implement simple data types

.github/workflows/test.yml

@@ -0,0 +1,20 @@
+name: Tests
+on: [push]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: actions/setup-python@v4
+        with:
+          python-version: "3.9"
+
+      - name: Run image
+        uses: abatilo/actions-poetry@v2
+        with:
+          poetry-version: "1.6.1"
+
+      - run: make install
+      - run: make test

.gitignore

@@ -0,0 +1,2 @@
+.vscode
+__pycache__

Makefile

@@ -2,3 +2,7 @@
 .PHONY: install
 install:
 	poetry install
+
+.PHONY: test
+test:
+	poetry run pytest

README.md

@@ -0,0 +1,3 @@
+# Telemetry Parsing Codegen
+
+To eliminate repetitive code, this module takes in a yaml file with the schema of the CAN messages, and generates the cpp modules needed to parse the CAN messages.

datamodule/cpp/DataModuleInfo.hpp

@@ -0,0 +1,21 @@
+/*
+ * DataModuleInfo.hpp
+ *
+ *  THIS IS AUTO GENERATED. DO NOT EDIT
+ */
+
+#ifndef SOLARGATORSBSP_DATAMODULES_INC_DATAMODULEINFO_HPP_
+#define SOLARGATORSBSP_DATAMODULES_INC_DATAMODULEINFO_HPP_
+
+
+namespace SolarGators::DataModuleInfo
+{
+// ---- Addresses ---- //
+
+{% for message in canMessages %}
+static constexpr uint32_t {{ message["name"] }}_ID = {{ message["id"] }};
+{% endfor %}
+}
+
+
+#endif /* SOLARGATORSBSP_DATAMODULES_INC_DATAMODULEINFO_HPP_ */

datamodule/cpp/module.cpp

@@ -1,5 +1,12 @@
-#include <{{ moduleName }}.hpp>
-#include <DataModuleInfo.hpp>
+/*
+ * {{ moduleName }}.cpp
+ *
+ *  THIS IS AUTO GENERATED, DO NOT EDIT.
+ */
+
+#include "{{ moduleName }}.hpp"
+#include "DataModuleInfo.hpp"
+#include <cstring>
 
 namespace SolarGators {
 namespace DataModules {
@@ -8,9 +15,12 @@ namespace {
 }
 
 {{ moduleName }}::{{ moduleName }}():
-        DataModule(SolarGators::DataModuleInfo::FRONT_LIGHTS_ID, 0, SIZE),
+        DataModule(SolarGators::DataModuleInfo::{{ moduleName }}_ID, 0, SIZE),
         {% for attribute in attributes %}
           {{ attribute["name"] }}({{ attribute["default"] }})
+          {% if not loop.last %}
+              ,
+          {% endif %}
         {% endfor %}
 { }
 
@@ -26,17 +36,19 @@ namespace {
 
 void {{ moduleName }}::ToByteArray(uint8_t* buff) const
 {
+  size_t index = 0;
   {% for attribute in attributes %}
-    {%- for byte in range(attribute["bytes"]) %}
-      buff[{{ byte }}] = static_cast<uint8_t>({{ attribute["name"] }} >> {{ byte }});
-    {% endfor %}
+    memcpy(buff + index, &{{ attribute["name"] }}, sizeof({{ attribute["name"] }}));
+    index += sizeof({{ attribute["name"] }});
   {% endfor %}
 }
+
 void {{ moduleName }}::FromByteArray(uint8_t* buff)
 {
+  size_t index = 0;
   {% for attribute in attributes %}
-    // TODO: This one is much harder and prone to error
-    throttle_ = static_cast<uint16_t>(buff[1]) << 8 | buff[0];
+    memcpy(&{{ attribute["name"] }}, buff + index,sizeof({{ attribute["name"] }}));
+    index += sizeof({{ attribute["name"] }});
   {% endfor %}
 }
 

datamodule/cpp/module.h

@@ -1,27 +1,26 @@
 /*
  * FrontLights.hpp
  *
- *  Created on: Jan 17, 2022
- *      Author: John Carr
+ *  THIS IS AUTO GENERATED, DO NOT EDIT
  */
 
 #ifndef SOLARGATORSBSP_STM_DATAMODULES_INC_FRONTLIGHTS_HPP_
 #define SOLARGATORSBSP_STM_DATAMODULES_INC_FRONTLIGHTS_HPP_
 
-#include <DataModule.hpp>
+#include "DataModule.hpp"
 #define BUFF_SIZE 50
 
 namespace SolarGators {
 namespace DataModules {
 
-class FrontLights: public DataModule {
+class {{ moduleName }}: public DataModule {
 public:
-  FrontLights();
-  ~FrontLights();
-  uint16_t GetThrottleVal() const;
-  bool GetBreaksVal() const;
-  uint8_t buffCtr;
-  uint16_t breaksBuffer[BUFF_SIZE];
+  {{ moduleName }}();
+  ~{{ moduleName }}();
+  {% for attribute in attributes %}
+  {{ attribute["type"] }} Get{{ attribute["name"] }}Val() const;
+  {% endfor %}
+
   // CAN Functions
   void ToByteArray(uint8_t* buff) const;
   void FromByteArray(uint8_t* buff);
@@ -30,10 +29,9 @@ class FrontLights: public DataModule {
   #endif
 
 protected:
-  uint16_t throttle_;
-  bool breaks_;
-
-  // TODO: Accelerometer values
+  {% for attribute in attributes %}
+  {{ attribute["type"] }} {{ attribute["name"] }};
+  {% endfor %}
 };
 
