170 lines
3.7 KiB
Cheetah
170 lines
3.7 KiB
Cheetah
{{ define "packet" }}
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{{- $structName := camelCase .Name true}}
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{{- /* generate any bitfield structs */ -}}
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{{range .Data -}}
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{{ if .Bits -}}
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{{- $bfname := (printf "%s%s" $structName (camelCase .Name true)) }}
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type {{$bfname}} struct {
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{{- range $el := .Bits}}
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{{camelCase $el.Name true}} bool `json:"{{$el.Name}}"`
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{{- end}}
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}
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func (p *{{$bfname}}) Marshal() byte {
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var b byte
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{{- range $idx, $el := .Bits}}
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{{- $bitName := camelCase $el.Name true}}
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if p.{{$bitName}} {
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b |= 1 << {{$idx}}
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}
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{{- end}}
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return b
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}
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func (p *{{$bfname}}) Unmarshal(b byte) {
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{{- range $idx, $el := .Bits}}
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{{- $bitName := camelCase $el.Name true }}
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p.{{$bitName}} = (b & (1 << {{ $idx }})) != 0
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{{- end}}
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}
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{{end}}
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{{- end}}
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// {{$structName}} is {{.Description}}
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type {{$structName}} struct {
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{{- range .Data}}
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{{- if .Units }}
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// {{.Conversion}} {{.Units}}
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{{- end }}
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{{ .ToStructMember $structName }} `json:"{{.Name}}"`
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{{- end}}
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{{- if .Repeat }}
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// Idx is the packet index. The accepted range is 0-{{.Repeat}}
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Idx uint32 `json:"idx"`
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{{- end }}
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}
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func (p *{{$structName}}) CANId() (uint32, error) {
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{{- if .Repeat }}
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if p.Idx >= {{.Repeat}} {
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return 0, errors.New("invalid packet index")
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}
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return {{ printf "0x%X" .Id }} + p.Idx, nil
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{{- else }}
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return {{ printf "0x%X" .Id }}, nil
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{{- end }}
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}
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func (p *{{$structName}}) Size() uint {
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return {{.CalcSize}}
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}
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func (p *{{$structName}}) MarshalPacket() ([]byte, error) {
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b := make([]byte, {{ .CalcSize }})
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{{.MakeMarshal}}
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return b, nil
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}
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func (p *{{$structName}}) UnmarshalPacket(b []byte) error {
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{{.MakeUnmarshal}}
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return nil
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}
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func (p *{{$structName}}) String() string {
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return ""
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}
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{{ end }}
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{{- /* begin actual file template */ -}}
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// generated by gen_skylab.go at {{ Time }} DO NOT EDIT!
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package skylab
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import (
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"errors"
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"encoding/binary"
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"encoding/json"
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)
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type SkylabId uint32
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const (
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{{- range .Packets }}
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{{camelCase .Name true}}Id SkylabId = {{.Id | printf "0x%X"}}
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{{- end}}
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)
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// list of every packet ID. can be used for O(1) checks.
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var idMap = map[uint32]bool{
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{{ range $p := .Packets -}}
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{{ if $p.Repeat }}
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{{ range $idx := Nx (int $p.Id) $p.Repeat $p.Offset -}}
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{{ $idx | printf "0x%X"}}: true,
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{{ end }}
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{{- else }}
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{{ $p.Id | printf "0x%X" }}: true,
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{{- end}}
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{{- end}}
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}
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// FromCanFrame creates a Packet from a given CAN ID and data payload.
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// If the CAN ID is unknown, it will return an error.
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func FromCanFrame(id uint32, data []byte) (Packet, error) {
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if !idMap[id] {
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return nil, errors.New("Unknown Id")
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}
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switch id {
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{{- range $p := .Packets }}
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{{- if $p.Repeat }}
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case {{ Nx (int $p.Id) $p.Repeat $p.Offset | mapf "0x%X" | strJoin ", " -}}:
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var res = &{{camelCase $p.Name true}}{}
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res.UnmarshalPacket(data)
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res.Idx = id - {{$p.Id | printf "0x%X" }}
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return res, nil
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{{- else }}
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case {{ $p.Id | printf "0x%X" }}:
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var res = &{{camelCase $p.Name true}}{}
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res.UnmarshalPacket(data)
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return res, nil
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{{- end}}
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{{- end}}
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}
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return nil, errors.New("failed to match Id, something is really wrong!")
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}
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func FromJson (raw []byte) (Packet, error) {
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// attempt to parse the JSON to a JSONPacket
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jp := &JSONPacket{}
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err := json.Unmarshal(raw, jp)
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if err != nil {
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return nil, err
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}
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switch jp.Id {
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{{- range $p := .Packets }}
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{{- if $p.Repeat }}
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case {{ Nx (int $p.Id) $p.Repeat $p.Offset | mapf "0x%X" | strJoin ", " -}}:
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var res = &{{camelCase $p.Name true}}{}
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err := json.Unmarshal(jp.Data, res)
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res.Idx = jp.Id - {{ $p.Id | printf "0x%X" }}
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return res, err
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{{- else }}
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case {{ $p.Id | printf "0x%X" }}:
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var res = &{{camelCase $p.Name true}}{}
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err := json.Unmarshal(jp.Data, res)
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return res, err
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{{- end }}
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{{- end }}
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}
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return nil, errors.New("aaa")
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}
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{{range .Packets -}}
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{{template "packet" .}}
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{{- end}}
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