Add bidirectional communications to Calypso (#44)

* initial bidirectional config

* remove generated files

* fix clippy

* add msbs, format, and clippy

* misc error fixes, cleanup, release performance improvements

* remove unneeded result, fix up docs

* remove uneeded let

* bump and upgrade bitstream to const eval, msrv 1.79

* make clippy happy

* bump

.cargo/config.toml

@@ -0,0 +1,2 @@
+[build]
+rustflags = ["-Ctarget-cpu=native"]

.gitignore

@@ -17,5 +17,15 @@ __pycache__/
 build/
 dist/
 logs/
-master_mapping.rs
+
+# protobuf
+mod.rs
+command_data.rs
+serverdata.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

@@ -2,6 +2,7 @@
 name = "calypso"
 version = "0.1.0"
 edition = "2021"
+rust-version = "1.79"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
@@ -10,4 +11,13 @@ socketcan = "3.3.0"
 paho-mqtt = "0.12.5"
 protobuf-codegen = "3.3.0"
 protobuf = "3.3.0"
-bitstream-io = "2.3.0"
+bitstream-io = "2.5.0"
+
+
+[build-dependencies]
+protobuf-codegen = "3.3.0"
+
+[profile.release]
+lto = true
+codegen-units = 1
+panic = "abort"

build.rs

@@ -17,4 +17,15 @@ 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")
+        .input("src/proto/serverdata.proto")
+        // Specify output directory relative to Cargo output directory.
+        .out_dir("src")
+        .run_from_script();
 }

calypsogen.py

@@ -17,24 +17,44 @@
 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"))
+msb_messages = cangen.YAMLParser().parse(open(f"{EMBEDDED_BASE_PATH}/{module_name}/can-messages/msb.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)
+bms_messages.msgs.extend(msb_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/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.
 
@@ -25,9 +25,9 @@ impl fmt::Display for Data {
 }
 
 /**
- * Implementation fo the Data Structs' methods
+ * Implementation fo the DecodeData methods
  */
-impl Data {
+impl DecodeData {
     /**
      * Constructor
      * @param id: the id of the data
@@ -42,3 +42,42 @@ 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 DecodeData methods
+ */
+impl EncodeData {
+    /**
+     * Constructor
+     * @param id: the id of the can message
+     * @param value: the can message payload
+     * @param is_ext: whether the can message is extended format ID
+     */
+    pub fn new(id: u32, value: Vec<u8>, is_ext: bool) -> Self {
+        Self { id, value, 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);

src/encodable_message.rs

@@ -0,0 +1,41 @@
+use crate::data::EncodeData;
+
+use super::encode_master_mapping::get_message_info;
+/**
+ * Wrapper class for an individual encodable message.
+ */
+pub struct EncodableMessage {
+    key: String,
+    data: Vec<f32>,
+}
+
+/**
+ * Implementation of Message.
+ */
+impl EncodableMessage {
+    /**
+     * Creates a new message with the given string key and value
+     */
+    pub fn new(key: String, data: Vec<f32>) -> Self {
+        Self { key, data }
+    }
+
+    /**
+     * Decodes the message and returns a struct which defines a CAN packet
+     */
+    pub fn encode(self) -> EncodeData {
+        EncodableMessage::encode_message(self.key, self.data)
+    }
+
+    /**
+     * Decodes the message and returns a vector of Data objects.
+     * Achieves this by calling the decoder function associated with the message key.
+     * param key: The key of the message.
+     * param data: The data of the message.
+     * return: A vector of Data objects.
+     */
+    fn encode_message(key: String, data: Vec<f32>) -> EncodeData {
+        let encoder = get_message_info(key).encoder;
+        encoder(data)
+    }
+}

src/lib.rs

@@ -1,6 +1,11 @@
+pub mod command_data;
 pub mod data;
+pub mod decodable_message;
 pub mod decode_data;
-pub mod master_mapping;
-pub mod message;
+pub mod decode_master_mapping;
+pub mod encodable_message;
+pub mod encode_data;
+pub mod encode_master_mapping;
+pub mod format_data;
 pub mod mqtt;
 pub mod serverdata;