def write(can, computers, output_path=bus_path):
header_name = '_CAN_LIBRARY_BUS_H'
with open(output_path, 'w') as f:
fw = f.write
fw(ifndef(header_name))
# Create enum among buses
fw('typedef enum {\n')
for bus in can.bus:
fw('\t' + bus.name + ',\n')
fw('} CANlib_Bus_T;\n\n')
raw_buses = set()
for computer in computers:
if not ('can' in computer.participation['name'].keys()):
# This computer neither sends nor recieves can messages
continue
raw_buses |= set(
computer.participation['name']['can'].mapping.values())
assert 'INVALID_BUS' not in raw_buses, "INVALID_BUS is a reserved bus name"
fw('typedef enum {\n')
for bus in raw_buses:
fw('\t' + bus + ',\n')
fw('\tINVALID_BUS\n} CAN_Raw_Bus_T;\n\n')
# Create forms enum for each bus
for bus in can.bus:
fw('typedef enum {\n')
# First frame needs to start at 2, the rest will follow
first_frame = True
for msg in bus.frame:
if is_multplxd(msg):
for frame in msg.frame:
fw('\t' + coord(bus.name, msg.name, frame.name))
if first_frame:
fw(' = 2')
first_frame = False
fw(',\n')
else:
fw('\t' + coord(bus.name, msg.name))
if first_frame:
fw(' = 2')
first_frame = False
fw(',\n')
fw('} ' + '{}_T;\n\n'.format(coord(bus.name)))
fw('{}_T CANlib_Identify_{}(Frame* frame);'.format(
coord(bus.name), coord(bus.name, prefix=False)) + '\n\n')
fw(endif(header_name))
def msg_handler(frame, name_prepends, fw):
fw('typedef struct {\n')
for atom in frame.atom:
if atom.type.isenum():
enum_name = coord(name_prepends, frame.name, atom.name) + '_T'
fw('\t{} {};\n'.format(enum_name, atom.name))
else:
fw('\t{} {};\n'.format(atom.type.ctype(), atom.name))
fw('} ' + '{}_T;\n\n'.format(coord(name_prepends, frame.name)))
def single_handler(frame, name_prepends, num_tabs, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw(
'\t' * num_tabs + 'case CANlib_{}_key:'.format(tot_name) + '\n' +
'\t' * (num_tabs + 1) + 'CANlib_Handle_{}(&frame);\n'.format(tot_name) +
'\t' * (num_tabs + 1) + 'break;\n'
)
def write_declare(frame, name_prepends, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('CANlib_Transmit_Error_T CANlib_Transmit_{}'.format(tot_name) +
'(CANlib_{}_T *type);\n'.format(tot_name))
fw('void CANlib_Pack_{}(CANlib_{}_T *type_in, Frame *can_out);\n'.format(
tot_name, tot_name) +
'void CANlib_Unpack_{}(Frame *can_in, CANlib_{}_T *type_out);\n'.format(
tot_name, tot_name))
def define_pub_frame(frame, name_prepends, busnm, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('void CANlib_Send_{}(CANlib_{}_T *inp)'.format(tot_name, tot_name) +
' {\n')
if frame.period is not None:
fw('\tLIMIT(CANlib_{});\n'.format(tot_name))
fw('\tFrame frame;\n' + '\tCANlib_Pack_' + tot_name + '(inp, &frame);\n' +
'\tCANlib_TransmitFrame(&frame, ' + busnm + ');\n'
'}\n\n')
def write_can_pack(frame, name_prepends, bus_ext, fw, parent_slice=None):
is_multplxd_subframe = parent_slice is not None
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('void CANlib_Pack_' + tot_name + '(CANlib_' + tot_name +
'_T *type_in, Frame *can_out)'
'{\n\t'
'uint64_t bitstring = 0;'
'\n')
if is_multplxd_subframe:
if True: # TODO: check endianness, like atom.type.endianness == Endianness.LITTLE:
# TODO: Actually grab key type
fw('\t'
'bitstring = INSERT(CANlib_' + tot_name + '_key, bitstring, ' +
str(parent_slice.start) + ', ' + str(parent_slice.length) + ');'
'\n\n')
write_atoms_pack(fw, frame.atom)
length = max(atom.slice.start + atom.slice.length for atom in frame.atom)
fw('\t' 'from_bitstring(&bitstring, can_out->data);' '\n')
key_name = ""
if not is_multplxd_subframe:
key_name = coord(name_prepends, frame.name, 'key')
else:
key_name = coord(name_prepends, 'key')
fw('\t'
'can_out->id = {};'.format(key_name) + '\n'
'\t'
'can_out->dlc = ' + str(ceil(length / 8)) + ';'
'\n'
'\t'
'can_out->extended = ' + str(bus_ext).lower() + ';'
'\n'
'}'
