initial bidirectional config

.gitignore

@@ -17,5 +17,12 @@ __pycache__/
 build/
 dist/
 logs/
-master_mapping.rs
+
+mod.rs
+
+# cangen files generaed by calypsogen.py
+decode_master_mapping.rs
 decode_data.rs
+encode_data.rs
+encode_master_mapping.rs
+format_data.rs

Cargo.toml

@@ -11,3 +11,7 @@ paho-mqtt = "0.12.5"
 protobuf-codegen = "3.3.0"
 protobuf = "3.3.0"
 bitstream-io = "2.3.0"
+
+
+[build-dependencies]
+protobuf-codegen = "3.3.0"

build.rs

@@ -17,4 +17,14 @@ fn main() {
             std::process::exit(1);
         }
     }
+
+    protobuf_codegen::Codegen::new()
+        .pure()
+        // All inputs and imports from the inputs must reside in `includes` directories.
+        .includes(&["src/proto"])
+        // Inputs must reside in some of include paths.
+        .input("src/proto/command_data.proto")
+        // Specify output directory relative to Cargo output directory.
+        .out_dir("src")
+        .run_from_script();
 }

calypsogen.py

@@ -17,24 +17,42 @@
 spec.loader.exec_module(cangen)
 
 decode_data = open("./src/decode_data.rs", "w")
-master_mapping = open("./src/master_mapping.rs", "w")
+decode_master_mapping = open("./src/decode_master_mapping.rs", "w")
+
+encode_data = open("./src/encode_data.rs", "w")
+encode_master_mapping = open("./src/encode_master_mapping.rs", "w")
+
+format_data = open("./src/format_data.rs", "w")
+
 
 bms_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/bms.yaml", "r"))
 mpu_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/mpu.yaml", "r"))
 wheel_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/wheel.yaml", "r"))
 dti_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/dti.yaml", "r"))
+calypso_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/calypso_cmd.yaml", "r"))
 charger_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/charger.yaml", "r"))
 
 
 bms_messages.msgs.extend(mpu_messages.msgs)
 bms_messages.msgs.extend(wheel_messages.msgs)
 bms_messages.msgs.extend(dti_messages.msgs)
 bms_messages.msgs.extend(charger_messages.msgs)
+bms_messages.msgs.extend(calypso_messages.msgs)
 
 result = cangen.RustSynth().parse_messages(bms_messages.msgs)
 
 decode_data.write(result.decode_data)
 decode_data.close()
 
-master_mapping.write(result.master_mapping)
-master_mapping.close()
+decode_master_mapping.write(result.decode_master_mapping)
+decode_master_mapping.close()
+
+encode_data.write(result.encode_data)
+encode_data.close()
+
+encode_master_mapping.write(result.encode_master_mapping)
+encode_master_mapping.close()
+
+format_data.write(result.format_data)
+format_data.close()
+

