Make Lsm6dso platform agnostic

.github/workflows/format-check.yml

@@ -0,0 +1,19 @@
+name: Code Style Check
+
+on: [push]
+
+jobs:
+  formatting-check:
+    name: Check format of C
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Run clang-format style check for C/C++ sources
+      uses: Northeastern-Electric-Racing/clang-format-action@main
+      with:
+        clang-format-version: '18'
+        # exclude vl6180x
+        # use the clang-format from embedded base
+        format-filepath: "./clang-format"

.gitignore

@@ -1,3 +1,5 @@
 .vscode/
 __pycache__/
-*.egg-info/
+*.egg-info/
+
+*.nix

cangen/CANField.py

@@ -43,3 +43,7 @@ class NetField:
     points: list[CANPoint]
     send: bool = True
     topic_append: bool = False
+    sim_min: Optional[float] = -1.0
+    sim_max: Optional[float] = -1.0
+    sim_inc_min: Optional[float] = -1.0
+    sim_inc_max: Optional[float] = -1.0

cangen/CANMsg.py

@@ -11,6 +11,7 @@ class CANMsg:
     id: str     # Hex value of CAN ID, i.e. `0x88`
     desc: str   # Brief name of CAN message, used for generating function names
     fields: list[NetField] # List of CAN fields in the message
+    sim_freq: Optional[int] # Frequency to simulate this message at, in ms
 
 @dataclass
 class EncodableCANMsg(CANMsg):

cangen/Result.py

@@ -10,10 +10,12 @@ class Result:
    encode_data: str
    encode_master_mapping: str
    format_data: str
+   simulate_data: str
 
-   def __init__(self, decode_data: str, master_mapping: str, encode_data: str, encode_master_mapping: str, format_data: str):
+   def __init__(self, decode_data: str, master_mapping: str, encode_data: str, encode_master_mapping: str, format_data: str, simulate_data: str = ""):
       self.decode_data = decode_data
       self.decode_master_mapping = master_mapping
       self.encode_data = encode_data
       self.encode_master_mapping = encode_master_mapping
       self.format_data = format_data
+      self.simulate_data = simulate_data

cangen/RustSynthFromJSON.py

@@ -1,6 +1,8 @@
 from cangen.Result import Result
 from typing import List, Dict, Optional
 import math
+import re
+import logging
 
 class RustSynthFromJSON:
     """
@@ -13,7 +15,8 @@ def parse_messages(self, msgs: List[Dict]) -> Result:
         returns a Result object that contains the synthesized Rust code for the
         decode_data.rs and master_mapping.rs files
         """
-        result = Result("", "", "", "", "")
+
+        result = Result("", "", "", "", "", "")
         result.decode_data += RustSnippets.ignore_clippy
         result.decode_data += RustSnippets.decode_data_import
         result.decode_data += RustSnippets.decode_mock
@@ -49,6 +52,7 @@ def parse_messages(self, msgs: List[Dict]) -> Result:
 
         result.format_data = RustSnippets.format_impl
 
+        result.simulate_data = self.create_simulate_data(msgs)
 
         return result
 
@@ -343,6 +347,72 @@ def encode_data_inst(self, msg: Dict) -> str:
         is_ext: {str(msg['is_ext'] if 'is_ext' in msg else 'false').lower()},
     }}"""
 
+    def create_simulate_data(self, msgs: List[Dict]) -> str:
+        def sanitize_fnname(name):
+            name = re.sub(r'\W|^(?=\d)', '_', name)  
+            name = name.lower()  
+            return name
+
+        sim_funcbody = ""
+        # process each CAN message    
+        for msg in msgs:
+            if ('sim_freq' in msg.keys()):
+                id = msg['id']
+                desc = msg['desc']
+                sim_freq = msg['sim_freq']
+                net_fields = msg['fields']
+                for netfield in net_fields:
+                    # check if sim_min, sim_max, sim_inc_max, sim_inc_min, points are present
+                    if ("sim_min" not in netfield.keys() or
+                        "sim_max" not in netfield.keys() or 
+                        "sim_inc_max" not in netfield.keys() or 
+                        "sim_inc_min" not in netfield.keys()):
+                        continue
+
+                    component_name = netfield['name']
+                    component_var = sanitize_fnname(component_name)
+                    unit = netfield['unit']
+                    sim_min = netfield['sim_min']
+                    sim_max = netfield['sim_max']
+                    sim_inc_max = netfield['sim_inc_max']
+                    sim_inc_min = netfield['sim_inc_min']
+                    n_canpoints = len(netfield['points'])
+
+                    new_component = f"""
+                    let {component_var}_attr: SimulatedComponentAttr = SimulatedComponentAttr {{
+                        sim_min: {float(sim_min)},
+                        sim_max: {float(sim_max)},
+                        sim_inc_min: {float(sim_inc_min)},
+                        sim_inc_max: {float(sim_inc_max)},
+                        sim_freq: {float(sim_freq)},
+                        n_canpoints: {n_canpoints},
+                        id: "{id}".to_string(),
+                    }};
+
+
+                    let {component_var} = SimulatedComponent::new(
+                        "{component_name}".to_string(),
+                        "{unit}".to_string(),
+                        {component_var}_attr,
+                    );
+                    simulatable_messages.push({component_var});
+                    """
+                    sim_funcbody += new_component
+
+
+        sim_fnblock = f"""
+        #![allow(clippy::all)]
+        use crate::simulatable_message::{{SimulatedComponent, SimulatedComponentAttr}};
+        pub fn create_simulated_components() -> Vec<SimulatedComponent> {{
+            let mut simulatable_messages: Vec<SimulatedComponent> = Vec::new();
+
+            {sim_funcbody}
+
+            simulatable_messages
+        }}
+        """
+        return sim_fnblock
+
 
 
 class RustSnippets:

cangen/__init__.py

@@ -1,6 +1,4 @@
-from cangen.RustSynth import RustSynth
 from cangen.RustSynthFromJSON import RustSynthFromJSON
-from cangen.YAMLParser import YAMLParser
 from cangen.CANMsg import CANMsg
 from cangen.CANMsg import EncodableCANMsg
 from cangen.CANField import NetField