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skylab generator mvp

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This commit is contained in:
saji 2023-05-16 06:24:38 -05:00
parent 168ee1a663
commit 6646dcdcb6
2 changed files with 293 additions and 105 deletions
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363
skylab/gen_skylab.go
View file

@ -9,11 +9,24 @@ import (
"os"
"strings"
"text/template"
"time"
"golang.org/x/exp/slog"
"gopkg.in/yaml.v3"
)
// SkylabFile is a yaml file from skylab.
type SkylabFile struct {
Packets []PacketDef
Boards []BoardSpec
}
type BoardSpec struct {
Name string
Transmit []string
Recieve []string
}
// data field.
type DataField struct {
Name string
@ -37,53 +50,8 @@ type PacketDef struct {
}
// we need to generate bitfield types.
// packet structs per each packet
// constancts for packet IDs or a map.
// constants for packet IDs or a map.
/*
example for a simple packet type
it also needs a json marshalling.
type BMSMeasurement struct {
BatteryVoltage uint16
AuxVoltage uint16
Current float32
}
func (b *BMSMeasurement)MarshalPacket() ([]byte, error) {
pkt := make([]byte, b.Size())
binary.LittleEndian.PutUint16(pkt[0:], b.BatteryVoltage * 0.01)
binary.LittleEndian.PutUint16(pkt[2:],b.AuxVoltage * 0.001)
binary.LittleEndian.PutFloat32(b.Current) // TODO: make float function
}
func (b *BMSMeasurement)UnmarshalPacket(p []byte) error {
// the opposite of above.
}
func (b *BMSMeasurement) Id() uint32 {
return 0x010
}
func (b *BMSMeasurement) Size() int {
return 8
}
func (b *BMSMeasurement) String() string {
return "blah blah"
}
we also need some kind of mechanism to lookup data type.
func getPkt (id uint32, data []byte) (Packet, error) {
// insert really massive switch case statement here.
}
*/
var test = `
packets:
@ -93,17 +61,45 @@ packets:
endian: little
frequency: 10
data:
- name: blah_blah
type: uint32_t
- name: accel_pedal_value
- name: reason1
type: bitfield
bits:
- name: OVERVOLT
- name: UNDERVOLT
- name: OVERTEMP
- name: TEMP_DISCONNECT
- name: COMM_FAIL
- name: reason2
type: bitfield
bits:
- name: HARDWARE
- name: KILL_PACKET
- name: UKNOWN
- name: OVERCURRENT
- name: PRECHARGE_FAIL
- name: AUX_OVER_UNDER
- name: module
type: uint16_t
- name: value
type: float
- name: brake_pedal_value
type: uint8_t
- name: bms_module
description: Voltage and temperature for a single module
id: 0x01C
endian: little
repeat: 36
offset: 1
frequency: 2
data:
- name: voltage
type: float
units: V
conversion: 1
- name: temperature
type: float
units: C
conversion: 1
`
type SkylabFile struct {
Packets []PacketDef
}
var typeMap = map[string]string{
"uint16_t": "uint16",
@ -132,28 +128,30 @@ var typeSizeMap = map[string]uint{
"bitfield": 1,
}
func (d *DataField) ToStructMember() string {
if d.Type != "bitfield" {
func (d *DataField) ToStructMember(parentName string) string {
if d.Type == "bitfield" {
bfStructName := parentName + toCamelInitCase(d.Name, true)
return toCamelInitCase(d.Name, true) + " " + bfStructName
} else {
return toCamelInitCase(d.Name, true) + " " + typeMap[d.Type]
}
// it's a bitfield, things are more complicated.
slog.Warn("bitfields are skipped for now")
return ""
}
func (d *DataField) MakeMarshal(offset int) string {
fieldName := toCamelInitCase(d.Name, true)
if d.Type == "uint8_t" || d.Type == "int8_t" {
return fmt.Sprintf("b[%d] = p.%s", offset, toCamelInitCase(d.Name, true))
return fmt.Sprintf("b[%d] = p.%s", offset, fieldName)
} else if d.Type == "bitfield" {
return "panic(\"bitfields don't work\")"
return fmt.Sprintf("b[%d] = p.%s.Marshal()", offset,fieldName)
} else if d.Type == "float" {
return fmt.Sprintf("float32ToBytes(b[%d:], p.%s, false)", offset, toCamelInitCase(d.Name, true))
return fmt.Sprintf("float32ToBytes(b[%d:], p.%s, false)", offset, fieldName)
} else if t ,ok := typeMap[d.Type]; ok {
// it's uint or int of some kind, use endian to write it.
