)
 	}
 
-	rawData, err := json.Marshal(jp)
+	id, _ := v.CANId()
-	if err != nil {
+	p, err := FromJson(id, rawData)
-		t.Fatal(err)
-	}
-
-	p, err := FromJson(rawData)
 	if err != nil {
 		t.Fatal(err)
 	}

skylab_logger.go

@@ -1,58 +0,0 @@
-package gotelem
-
-import (
-	"encoding/json"
-	"fmt"
-	"os"
-	"time"
-
-	"github.com/kschamplin/gotelem/skylab"
-)
-
-// CanWriter
-type CanWriter struct {
-	output  *os.File
-	cd      CANDumpEntry
-	jsonBuf []byte
-}
-
-// send writes the frame to the file.
-func (cw *CanWriter) Send(f *Frame) (err error) {
-	cw.cd.Timestamp = float64(time.Now().Unix())
-
-	cw.cd.Id = uint64(f.Id)
-
-	cw.cd.Data, err = skylab.FromCanFrame(f.Id, f.Data)
-
-	if err != nil {
-		return
-	}
-	out, err := json.Marshal(cw.cd)
-	if err != nil {
-		return
-	}
-	fmt.Fprintln(cw.output, string(out))
-	return err
-}
-
-func (cw *CanWriter) Close() error {
-	return cw.output.Close()
-}
-
-func OpenCanWriter(name string) (*CanWriter, error) {
-	f, err := os.Create(name)
-	if err != nil {
-		return nil, err
-	}
-
-	cw := &CanWriter{
-		output: f,
-	}
-	return cw, nil
-}
-
-type CANDumpEntry struct {
-	Timestamp float64       `json:"ts"`
-	Id        uint64        `json:"id"`
-	Data      skylab.Packet `json:"data"`
-}