src/command_data.rs

@@ -0,0 +1,183 @@
+// This file is generated by rust-protobuf 3.3.0. Do not edit
+// .proto file is parsed by pure
+// @generated
+
+// https://github.com/rust-lang/rust-clippy/issues/702
+#![allow(unknown_lints)]
+#![allow(clippy::all)]
+
+#![allow(unused_attributes)]
+#![cfg_attr(rustfmt, rustfmt::skip)]
+
+#![allow(box_pointers)]
+#![allow(dead_code)]
+#![allow(missing_docs)]
+#![allow(non_camel_case_types)]
+#![allow(non_snake_case)]
+#![allow(non_upper_case_globals)]
+#![allow(trivial_casts)]
+#![allow(unused_results)]
+#![allow(unused_mut)]
+
+//! Generated file from `command_data.proto`
+
+/// Generated files are compatible only with the same version
+/// of protobuf runtime.
+const _PROTOBUF_VERSION_CHECK: () = ::protobuf::VERSION_3_3_0;
+
+// @@protoc_insertion_point(message:command_data.v1.CommandData)
+#[derive(PartialEq,Clone,Default,Debug)]
+pub struct CommandData {
+    // message fields
+    // @@protoc_insertion_point(field:command_data.v1.CommandData.data)
+    pub data: ::std::vec::Vec<f32>,
+    // special fields
+    // @@protoc_insertion_point(special_field:command_data.v1.CommandData.special_fields)
+    pub special_fields: ::protobuf::SpecialFields,
+}
+
+impl<'a> ::std::default::Default for &'a CommandData {
+    fn default() -> &'a CommandData {
+        <CommandData as ::protobuf::Message>::default_instance()
+    }
+}
+
+impl CommandData {
+    pub fn new() -> CommandData {
+        ::std::default::Default::default()
+    }
+
+    fn generated_message_descriptor_data() -> ::protobuf::reflect::GeneratedMessageDescriptorData {
+        let mut fields = ::std::vec::Vec::with_capacity(1);
+        let mut oneofs = ::std::vec::Vec::with_capacity(0);
+        fields.push(::protobuf::reflect::rt::v2::make_vec_simpler_accessor::<_, _>(
+            "data",
+            |m: &CommandData| { &m.data },
+            |m: &mut CommandData| { &mut m.data },
+        ));
+        ::protobuf::reflect::GeneratedMessageDescriptorData::new_2::<CommandData>(
+            "CommandData",
+            fields,
+            oneofs,
+        )
+    }
+}
+
+impl ::protobuf::Message for CommandData {
+    const NAME: &'static str = "CommandData";
+
+    fn is_initialized(&self) -> bool {
+        true
+    }
+
+    fn merge_from(&mut self, is: &mut ::protobuf::CodedInputStream<'_>) -> ::protobuf::Result<()> {
+        while let Some(tag) = is.read_raw_tag_or_eof()? {
+            match tag {
+                10 => {
+                    is.read_repeated_packed_float_into(&mut self.data)?;
+                },
+                13 => {
+                    self.data.push(is.read_float()?);
+                },
+                tag => {
+                    ::protobuf::rt::read_unknown_or_skip_group(tag, is, self.special_fields.mut_unknown_fields())?;
+                },
+            };
+        }
+        ::std::result::Result::Ok(())
+    }
+
+    // Compute sizes of nested messages
+    #[allow(unused_variables)]
+    fn compute_size(&self) -> u64 {
+        let mut my_size = 0;
+        my_size += 5 * self.data.len() as u64;
+        my_size += ::protobuf::rt::unknown_fields_size(self.special_fields.unknown_fields());
+        self.special_fields.cached_size().set(my_size as u32);
+        my_size
+    }
+
+    fn write_to_with_cached_sizes(&self, os: &mut ::protobuf::CodedOutputStream<'_>) -> ::protobuf::Result<()> {
+        for v in &self.data {
+            os.write_float(1, *v)?;
+        };
+        os.write_unknown_fields(self.special_fields.unknown_fields())?;
+        ::std::result::Result::Ok(())
+    }
+
+    fn special_fields(&self) -> &::protobuf::SpecialFields {
+        &self.special_fields
+    }
+
+    fn mut_special_fields(&mut self) -> &mut ::protobuf::SpecialFields {
+        &mut self.special_fields
+    }
+
+    fn new() -> CommandData {
+        CommandData::new()
+    }
+
+    fn clear(&mut self) {
+        self.data.clear();
+        self.special_fields.clear();
+    }
+
+    fn default_instance() -> &'static CommandData {
+        static instance: CommandData = CommandData {
+            data: ::std::vec::Vec::new(),
+            special_fields: ::protobuf::SpecialFields::new(),
+        };
+        &instance
+    }
+}
+
+impl ::protobuf::MessageFull for CommandData {
+    fn descriptor() -> ::protobuf::reflect::MessageDescriptor {
+        static descriptor: ::protobuf::rt::Lazy<::protobuf::reflect::MessageDescriptor> = ::protobuf::rt::Lazy::new();
+        descriptor.get(|| file_descriptor().message_by_package_relative_name("CommandData").unwrap()).clone()
+    }
+}
+
+impl ::std::fmt::Display for CommandData {
+    fn fmt(&self, f: &mut ::std::fmt::Formatter<'_>) -> ::std::fmt::Result {
+        ::protobuf::text_format::fmt(self, f)
+    }
+}
+
+impl ::protobuf::reflect::ProtobufValue for CommandData {
+    type RuntimeType = ::protobuf::reflect::rt::RuntimeTypeMessage<Self>;
+}
+
+static file_descriptor_proto_data: &'static [u8] = b"\
+    \n\x12command_data.proto\x12\x0fcommand_data.v1\"!\n\x0bCommandData\x12\
+    \x12\n\x04data\x18\x01\x20\x03(\x02R\x04datab\x06proto3\
+";
+
+/// `FileDescriptorProto` object which was a source for this generated file
+fn file_descriptor_proto() -> &'static ::protobuf::descriptor::FileDescriptorProto {
+    static file_descriptor_proto_lazy: ::protobuf::rt::Lazy<::protobuf::descriptor::FileDescriptorProto> = ::protobuf::rt::Lazy::new();
+    file_descriptor_proto_lazy.get(|| {
+        ::protobuf::Message::parse_from_bytes(file_descriptor_proto_data).unwrap()
+    })
+}
+
+/// `FileDescriptor` object which allows dynamic access to files
+pub fn file_descriptor() -> &'static ::protobuf::reflect::FileDescriptor {
+    static generated_file_descriptor_lazy: ::protobuf::rt::Lazy<::protobuf::reflect::GeneratedFileDescriptor> = ::protobuf::rt::Lazy::new();
+    static file_descriptor: ::protobuf::rt::Lazy<::protobuf::reflect::FileDescriptor> = ::protobuf::rt::Lazy::new();
+    file_descriptor.get(|| {
+        let generated_file_descriptor = generated_file_descriptor_lazy.get(|| {
+            let mut deps = ::std::vec::Vec::with_capacity(0);
+            let mut messages = ::std::vec::Vec::with_capacity(1);
+            messages.push(CommandData::generated_message_descriptor_data());
+            let mut enums = ::std::vec::Vec::with_capacity(0);
+            ::protobuf::reflect::GeneratedFileDescriptor::new_generated(
+                file_descriptor_proto(),
+                deps,
+                messages,
+                enums,
+            )
+        });
+        ::protobuf::reflect::FileDescriptor::new_generated_2(generated_file_descriptor)
+    })
+}

