Merge branch 'main' into max7314-fixes

.github/workflows/build_cerberus.yml

@@ -4,7 +4,7 @@ jobs:
   run-build:
     runs-on: ubuntu-latest
     container:
-        image: nwdepatie/ner-gcc-arm:latest
+        image: ghcr.io/northeastern-electric-racing/embedded-base:docker-compose
     timeout-minutes: 10
     steps:
       - name: Clone Cerberus

cangen/CANField.py

@@ -1,19 +1,51 @@
 from __future__ import annotations
-from .Decoding import *
 from ruamel.yaml import Optional
 from dataclasses import dataclass
 
 @dataclass
 class CANField:
     '''
     Represents a field in a CAN message. Has an id, a name, a unit, a size,
-    and an optional Format and Decodings. Also knows its own
+    and an optional Format and encodings. Also knows its own
     index within its parent CANMsg, which is assigned at load from YAML.
+
+    Think 1 MQTT Topic per 1 CAN Field
     '''
+
     name: str
     unit: str
-    size: int
-    index: int = -1
+    size: int # in bits
+    signed : bool = False
+    endianness : str = "little"
+    field_type: str = "*"*42
     final_type: str = "f32"
-    decodings: Optional[list[Decoding]] = None
     format: Optional[str] = None
+
+    def get_size_bytes(self):
+        # Calculate max number of bytes to represent value
+        num_bytes = self.size / 8
+        if (self.size % 8):
+            num_bytes += 1
+
+        return int(num_bytes)
+
+@dataclass
+class DiscreteField(CANField):
+    """
+    Represents a discrete field inside a CAN message in the sense that
+    it will make sense if it is published to MQTT and timestamped on its own
+    (think State of Charge or Temperature)
+    """
+
+    field_type = "discrete"
+
+@dataclass
+class CompositeField(CANField):
+    """
+    Represents a composite field inside a CAN message in the sense that
+    it will only make sense with other data points in the same message and
+    can't be timestamped on its own (think XYZ acceleration or Roll, Pitch, Yaw)
+    """
+
+    num_points: int = 0
+    field_type = "composite"

cangen/CANMsg.py

@@ -1,22 +1,16 @@
 from __future__ import annotations
 from dataclasses import dataclass
-from .NetworkEncoding import NetworkEncoding
+from ruamel.yaml import Optional
+from .CANField import CANField
 
 @dataclass
 class CANMsg:
     '''
     Represents a CAN message. Has an id, a description, and a number of individual fields.
     '''
-    id: str
-    desc: str
-    networkEncoding: list[NetworkEncoding]
-
-    def __post_init__(self) -> None:
-        idx: int = 0
-        for field in self.networkEncoding[0].fields:
-            if (field.index is not None):
-                field.index = idx
-                idx += field.size
+    id: str     # Hex value of CAN ID, i.e. `0x88`
+    desc: str   # Brief name of CAN message, used for generating function names
+    fields: list[CANField] # List of CAN fields in the message (Optional to allow for only networkEncoding)
 
     def __setstate__(self, state):
         self.__init__(**state)

cangen/Format.py

@@ -21,7 +21,7 @@ class Torque(Format):
 
 @dataclass
 class HighVoltage(Format):
-      repr: str = "high_voltage" 
+      repr: str = "high_voltage"
 
 @dataclass
 class Current(Format):

cangen/Messages.py

@@ -4,6 +4,6 @@
 @dataclass
 class Messages:
       '''
-      Represents a list of CAN messages. Has a list of CANMsgs.
+      Represents a list of CAN messages, used to create a container for each YAML
       '''
       msgs: list[CANMsg]

cangen/README.md

@@ -0,0 +1,33 @@
+# CANGEN
+> Definition of all CAN messages to be sent across the car with Python scripts to generate code to encode and decode
+
+Here is a custom Python module built to generate embedded code for encoding and decoding CAN messages.
+
+### Directory Structure
+```
+|
+|───CANField.py:
+|   |───DiscreteField   # Single data point to stand alone
+|   └───CompositeField  # Group of related data points that won't make sense alone
+|
+|───CANMsg.py:
+|   └───CANMsg          # Represents a full CAN message
+|
+|───Messages.py:
+|   └───Messages        # Container for all messages related to a node
+|
+|───Decoding.py:
+|   |───LittleEndian
+|   |───BigEndian
+|   └───TwosComplement
+|
+|───YAMLParser.py:
+|   └───YAMLParser      # Parses a YAML file into CAN message structures
+|
+|───RustSynth.py:
+|   └───RustSynth       # Generates Rust code from a CAN messages structure
+|
+|───CSynth.py:
+|   └───CSynth          # Generates  code from a CAN messages structure
+|
+└───README.md           # This file!