378 lines
8.2 KiB
Go
378 lines
8.2 KiB
Go
//go:build ignore
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// +build ignore
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// this file is a generator for skylab code.
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package main
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import (
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"fmt"
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"os"
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"path/filepath"
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"strings"
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"text/template"
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"time"
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"gopkg.in/yaml.v3"
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)
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// SkylabFile is a yaml file from skylab.
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type SkylabFile struct {
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Packets []PacketDef
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Boards []BoardSpec
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}
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type BoardSpec struct {
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Name string
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Transmit []string
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Recieve []string
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}
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// data field.
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type DataField struct {
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Name string
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Type string
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Units string // mostly for documentation
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Conversion float32
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Bits []struct {
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Name string
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}
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}
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// a PacketDef is a full can packet.
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type PacketDef struct {
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Name string
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Description string
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Id uint32
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BigEndian bool
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Repeat int
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Offset int
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Data []DataField
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}
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// we need to generate bitfield types.
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// constants for packet IDs or a map.
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var test = `
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packets:
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- name: dashboard_pedal_percentages
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description: ADC values from the brake and accelerator pedals.
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id: 0x290
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endian: little
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frequency: 10
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data:
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- name: reason1
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type: bitfield
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bits:
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- name: OVERVOLT
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- name: UNDERVOLT
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- name: OVERTEMP
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- name: TEMP_DISCONNECT
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- name: COMM_FAIL
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- name: reason2
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type: bitfield
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bits:
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- name: HARDWARE
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- name: KILL_PACKET
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- name: UKNOWN
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- name: OVERCURRENT
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- name: PRECHARGE_FAIL
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- name: AUX_OVER_UNDER
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- name: module
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type: uint16_t
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- name: value
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type: float
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- name: bms_module
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description: Voltage and temperature for a single module
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id: 0x01C
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endian: little
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repeat: 36
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offset: 1
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frequency: 2
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data:
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- name: voltage
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type: float
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units: V
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conversion: 1
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- name: temperature
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type: float
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units: C
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conversion: 1
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`
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var typeMap = map[string]string{
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"uint16_t": "uint16",
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"uint32_t": "uint32",
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"uint64_t": "uint64",
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"uint8_t": "uint8",
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"float": "float32",
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"int16_t": "int16",
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"int32_t": "int32",
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"int64_t": "int64",
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"int8_t": "int8",
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}
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var typeSizeMap = map[string]uint{
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"uint16_t": 2,
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"uint32_t": 4,
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"uint64_t": 8,
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"uint8_t": 1,
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"float": 4,
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"int16_t": 2,
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"int32_t": 4,
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"int64_t": 8,
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"int8_t": 1,
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"bitfield": 1,
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}
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func (d *DataField) ToStructMember(parentName string) string {
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if d.Type == "bitfield" {
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bfStructName := parentName + toCamelInitCase(d.Name, true)
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return toCamelInitCase(d.Name, true) + " " + bfStructName
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} else {
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return toCamelInitCase(d.Name, true) + " " + typeMap[d.Type]
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}
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}
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func (d *DataField) MakeMarshal(offset int) string {
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fieldName := toCamelInitCase(d.Name, true)
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if d.Type == "uint8_t" || d.Type == "int8_t" {
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return fmt.Sprintf("b[%d] = p.%s", offset, fieldName)
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} else if d.Type == "bitfield" {
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return fmt.Sprintf("b[%d] = p.%s.Marshal()", offset,fieldName)
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} else if d.Type == "float" {
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return fmt.Sprintf("float32ToBytes(b[%d:], p.%s, false)", offset, fieldName)
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} else if t ,ok := typeMap[d.Type]; ok {
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// it's uint or int of some kind, use endian to write it.
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return fmt.Sprintf("binary.LittleEndian.Put%s(b[%d:], p.%s)", toCamelInitCase(t, true), offset, fieldName)
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}
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return "panic(\"failed to do it\")\n"
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}
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func (d *DataField) MakeUnmarshal(offset int) string {
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fieldName := toCamelInitCase(d.Name, true)
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if d.Type == "uint8_t" || d.Type == "int8_t" {
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return fmt.Sprintf("p.%s = b[%d]", fieldName, offset)
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} else if d.Type == "bitfield" {
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return fmt.Sprintf("p.%s.Unmarshal(b[%d])", fieldName, offset)
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} else if d.Type == "float" {
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return fmt.Sprintf("p.%s = float32FromBytes(b[%d:], false)", fieldName, offset)
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} else if t ,ok := typeMap[d.Type]; ok {
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// it's uint or int of some kind, use endian to read it.
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// FIXME: support big endian
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return fmt.Sprintf("p.%s = binary.LittleEndian.%s(b[%d:])", fieldName, toCamelInitCase(t, true), offset)
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}
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panic("unhandled type")
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}
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func (p PacketDef) CalcSize() int {
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// makes a function that returns the size of the code.