'\n\n')
def write_can_unpack(frame, name_prepends, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('void CANlib_Unpack_' + tot_name + '(Frame *can_in, CANlib_' +
tot_name + '_T *type_out) {\n'
'\t'
'uint64_t bitstring = 0;'
'\n'
'\t'
'to_bitstring(can_in->data, &bitstring);\n')
write_atoms_unpack(fw, frame.atom, tot_name)
fw('}' '\n\n')
def msg_handler(frame, name_prepends):
attr = None
try:
attr = getattr(frame, attrnm)
except AttributeError as e:
if not attrnm in optional_props:
raise e
if attr is None:
if attrnm in optional_props:
return
else:
raise AttributeError('{} missing required attribute {}'.format(frame.name, attrnm))
attr = transform(attr)
fw(templ[form].format(coord(name_prepends, frame.name, finalnm), attr))
def multplxd_handler(frame, name_prepends, num_tabs, fw):
fw('\t' * num_tabs + 'case {}_key:\n'.format(coord(name_prepends, frame.name)))
key_size = ceil(frame.slice.length / 8) * 8
key_name = '_'.join([name_prepends,frame.name, 'key'])
fw('\t' * (num_tabs + 1) + 'to_bitstring(frame.data, &bitstring);' '\n')
fw(
'\t' * (num_tabs + 1) + 'uint{}_t {} = EXTRACT(bitstring, {}, {});\n'.format(key_size, key_name, frame.slice.start, frame.slice.length) + '\t' * (num_tabs + 1) + 'switch(' + key_name + ') {' '\n'
)
name_prepends += '_' + frame.name
for sub_frame in frame.frame:
if is_multplxd(sub_frame):
multplxd_handler(sub_frame, name_prepends, num_tabs + 2, fw)
else:
single_handler(sub_frame, name_prepends, num_tabs + 2, fw)
fw('\t' * (num_tabs + 1) + '}\n')
def handle_frame(frame, name_prepends, fw):
for atom in frame.atom:
tot_name = coord(name_prepends, frame.name, atom.name)
if atom.type.isenum():
# Only C++11 feature
# fw('typedef enum ' + (atom.type.type + ' ' if atom.type.type else '') + '{\n')
fw('typedef enum {\n')
for enum in atom.type.enum:
assert enum.name != 'NUM_FIELDS'
fw(templ['enum'].format(tot_name + '_' + enum.name,
enum.value))
fw('\t' + tot_name + '_' + 'NUM_FIELDS\n')
fw('} ' + '{}_T;\n\n'.format(tot_name))
def write_atoms_unpack(fw, atoms, tot_name):
for atom in atoms:
if atom.type.isenum():
enum_name = coord(tot_name, atom.name) + '_T'
fw('\t'
'type_out->' + atom.name + ' = (' + enum_name +
')EXTRACT(bitstring, ' + str(atom.slice.start) + ', ' +
str(atom.slice.length) + ');'
'\n')
elif atom.type.type == 'bool':
fw('\t'
'type_out->' + atom.name + ' = EXTRACT(bitstring, ' +
str(atom.slice.start) + ', ' + str(atom.slice.length) + ');'
'\n')
else:
if atom.type.endianness == Endianness.LITTLE:
fw('\t'
'type_out->' + atom.name + ' = ' +
swap_endianness_fn(atom.type) + '(EXTRACT(bitstring, ' +
str(atom.slice.start) + ', ' + str(atom.slice.length) +
'));'
'\n')
else:
if atom.type.issigned():
fw('\t'
'type_out->' + atom.name +
' = SIGN(EXTRACT(bitstring, ' + str(atom.slice.start) +
', ' + str(atom.slice.length) + '), ' +
str(atom.slice.length) + ');'
'\n')
else:
fw('\t'
'type_out->' + atom.name + ' = EXTRACT(bitstring, ' +
str(atom.slice.start) + ', ' + str(atom.slice.length) +
');'
'\n')
def declare_pub_frame(frame, name_prepends, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('void CANlib_Send_{}(CANlib_{}_T *inp);\n'.format(tot_name, tot_name))
def declare_sub_frame(frame, name_prepends, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('extern CANlib_{}_T CANlib_{}_Input;\n'.format(tot_name, tot_name) +
'void CANlib_Handle_{}(Frame *frame);\n'.format(tot_name, tot_name))
def define_struct(frame, name_prepends, fw):
tot_name = coord(name_prepends, frame.name)
fw('{}_T {}_Input;\n'.format(tot_name, tot_name))
def define_sub_frame(frame, name_prepends, fw):
tot_name = coord(name_prepends, frame.name, prefix=False)
fw('void CANlib_Handle_{}(Frame *frame)'.format(tot_name, tot_name) +
' {\n' + '\tCANlib_Unpack_{}(frame, &CANlib_{}_Input);\n'.format(
tot_name, tot_name) + '}\n\n')