 } /* namespace DataModules */

datamodule/generate.py

@@ -1,24 +1,24 @@
-import os
-import sys
+from pathlib import Path
 import yaml
-from jinja2 import Environment, FileSystemLoader, select_autoescape
+from jinja2 import Environment, FileSystemLoader
 
 
-def main():
-    config_file = sys.argv[1]
-
+def main(config_file: str):
     with open(config_file, "r") as f:
         config = yaml.safe_load(f)
 
 
-    env = Environment(loader=FileSystemLoader(os.path.dirname(os.path.abspath(__file__))))
+    env = Environment(loader=FileSystemLoader(Path(__file__).parent))
 
     cpp_template = env.get_template("cpp/module.cpp")
+    hpp_template = env.get_template("cpp/module.h")
+    info_template = env.get_template("cpp/DataModuleInfo.hpp")
 
     for can_message in config["can_messages"]:
 
+        # ensure the fist letter is caps
         for attribute in can_message["schema"]:
-            attribute["bytes"] = 2
+            attribute["name"] = attribute["name"][0].upper() + attribute["name"][1:]
 
         with open(f"{can_message['name']}.cpp", "w") as f:
             file = cpp_template.render(
@@ -27,6 +27,19 @@ def main():
             )
             f.write(file)
 
+        with open(f"{can_message['name']}.hpp", "w") as f:
+            file = hpp_template.render(
+                moduleName=can_message["name"],
+                attributes=can_message["schema"],
+            )
+            f.write(file)
+
+    with open(f"DataModuleInfo.hpp", "w") as f:
+        file = info_template.render(
+            canMessages=config["can_messages"],
+        )
+        f.write(file)
+
 
 if __name__ == "__main__":
-    main()
+    main(sys.argv[1])

tests/goldens/16bit/config.yml

@@ -0,0 +1,11 @@
+can_messages:
+  - id: 0x11
+    name: "RX0"
+    schema:
+      - type: "uint16_t"
+        name: "first"
+        default: 0
+
+      - type: "uint16_t"
+        name: "second"
+        default: 0

tests/goldens/16bit/test.cpp

@@ -0,0 +1,34 @@
+#include <iostream>
+#include <sstream>
+#include <cstring>
+#include <csignal>
+#include "RX0.hpp"
+
+int main() {
+    uint8_t data[4] = {0x37, 0x44, 0x20, 0x40};
+    SolarGators::DataModules::RX0 RX0;
+
+    RX0.FromByteArray(data);
+
+    std::cout << "input first: " << RX0.GetFirstVal() << std::endl;
+    std::cout << "input second: " << RX0.GetSecondVal() << std::endl;
+    if (RX0.GetFirstVal() != 0x4437) {
+        std::cout << "first is wrong!" << std::endl;
+        return -1;
+    }
+
+    if (RX0.GetSecondVal() != 0x4020) {
+        std::cout << "second is wrong!" << std::endl;
+        return -1;
+    }
+
+    RX0.ToByteArray(data);
+    if (data[0] != 0x37 || data[1] != 0x44) {
+        std::cout << "first to byte array is wrong!" << std::endl;
+        return -1;
+    }
+    if (data[2] != 0x20 || data[3] != 0x40) {
+        std::cout << "second to byte array is wrong!" << std::endl;
+        return -1;
+    }
+}

tests/goldens/8bit/config.yml

@@ -0,0 +1,11 @@
+can_messages:
+  - id: 0x11
+    name: "RX0"
+    schema:
+      - type: "uint8_t"
+        name: "first"
+        default: 0
+
+      - type: "uint8_t"
+        name: "second"
+        default: 0

tests/goldens/8bit/test.cpp

@@ -0,0 +1,34 @@
+#include <iostream>
+#include <sstream>
+#include <cstring>
+#include <csignal>
+#include "RX0.hpp"
+
+int main() {
+    uint8_t data[2] = {0x37, 0x44};
+    SolarGators::DataModules::RX0 RX0;
+
+    RX0.FromByteArray(data);
+
+    std::cout << "input first: " << RX0.GetFirstVal() << std::endl;
+    std::cout << "input second: " << RX0.GetSecondVal() << std::endl;
+    if (RX0.GetFirstVal() != data[0]) {
+        std::cout << "first is wrong!" << std::endl;
+        return -1;
+    }
+
+    if (RX0.GetSecondVal() != data[1]) {
+        std::cout << "second is wrong!" << std::endl;
+        return -1;
+    }
+
+    RX0.ToByteArray(data);
+    if (data[0] != 0x37) {
+        std::cout << "first to byte array is wrong!" << std::endl;
+        return -1;
+    }
+    if (data[1] != 0x44) {
+        std::cout << "second to byte array is wrong!" << std::endl;
+        return -1;
+    }
+}

tests/goldens/floats/config.yml

@@ -0,0 +1,11 @@
+can_messages:
+  - id: 0x11
+    name: "RX0"
+    schema:
+      - type: "float"
+        name: "first"
+        default: 0
+
+      - type: "float"
+        name: "second"
+        default: 0