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var size int = 0
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for _, val := range p.Data {
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size += int(typeSizeMap[val.Type])
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}
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return size
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}
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func (p PacketDef) MakeMarshal() string {
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var buf strings.Builder
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var offset int = 0
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// we have a b []byte as the correct-size byte array to store in.
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// and the packet itself is represented as `p`
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for _, val := range p.Data {
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buf.WriteRune('\t')
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buf.WriteString(val.MakeMarshal(offset))
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buf.WriteRune('\n')
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// shift our offset so that our next write is good.
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offset += int(typeSizeMap[val.Type])
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}
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return buf.String()
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}
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func (p PacketDef) MakeUnmarshal() string {
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var buf strings.Builder
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var offset int = 0
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for _, val := range p.Data {
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buf.WriteRune('\t')
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buf.WriteString(val.MakeUnmarshal(offset))
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buf.WriteRune('\n')
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offset += int(typeSizeMap[val.Type])
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}
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return buf.String()
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}
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// stolen camelCaser code. initCase = true means CamelCase, false means camelCase
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func toCamelInitCase(s string, initCase bool) string {
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s = strings.TrimSpace(s)
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if s == "" {
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return s
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}
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n := strings.Builder{}
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n.Grow(len(s))
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capNext := initCase
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for i, v := range []byte(s) {
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vIsCap := v >= 'A' && v <= 'Z'
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vIsLow := v >= 'a' && v <= 'z'
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if capNext {
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if vIsLow {
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v += 'A'
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v -= 'a'
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}
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} else if i == 0 {
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if vIsCap {
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v += 'a'
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v -= 'A'
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}
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}
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if vIsCap || vIsLow {
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n.WriteByte(v)
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capNext = false
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} else if vIsNum := v >= '0' && v <= '9'; vIsNum {
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n.WriteByte(v)
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capNext = true
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} else {
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capNext = v == '_' || v == ' ' || v == '-' || v == '.'
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}
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}
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return n.String()
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}
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// N takes a start and stop value and returns a stream of
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// [start, end), including the starting value but excluding the end value.
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func N(start, end int) (stream chan int) {
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stream = make(chan int)
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go func() {
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for i := start; i < end; i++ {
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stream <- i
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}
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close(stream)
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}()
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return
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}
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// Nx takes a start, a quantity, and an offset and returns a stream
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// of `times` values which count from start and increment by `offset` each
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// time.
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func Nx (start, times, offset int) (elems []int) {
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elems = make([]int, times)
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for i := 0; i < times; i++ {
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elems[i] = start + offset * i
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}
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return
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}
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// dumb function for type conversion between uint32 to integer
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// used for converting packet id to int for other functions internally.
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func uint32ToInt(i uint32) (o int) {
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return int(i)
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}
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// strJoin is a remapping of strings.Join so that we can use
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// it in a pipeline.
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// {{.Names | strJoin ", " }}
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func strJoin(delim string, elems []string) string {
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return strings.Join(elems, delim)
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}
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// mapf takes a slice of items and runs printf on each using the given format.
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// it is basically mapping a slice of things to a slice of strings using a format string).
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func mapf(format string, els []int) []string {
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resp := make([]string, len(els))
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for idx := range els {
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resp[idx] = fmt.Sprintf(format, els[idx])
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}
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return resp
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}
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func main() {
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// read path as the first arg, glob it for yamls, read each yaml into a skylabFile.
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// then take each skylab file, put all the packets into one big array.
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// then we need to make a header template.
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v := &SkylabFile{}
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fmt.Printf("running %s on %s\n", os.Args[0], os.Getenv("GOFILE"))
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fmt.Printf("skylab packet definition path is %s\n", os.Args[1])
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fGlob := filepath.Join(os.Args[1], "*.y?ml")
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files, err := filepath.Glob(fGlob)
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if err != nil {
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panic(err)
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}
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for _, f := range files {
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fd, err := os.Open(f)
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if err != nil {
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fmt.Printf("failed to open file %s:%v\n", f, err)
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}
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dec := yaml.NewDecoder(fd)
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newFile := &SkylabFile{}
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err = dec.Decode(newFile)
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if err != nil {
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panic(err)
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}
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fmt.Printf("adding %d packets and %d boards\n", len(newFile.Packets), len(newFile.Boards))
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v.Packets = append(v.Packets, newFile.Packets...)
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v.Boards = append(v.Boards, newFile.Boards...)
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}
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// we add any functions mapping we need here.
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fnMap := template.FuncMap{
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"camelCase": toCamelInitCase,
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"Time": time.Now,
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"N": N,
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"Nx": Nx,
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"int": uint32ToInt,
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"strJoin": strJoin,
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"mapf": mapf,
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}
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tmpl, err := template.New("golang.go.tmpl").Funcs(fnMap).ParseGlob("templates/*.go.tmpl")
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if err != nil {
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panic(err)
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}
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f, err := os.Create("skylab_gen.go")
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if err != nil {
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panic(err)
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}
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err = tmpl.Execute(f, v)
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if err != nil {
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panic(err)
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}
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}
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