return fmt.Sprintf("binary.LittleEndian.Put%s(b[%d:], p.%s)", toCamelInitCase(t, true), offset, toCamelInitCase(d.Name, true))
return fmt.Sprintf("binary.LittleEndian.Put%s(b[%d:], p.%s)", toCamelInitCase(t, true), offset, fieldName)
}
return "panic(\"failed to do it\")\n"
}
@ -161,19 +159,21 @@ func (d *DataField) MakeMarshal(offset int) string {
func (d *DataField) MakeUnmarshal(offset int) string {
if d.Type == "uint8_t" || d.Type == "int8_t" {
return fmt.Sprintf("p.%s = b[%d]", toCamelInitCase(d.Name, true), offset)
} else if d.Type == "bitfield" {
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)
} else if d.Type == "float" {
} else if d.Type == "float" {
return fmt.Sprintf("p.%s = float32FromBytes(b[%d:], false)", fieldName, offset)
return fmt.Sprintf("p.%s = float32FromBytes(b[%d:], false)", toCamelInitCase(d.Name, true), offset)
} else if t ,ok := typeMap[d.Type]; ok {
// it's uint or int of some kind, use endian to write it.
return fmt.Sprintf("p.%s = binary.LittleEndian.%s(b[%d:])", toCamelInitCase(d.Name, true), toCamelInitCase(t, true), offset)
}
panic("unhandled type")
} else if t ,ok := typeMap[d.Type]; ok {
// it's uint or int of some kind, use endian to write it.
// FIXME: support big endian
return fmt.Sprintf("p.%s = binary.LittleEndian.%s(b[%d:])", fieldName, toCamelInitCase(t, true), offset)
}
panic("unhandled type")
}
@ -227,32 +227,138 @@ func (p PacketDef) MakeUnmarshal() string {
}
var templ = `
// go code generated! don't touch!
{{ $structName := camelCase .Name true}}
// {{$structName}} is {{.Description}}
type {{$structName}} struct {
{{- range .Data}}
{{.ToStructMember}}
{{- end}}
{{ define "packet" }}
{{- $structName := camelCase .Name true}}
{{- /* generate any bitfield structs */ -}}
{{range .Data -}}
{{ if .Bits -}}
{{- $bfname := (printf "%s%s" $structName (camelCase .Name true)) }}
type {{$bfname}} struct {
{{- range $el := .Bits}}
{{camelCase $el.Name true}} bool
{{- end}}
}
func (p *{{$structName}}) Id() uint32 {
return {{printf "0x%X" .Id}}
}
func (p *{{$structName}}) Size() int {
return {{.CalcSize}}
}
func (p *{{$structName}}) Marshal() []byte {
b = make([]byte, {{ .Size }})
{{.MakeMarshal}}
func (p *{{$bfname}}) Marshal() byte {
var b byte
{{- range $idx, $el := .Bits}}
{{- $bitName := camelCase $el.Name true}}
if p.{{$bitName}} {
b |= 1 << {{$idx}}
}
{{- end}}
return b
}
func (p *{{$structName}}) Unmarshal(b []byte) {
{{.MakeUnmarshal}}
func (p *{{$bfname}}) Unmarshal(b byte) {
{{- range $idx, $el := .Bits}}
{{- $bitName := camelCase $el.Name true }}
p.{{$bitName}} = (b & (1 << {{ $idx }})) != 0
{{- end}}
}
{{end}}
{{- end}}
// {{$structName}} is {{.Description}}
type {{$structName}} struct {
{{- range .Data}}
{{ if .Units -}} // {{.Conversion}} {{.Units}} {{- end }}
{{.ToStructMember $structName }}
{{- end}}
{{- if .Repeat }}
// Idx is the packet index. The accepted range is 0-{{.Repeat}}
Idx uint32
{{- end }}
}
func (p *{{$structName}}) Id() uint32 {
{{- if .Repeat }}
return {{ printf "0x%X" .Id }} + p.Idx
{{- else }}
return {{ printf "0x%X" .Id }}
{{- end }}
}
func (p *{{$structName}}) Size() uint {
return {{.CalcSize}}
}
func (p *{{$structName}}) MarshalPacket() ([]byte, error) {
b := make([]byte, {{ .CalcSize }})
{{.MakeMarshal}}
return b, nil
}
func (p *{{$structName}}) UnmarshalPacket(b []byte) error {
{{.MakeUnmarshal}}
return nil
}
func (p *{{$structName}}) String() string {
return ""
}
{{ end }}
{{- /* begin actual file template */ -}}
// generated by gen_skylab.go at {{ Time }} DO NOT EDIT!
