395 lines
9 KiB
Go
395 lines
9 KiB
Go
//go:build ignore
|
|
// +build ignore
|
|
|
|
// this file is a generator for skylab code.
|
|
package main
|
|
|
|
import (
|
|
"fmt"
|
|
"os"
|
|
"path/filepath"
|
|
"strings"
|
|
"text/template"
|
|
"time"
|
|
|
|
"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
|
|
Type string
|
|
Units string // mostly for documentation
|
|
Conversion float32
|
|
Bits []struct {
|
|
Name string
|
|
}
|
|
}
|
|
|
|
// a PacketDef is a full can packet.
|
|
type PacketDef struct {
|
|
Name string
|
|
Description string
|
|
Id uint32
|
|
BigEndian bool
|
|
Repeat int
|
|
Offset int
|
|
Data []DataField
|
|
}
|
|
|
|
// we need to generate bitfield types.
|
|
// constants for packet IDs or a map.
|
|
|
|
|
|
var test = `
|
|
packets:
|
|
- name: dashboard_pedal_percentages
|
|
description: ADC values from the brake and accelerator pedals.
|
|
id: 0x290
|
|
endian: little
|
|
frequency: 10
|
|
data:
|
|
- 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: 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
|
|
`
|
|
|
|
|
|
var typeMap = map[string]string{
|
|
"uint16_t": "uint16",
|
|
"uint32_t": "uint32",
|
|
"uint64_t": "uint64",
|
|
"uint8_t": "uint8",
|
|
"float": "float32",
|
|
|
|
"int16_t": "int16",
|
|
"int32_t": "int32",
|
|
"int64_t": "int64",
|
|
"int8_t": "int8",
|
|
}
|
|
|
|
var typeSizeMap = map[string]uint{
|
|
"uint16_t": 2,
|
|
"uint32_t": 4,
|
|
"uint64_t": 8,
|
|
"uint8_t": 1,
|
|
"float": 4,
|
|
|
|
"int16_t": 2,
|
|
"int32_t": 4,
|
|
"int64_t": 8,
|
|
"int8_t": 1,
|
|
"bitfield": 1,
|
|
}
|
|
|
|
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]
|
|
}
|
|
}
|
|
|
|
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, fieldName)
|
|
} else if d.Type == "bitfield" {
|
|
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, fieldName)
|
|
|
|
} else if t ,ok := typeMap[d.Type]; ok {
|
|
// it's uint or int of some kind, use endian to write it.
|
|
if strings.HasPrefix(t, "i") {
|
|
// this means it's a signed integer.
|
|
// encoding/binary does not support putting signed ints, instead
|
|
// we should cast it to unsigned and then use the unsigned int functions.
|
|
return fmt.Sprintf("binary.LittleEndian.PutU%s(b[%d:], u%s(p.%s))", t, offset, t, fieldName)
|
|
}
|
|
return fmt.Sprintf("binary.LittleEndian.Put%s(b[%d:], p.%s)", toCamelInitCase(t, true), offset, fieldName)
|
|
}
|
|
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)
|
|
} else if d.Type == "float" {
|
|
|
|
return fmt.Sprintf("p.%s = float32FromBytes(b[%d:], false)", fieldName, offset)
|
|
|
|
} else if t, ok := typeMap[d.Type]; ok {
|
|
// it's uint or int of some kind, use endian to read it.
|
|
// FIXME: support big endian
|
|
if strings.HasPrefix(t, "i") {
|
|
// this means it's a signed integer.
|
|
// encoding/binary does not support putting signed ints, instead
|
|
// we should cast it to unsigned and then use the unsigned int functions.
|
|
return fmt.Sprintf("p.%s = %s(binary.LittleEndian.U%s(b[%d:]))", fieldName, t, t, offset)
|
|
}
|
|
return fmt.Sprintf("p.%s = binary.LittleEndian.%s(b[%d:])", fieldName, toCamelInitCase(t, true), offset)
|
|
}
|
|
panic("unhandled type")
|
|
}
|
|
|
|
|
|
|
|
func (p PacketDef) CalcSize() int {
|
|
// makes a function that returns the size of the code.
|
|
|
|
var size int = 0
|
|
for _, val := range p.Data {
|
|
size += int(typeSizeMap[val.Type])
|
|
}
|
|
|
|
return size
|
|
}
|
|
|
|
|
|
func (p PacketDef) MakeMarshal() string {
|
|
var buf strings.Builder
|
|
|
|
var offset int = 0
|
|
// we have a b []byte as the correct-size byte array to store in.