src/data.rs

@@ -3,7 +3,7 @@ use std::fmt;
 /**
  * Wrapper Class for Data coming off the car
  */
-pub struct Data {
+pub struct DecodeData {
     pub value: Vec<f32>,
     pub topic: String,
     pub unit: String,
@@ -12,7 +12,7 @@ pub struct Data {
 /**
  * Implementation for the format of the data for debugging purposes
  */
-impl fmt::Display for Data {
+impl fmt::Display for DecodeData {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         // Overrides the string representation of the class.
 
@@ -27,7 +27,7 @@ impl fmt::Display for Data {
 /**
  * Implementation fo the Data Structs' methods
  */
-impl Data {
+impl DecodeData {
     /**
      * Constructor
      * @param id: the id of the data
@@ -42,3 +42,46 @@ impl Data {
         }
     }
 }
+
+/**
+ * Wrapper Class for data going into the car
+ */
+pub struct EncodeData {
+    pub value: Vec<u8>,
+    pub id: u32,
+    pub is_ext: bool,
+}
+
+/**
+ * Implementation for the format of the data for debugging purposes
+ */
+impl fmt::Display for EncodeData {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        // Overrides the string representation of the class.
+
+        write!(
+            f,
+            "{}#{:?} (extended: {})",
+            self.id, self.value, self.is_ext
+        )
+    }
+}
+
+/**
+ * Implementation fo the Data Structs' methods
+ */
+impl EncodeData {
+    /**
+     * Constructor
+     * @param id: the id of the can message
+     * @param value: the can message payload
+     * @param topic: whether the can message is extended format
+     */
+    pub fn new(id: u32, value: Vec<u8>, is_ext: bool) -> Self {
+        Self {
+            id: id,
+            value: value,
+            is_ext: is_ext,
+        }
+    }
+}

src/message.rs → src/decodable_message.rs

@@ -1,18 +1,18 @@
-use super::data::Data;
+use super::data::DecodeData;
 
-use super::master_mapping::get_message_info;
+use super::decode_master_mapping::get_message_info;
 /**
  * Wrapper class for an individual message.
  */
-pub struct Message {
+pub struct DecodableMessage {
     id: u32,
     data: Vec<u8>,
 }
 
 /**
  * Implementation of Message.
  */
-impl Message {
+impl DecodableMessage {
     /**
      * Creates a new message with the given timestamp, id, and data.
      */
@@ -23,8 +23,8 @@ impl Message {
     /**
      * Decodes the message and returns a vector of Data objects.
      */
-    pub fn decode(&self) -> Vec<Data> {
-        Message::decode_message(&self.id, &self.data)
+    pub fn decode(&self) -> Vec<DecodeData> {
+        DecodableMessage::decode_message(&self.id, &self.data)
     }
 
     /**
@@ -35,9 +35,9 @@ impl Message {
      * param data: The data of the message.
      * return: A vector of Data objects.
      */
-    fn decode_message(id: &u32, data: &[u8]) -> Vec<Data> {
+    fn decode_message(id: &u32, data: &[u8]) -> Vec<DecodeData> {
         let decoder = get_message_info(id).decoder;
-        let mut decoded_data: Vec<Data> = Vec::new();
+        let mut decoded_data: Vec<DecodeData> = Vec::new();
         let result = decoder(data);
         for data in result {
             decoded_data.push(data);