package skylab
import (
"errors"
"encoding/binary"
)
type SkylabId uint32
const (
{{- range .Packets }}
{{camelCase .Name true}}Id SkylabId = {{.Id | printf "0x%X"}}
{{- end}}
)
// list of every packet ID. can be used for O(1) checks.
var idMap = map[uint32]bool{
{{ range $p := .Packets -}}
{{ if $p.Repeat }}
{{ range $idx := Nx (int $p.Id) $p.Repeat $p.Offset -}}
{{ $idx | printf "0x%X"}}: true,
{{ end }}
{{- else }}
{{ $p.Id | printf "0x%X" }}: true,
{{- end}}
{{- end}}
}
func FromCanFrame(id uint32, data []byte) (Packet, error) {
if !idMap[id] {
return nil, errors.New("Unknown 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}}
res.UnmarshalPacket(data)
res.Idx = id - uint32({{camelCase $p.Name true}}Id)
return res, nil
{{- else }}
case {{ $p.Id | printf "0x%X" }}:
var res *{{camelCase $p.Name true}}
res.UnmarshalPacket(data)
return res, nil
{{- end}}
{{- end}}
}
return nil, errors.New("failed to match Id, something is really wrong!")
}
{{range .Packets -}}
{{template "packet" .}}
{{- end}}
`
@ -293,10 +399,58 @@ func toCamelInitCase(s string, initCase bool) string {
return n.String()
}
// N takes a start and stop value and returns a stream of
// [start, end), including the starting value but excluding the end value.
func N(start, end int) (stream chan int) {
stream = make(chan int)
go func() {
for i := start; i < end; i++ {
stream <- i
}
close(stream)
}()
return
}
// stolen float32 to bytes code
// 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.
func Nx (start, times, offset int) (elems []int) {
elems = make([]int, times)
for i := 0; i < times; i++ {
elems[i] = start + offset * i
}
return
}
// dumb function for type conversion between uint32 to integer
// used for converting packet id to int for other functions internally.
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 more easily.
func strJoin(delim string, elems []string) string {
return strings.Join(elems, delim)
}
// mapf takes a slice of items and runs printf on each using the given format.
// it is basically mapping a slice of things to a slice of strings using a format string).
func mapf(format string, els []int) []string {
resp := make([]string, len(els))
for idx := range els {
resp[idx] = fmt.Sprintf(format, els[idx])
}
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.
// then we need to make a header template.
v := &SkylabFile{}
err := yaml.Unmarshal([]byte(test), v)
@ -304,18 +458,27 @@ func main() {
fmt.Printf("err %v", err)
}
fmt.Printf("%#v\n", v.Packets)
fnMap := template.FuncMap{
"camelCase": toCamelInitCase,
"Time": time.Now,
"N": N,
"Nx": Nx,
"int": uint32ToInt,
"strJoin": strJoin,
"mapf": mapf,
}
tmpl, err := template.New("packet").Funcs(fnMap).Parse(templ)
tmpl, err := template.New("skylab").Funcs(fnMap).Parse(templ)
if err != nil {
panic(err)
}
err = tmpl.Execute(os.Stdout, v.Packets[0])
f, err := os.Create("skylab_gen.go")
if err != nil {
panic(err)
}
err = tmpl.Execute(f, v)
if err != nil {
panic(err)

35
skylab/skylab.go
View file

@ -1,10 +1,15 @@
package skylab
import (
"math"
"encoding/binary"
"math"
)
/*
This file provides helpers used for serializing and deserializing skylab packets.
It contains common code and interfaces.
*/
func float32ToBytes(b []byte, f float32, bigEndian bool) {
bits := math.Float32bits(f)
@ -13,7 +18,6 @@ func float32ToBytes(b []byte, f float32, bigEndian bool) {
} else {
binary.LittleEndian.PutUint32(b, bits)
}
return
}
func float32FromBytes(b []byte, bigEndian bool) (f float32) {
@ -26,11 +30,32 @@ func float32FromBytes(b []byte, bigEndian bool) (f float32) {
return math.Float32frombits(bits)
}
// Packet is any Skylab-generated packet.
type Packet interface {
MarshalPacket() ([]byte, error)
UnmarshalPacket(p []byte) error
Id() uint32
Size() int
String()
Size() uint
String() string
}
type Marshaler interface {
MarshalPacket() ([]byte, error)
}
type Unmarshaler interface {
UnmarshalPacket(p []byte) error
}
type Ider interface {
Id() uint32
}
type Sizer interface {
Size() uint
}
// CanSend takes a packet and makes a Can frame.
func CanSend(p Packet) error {
return nil
}