|
|
// and the packet itself is represented as `p`
|
|
for _, val := range p.Data {
|
|
|
|
buf.WriteRune('\t')
|
|
buf.WriteString(val.MakeMarshal(offset))
|
|
buf.WriteRune('\n')
|
|
|
|
// shift our offset so that our next write is good.
|
|
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 {
|
|
|
|
buf.WriteRune('\t')
|
|
buf.WriteString(val.MakeUnmarshal(offset))
|
|
buf.WriteRune('\n')
|
|
offset += int(typeSizeMap[val.Type])
|
|
}
|
|
|
|
return buf.String()
|
|
}
|
|
|
|
|
|
// stolen camelCaser code. initCase = true means CamelCase, false means camelCase
|
|
func toCamelInitCase(s string, initCase bool) string {
|
|
s = strings.TrimSpace(s)
|
|
if s == "" {
|
|
return s
|
|
}
|
|
|
|
n := strings.Builder{}
|
|
n.Grow(len(s))
|
|
capNext := initCase
|
|
for i, v := range []byte(s) {
|
|
vIsCap := v >= 'A' && v <= 'Z'
|
|
vIsLow := v >= 'a' && v <= 'z'
|
|
if capNext {
|
|
if vIsLow {
|
|
v += 'A'
|
|
v -= 'a'
|
|
}
|
|
} else if i == 0 {
|
|
if vIsCap {
|
|
v += 'a'
|
|
v -= 'A'
|
|
}
|
|
}
|
|
if vIsCap || vIsLow {
|
|
n.WriteByte(v)
|
|
capNext = false
|
|
} else if vIsNum := v >= '0' && v <= '9'; vIsNum {
|
|
n.WriteByte(v)
|
|
capNext = true
|
|
} else {
|
|
capNext = v == '_' || v == ' ' || v == '-' || v == '.'
|
|
}
|
|
}
|
|
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
|
|
}
|
|
|
|
|
|
// 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.
|
|
// {{.Names | strJoin ", " }}
|
|
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{}
|
|
|
|
fmt.Printf("running %s on %s\n", os.Args[0], os.Getenv("GOFILE"))
|
|
|
|
basePath, err := filepath.Abs(os.Args[1])
|
|
if err != nil {
|
|
panic(err)
|
|
}
|
|
fmt.Printf("skylab packet definition path is %s\n", basePath)
|
|
|
|
fGlob := filepath.Join(basePath, "*.y?ml")
|
|
files, err := filepath.Glob(fGlob)
|
|
if err != nil {
|
|
panic(err)
|
|
}
|
|
fmt.Printf("found %d files\n", len(files))
|
|
for _, f := range files {
|
|
fd, err := os.Open(f)
|
|
if err != nil {
|
|
fmt.Printf("failed to open file %s:%v\n", filepath.Base(f), err)
|
|
}
|
|
dec := yaml.NewDecoder(fd)
|
|
newFile := &SkylabFile{}
|
|
err = dec.Decode(newFile)
|
|
if err != nil {
|
|
panic(err)
|
|
}
|
|
fmt.Printf("%s: adding %d packets and %d boards\n", filepath.Base(f), len(newFile.Packets), len(newFile.Boards))
|
|
v.Packets = append(v.Packets, newFile.Packets...)
|
|
v.Boards = append(v.Boards, newFile.Boards...)
|
|
}
|
|
|
|
// we add any functions mapping we need here.
|
|
fnMap := template.FuncMap{
|
|
"camelCase": toCamelInitCase,
|
|
"Time": time.Now,
|
|
"N": N,
|
|
"Nx": Nx,
|
|
"int": uint32ToInt,
|
|
"strJoin": strJoin,
|
|
"mapf": mapf,
|
|
}
|
|
|
|
tmpl, err := template.New("golang.go.tmpl").Funcs(fnMap).ParseGlob("templates/*.go.tmpl")
|
|
|
|
if err != nil {
|
|
panic(err)
|
|
}
|
|
|
|
f, err := os.Create("skylab_gen.go")
|
|
if err != nil {
|
|
panic(err)
|
|
}
|
|
err = tmpl.Execute(f, v)
|
|
|
|
if err != nil {
|
|
panic(err)
|
|
}
|
|
|
|
}
|
|
|