#20 finalize necessary can messages

Northeastern-Electric-Racing · Jan 11, 2024 · 611ca2c · 611ca2c
1 parent 61e6098
commit 611ca2c
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Showing 13 changed files with 268 additions and 108 deletions.
diff --git a/oxy/RustSynth.py b/oxy/RustSynth.py
@@ -1,30 +1,27 @@
 from structs.CANField import CANField
 from structs.CANMsg import CANMsg
-from structs.Decoding import Decoding
-
-from typing import Optional
-
 class RustSynth:
     '''
     A class to synthesize Rust from a given CANMsg spec.
     '''
 
-    inst_hashmap: str = "    let mut result = HashMap::new();"
+    return_type: str = "Vec<Data>"
+    inst_hashmap: str = f"    let mut result = {return_type}::new();"
     closing: str = "    result\n}"
 
     def synthesize(self, msg: CANMsg) -> str:
         signature: str = self.signature(msg.desc)
         generated_lines: list[str] = []
         for field in msg.fields:
-            generated_lines.append(self.finalize_line(field.id, f"({self.parse_decoders(field)}){self.correcting_factor(field)}"))
+            generated_lines.append(self.finalize_line(field.name, field.id, f"({self.format_data(field, self.parse_decoders(field))})"))
         total_list: list[str] = [signature, self.inst_hashmap] + generated_lines + [self.closing]
         return "\n".join(total_list)
 
     def signature(self, to_decode: str) -> str:
-        return f"pub fn decode_{to_decode.replace(' ', '_')}(data: &[u8]) -> HashMap<u8, f32> {{"
+        return f"pub fn decode_{to_decode.replace(' ', '_')}(data: &[u8]) -> {self.return_type} {{"
 
-    def finalize_line(self, id: int, val: str) -> str:
-        return f"    result.insert({id}, {val});"
+    def finalize_line(self, topic: str, id: int, val: str) -> str:
+        return f"    result.push(Data::new({id}, {val}, \"{topic}\"));"
 
     def parse_decoders(self, field: CANField) -> str:
         if isinstance(field.decodings, type(None)):
@@ -35,8 +32,8 @@ def parse_decoders(self, field: CANField) -> str:
                 base = f"pd::{decoder.repr}({base}, {decoder.bits}) as {decoder.final_type}"
             return base
 
-    def correcting_factor(self, field:CANField) -> str:
-        cf: str = ""
-        if field.correcting_factor:
-            cf = f" {field.correcting_factor.op} {field.correcting_factor.const}"
+    def format_data(self, field:CANField, decoded_data: str) -> str:
+        cf = decoded_data
+        if field.format:
+            cf = f"fd::{field.format}({decoded_data})"
         return cf
diff --git a/oxy/YAMLParser.py b/oxy/YAMLParser.py
@@ -1,10 +1,9 @@
-from io import TextIOWrapper
 from ruamel.yaml import YAML, Any
 
 from structs.CANMsg import CANMsg
 from structs.CANField import CANField
-from structs.CorrectingFactor import CorrectingFactor
-import structs.Decoding
+from structs.Format import Format
+from structs.Decoding import Decoding
 
 class YAMLParser:
     '''
@@ -16,8 +15,7 @@ def __init__(self):
         self.yaml = YAML()
         self.yaml.register_class(CANMsg)
         self.yaml.register_class(CANField)
-        self.yaml.register_class(CorrectingFactor)
-        for decoding in structs.Decoding.Decoding.__subclasses__():
+        for decoding in Decoding.__subclasses__():
             self.yaml.register_class(decoding)
 
 

