def write(can, output_path=can_lib_h_path):
header_name = '_PACK_UNPACK_H'
with open(output_path, 'w') as f:
fw = f.write
# Setup file
fw(ifndef(header_name))
# Includes
fw('#include <stdint.h>'
'\n'
'#include <stdbool.h>'
'\n\n'
'#include "static.h"'
'\n'
'#include "driver.h"\n'
'#include "constants.h"\n'
'#include "structs.h"\n\n')
# Declare
for bus in can.bus:
for msg in bus.frame:
frame_handler(msg, bus.name, write_declare, fw)
fw('\n\n')
fw(endif(header_name))
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 write(can, computers, output_path=computer_h_dir_path):
os.makedirs(output_path, exist_ok=True)
for computer in computers:
header_name = '_CAN_LIBRARY_{}_H'.format(computer.name.upper())
f_path = os.path.join(output_path, 'canlib_{}.h'.format(computer.name))
if not ('can' in computer.participation['name'].keys()):
# This computer neither sends nor recieves can messagess
continue
with open(f_path, 'w') as f:
fw = f.write
fw(ifndef(header_name))
fw('#include <stdint.h>\n')
fw('#include <stdbool.h>\n\n')
fw('#include "constants.h"\n')
fw('#include "enum_atom.h"\n')
fw('#include "structs.h"\n')
fw('#include "static.h"\n')
fw('#include "evil_macros.h"\n')
fw('#include "pack_unpack.h"\n\n')
fw('\n')
fw('#ifdef __cplusplus\nextern "C" {\n#endif // __cplusplus\n\n')
# Pub
try:
for bus_name, bus in computer.participation['name'][
'can'].publish.items():
for frame in bus:
frame_handler(frame, bus_name, declare_pub_frame, fw)
except KeyError:
pass # No CAN messages sent by this board
fw('\n')
# Sub
try:
for bus_name, bus in computer.participation['name'][
'can'].subscribe.items():
for frame in bus:
frame_handler(frame, bus_name, declare_sub_frame, fw)
fw('\n')
fw('void CANlib_update_can(void);\n')
except KeyError:
pass # No CAN messages received by this board
fw('\n#ifdef __cplusplus\n} // extern "C"\n#endif // __cplusplus\n\n'
)
fw(endif(header_name))
def write(can, output_path=enum_atom_path):
header_name = '_CAN_LIBRARY_ENUM_ATOM_H'
with open(output_path, 'w') as f:
fw = f.write
fw(ifndef(header_name))
for bus in can.bus:
for msg in bus.frame:
frame_handler(msg, bus.name, handle_frame, fw)
fw(endif(header_name))
def write(can, output_path=structs_path):
header_name = '_CAN_LIBRARY_STRUCTS'
with open(output_path, 'w') as f:
fw = f.write
fw(ifndef(header_name))
fw('#include <stdint.h>\n')
fw('#include <stdbool.h>\n\n')
fw('#include "enum_atom.h"\n\n')
for bus in can.bus:
for msg in bus.frame:
frame_handler(msg, bus.name, msg_handler, fw)
fw(endif(header_name))
def write(can, output_path=constants_path):
header_name = '_CAN_LIBRARY_CONSTANTS_H'
with open(output_path, 'w') as f:
fw = f.write
fw(ifndef(header_name))
props = (
('key', 'define', int),
('period', 'define', get_ms),
)
optional_props = {'period'}
for bus in can.bus:
for attrnm, form, transform in props:
finalnm = attrnm
# Define it in scope because it relies on too many locals
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))
for msg in bus.frame:
if is_multplxd(msg):
# Keep multiplexed check because we want to call for
# this function for both the top lvl multiplexed msg
# and the sub-frames
frame_handler(msg, bus.name, msg_handler)
msg_handler(msg, bus.name)
fw(endif(header_name))
def write(can, output_path=test_h_dir_path):
os.makedirs(output_path, exist_ok=True)
header_name = '_CAN_LIBRARY_TEST_H'
f_path = os.path.join(output_path, 'canlib_test.h')
with open(f_path, 'w') as f:
fw = f.write
fw(ifndef(header_name))
fw('#include <stdint.h>\n')
fw('#include <stdbool.h>\n\n')
fw('#include "constants.h"\n')
fw('#include "enum_atom.h"\n')
fw('#include "structs.h"\n')
fw('#include "static.h"\n')
fw('#include "evil_macros.h"\n')
fw('#include "pack_unpack.h"\n\n')
fw('#ifndef TEST\n'
'#error "test.h should only be included in testing files!"\n'
'#endif\n\n')
fw('\n')
# Pub
for bus in can.bus:
for frame in bus.frame:
frame_handler(frame, bus.name, declare_pub_frame, fw)
fw('\n')
for bus in can.bus:
for frame in bus.frame:
frame_handler(frame, bus.name, declare_sub_frame, fw)
fw('\n')
fw('void CANlib_update_can_TEST(void);\n')
fw(endif(header_name))