diff --git a/oxy/mapping.yaml b/oxy/mapping.yaml
@@ -1,23 +1,21 @@
+#BMS BROADCAST
 !CANMsg
-id: 1
+id: "0x80"
 desc: "accumulator status"
 fields:
 - !CANField
     id: 1
-    name: Pack Inst Voltage
+    name: "BMS/Pack/Voltage"
     units: "V"
     size: 2
     decodings:
     - !BigEndian
         bits: 8
         final_type: "f32"
-    correcting_factor:
-        !CorrectingFactor
-        const: 10.0
-        op: "/"
+    format: "high_voltage"
 - !CANField
     id: 2
-    name: "Pack Current"
+    name: "BMS/Pack/Current"
     units: "A"
     size: 2
     decodings:
@@ -27,13 +25,10 @@ fields:
     - !TwosComplement
         bits: 16
         final_type: "f32"
-    correcting_factor:
-        !CorrectingFactor
-        const: 10.0
-        op: "/"
+    format: "current"
 - !CANField
     id: 3
-    name: "Pack Amp-hours"
+    name: "BMS/Pack/Amp-hours"
     units: "Ah"
     size: 2
     decodings:
@@ -42,13 +37,168 @@ fields:
         final_type: "f32"
 - !CANField
     id: 4
-    name: "Pack SOC"
+    name: "BMS/Pack/SOC"
     units: "%"
     size: 1
     final_type: "f32"
 - !CANField
     id: 5
-    name: "Pack Health"
+    name: "BMS/Pack/Health"
     units: "%"
     size: 1
     final_type: "f32"
+
+!CANMsg
+id: "0x81"
+desc: "BMS Status"
+fields:
+- !CANField
+    id: 106
+    name: "BMS/State"
+    units: ""
+    size: 1
+    final_type: "f32"
+- !CANField
+    id: 107
+    name: "BMS/Faults"
+    unit: ""
+    size: 4
+    decodings:
+    - !LittleEndian
+        bits: 8
+        final_type: "f32"
+- !CANField
+    id: 10
+    name: "BMS/Temps/Average"
+    units: "C"
+    size: 1
+    decodings:
+    - !TwosComplement
+        bits: 8
+        final_type: "f32"
+- !CANField
+    id: 11
+    name: "BMS/Temps/Internal"
+    size: 1
+    decodings:
+    - !TwosComplement
+        bits: 8
+        final_type: "f32"
+- !CANField
+    id: 143
+    name: "BMS/Cells/BurningStatus"
+    size: 1
+
+!CANMsg
+id: "0x82"
+desc: "Shutdown Control"
+fields:
+- !CANField
+    id: 12
+    name: "BMS/Shutdown/MPE"
+    size: 1
+    final_type: "f32"
+
+!CANMsg
+id: "0x83"
+desc: "Cell Data"
+fields:
+- !CANField
+    id: 13
+    name: "BMS/Cells/Volts/High/Value"
+    size: 2
+    decodings: 
+    - !LittleEndian
+        bits: 8
+        final_type: "i32"
+    format: "cell_voltage"
+- !CANField
+    id: 121
+    name: "BMS/Cells/Volts/High/Chip"
+    size: 1
+    decodings: 
+    - !Half
+        bits: 4
+        final_type: "f32"
+- !CANField
+    id: 122
+    name: "BMS/Cells/Volts/High/Cell"
+    index: 2
+    size: 1
+    decodings: 
+    - !Half
+        bits: 0
+        final_type: "f32"
+- !CANField
+    id: 15
+    name: "BMS/Cells/Volts/Low/Value"
+    size: 2
+    index: 3
+    decodings:
+    - !LittleEndian
+        bits: 8
+        final_type: i32
+    format: "cell_voltage"
+- !CANField
+    id: 123
+    name: "BMS/Cells/Volts/Low/Chip"
+    index: 5
+    size: 1
+    decodings: 
+    - !Half
+        bits: 4
+        final_type: "f32"
+- !CANField
+    id: 124
+    name: "BMS/Cells/Volts/Low/Cell"
+    index: 5
+    size: 1
+    - !Half
+        bits: 0
+        final_type: "f32"
+- !CANField
+    id: 17
+    name: "BMS/Cells/Volts/Ave/Value"
+    size: 2
+    index: 6
+    decodings:
+    - !LittleEndian
+        bits: 8
+        final_type: i32
+    format: "cell_voltage"
+
+!CANMsg
+id: "0x84"
+desc: "Cell Temperatures"
+
+!CANMsg
+i: "0x85"
+desc: "Segment Temperatures"
+
+
+
+# MPU BROADCAST
+!CANMsg
+id: "0x500"
+desc: "NERduino Acceleromter"
+fields: 
+- !CANField
+    id: 91
+    name: "MPU/Accel/X"
+    size: 
+
+!CANMsg
+id: "0x501"
+desc: "MPU Status"
+
+
+
+#STEERINGWHEEL
+!CANMsg
+id: "0x680"
+desc: "Wheel State"
+
+
+
+
+
diff --git a/oxy/poc_translator.py b/oxy/poc_translator.py
diff --git a/oxy/structs/CANField.py b/oxy/structs/CANField.py
@@ -1,8 +1,8 @@
 from __future__ import annotations
-from .CorrectingFactor import CorrectingFactor
 from .Decoding import *
 from ruamel.yaml import Optional
 from dataclasses import dataclass
+from .Format import Format
 
 @dataclass
 class CANField:
@@ -16,5 +16,5 @@ class CANField:
     units: str
     size: int
     index: int = -1
-    correcting_factor: Optional[CorrectingFactor] = None
     decodings: Optional[list[Decoding]] = None
+    format: Optional[str] = None
diff --git a/oxy/structs/CANmsg.py b/oxy/structs/CANmsg.py
@@ -1,6 +1,4 @@
 from __future__ import annotations
-from ruamel.yaml import Optional, MappingNode
-from structs.CorrectingFactor import CorrectingFactor
 from .CANField import CANField
 from dataclasses import dataclass
 
@@ -9,15 +7,16 @@ class CANMsg:
     '''
     Represents a CAN message. Has an id, a description, and a number of individual fields.
     '''
-    id: int
+    id: str
     desc: str
     fields: list[CANField]
 
     def __post_init__(self) -> None:
         idx: int = 0
         for field in self.fields:
-            field.index = idx
-            idx += field.size
+            if (field.index is not None):
+                field.index = idx
+                idx += field.size
 
 
     def __setstate__(self, state):

diff --git a/oxy/structs/CorrectingFactor.py b/oxy/structs/CorrectingFactor.py