Added 2016-2017 rover code, and a ROB assignment

OSU Robotics Club/Mars Rover 2016-2017/common/codegen.py

@@ -0,0 +1,190 @@
+#!/usr/bin/env python3
+#Generates communications code for the miniboard firmware, based on
+#a command protocol specification document (see docparse.py) supplied
+#as the first command-line argument.
+#
+#This code generation system has two goals: to allow commands to be easily added
+#to the spec prior to their implementation, and to ensure that all commands
+#function consistently. To accomplish this, all command-specific communication
+#code is generated automatically from the specification document.
+#For this to be possible, the code that actually carries out each command
+#must be placed elsewhere. 
+#
+#Conceptually, commands to the rover read and write registers in its memory.
+#This model makes separating communication and action easy. The automatically-generated
+#communication code reads and writes fields in a large global struct (also automatically
+#generated), with each field corresponding to a command argument.
+#
+#The output of this program is a source file and a header file containing the auto-generated
+#communication code. 
+#The global structure is called DataReal. Due to issues with the volatile qualifier
+#(the main code needs it, but the ISR doesn't), the main code accesses DataReal through
+#a pointer called Data.
+#The parse_packet(uint8_t *buf, uint16_t count) function initiates packet
+#parsing and dispatches the appropriate reply. buf must contain the command
+#byte as the first byte in the buffer. count must be the number of bytes in
+#the packet, not including the start or end bytes, and with escape bytes removed.
+#
+#The host program must provide a send_packet(uint8_t *data, uint16_t count) function
+#which adds start/end bytes and escapes special characters, then sends the packet
+#over the radio.
+#The host program must also provide a memcpy() function.
+#
+#Additionally, there is an asynchronous command element beyond the simple read/write memory
+#model. When a command includes a variable-length argument, a <command name>_trigger(uint8_t *data, uint16_t *len)
+#function will be called when the command is received. This function must be implemented by
+#the host code. The purpose of this mechanism is to notify the action code when the data
+#changes. The trigger function must be capable of being run in an interrupt.
+import sys
+from docparse import *
+
+def get_all_args(cmd_list):
+	"""Return a list of tuples (format code, argument name, note comment)."""
+	l = list()
+	for c in cmd_list:
+		for a in c["argument"]:
+			l += [(a[0], a[1], c["notes"])]
+	return l
+	
+def gen_struct_def(cmd_list):
+	s = "struct comm_data_t {\n"
+	for c in get_all_args(cmd_list):
+		dt = format_code_to_cstdint(c[0])
+		if "*" in dt:
+			#Arrays
+			s += "\t" + dt[0:-2] + " " + c[1] + "[%d];"%(2 ** int(dt[4:5])) + " /* " + c[2] + " */\n"
+		else:
+			s += "\t" + dt + " " + c[1] + ";" " /* " + c[2] + " */\n"
+	s += "};\n\n"
+	return s
+
+def gen_build_str_def():
+	"""Return a declaration for a progmem string containing information about the build."""
+	return ""
+
+def gen_build_str_dec():
+	"""Return a definition of a PROGMEM string containing information about the build."""
+	#Get name of person building firmware
+	#git config --get-all user.name
+	#Get repo revision
+	#git log | head -1 | cut -d " " -f 2
+	#Get branch
+	#git branch | grep "\*" | cut -d " " -f 2
+	#Get modified status
+	#Date, time, gcc version (__VERSION__)
+	s = "Miniboard Firmware rev "
+	return ""
+
+
+def gen_header(cmd_list):
+	"""Return a string containing the C header for the communication module."""
+	s = "/* Warning: This file is automatically generated. Do not modify. */\n"
+	s += "#ifndef COMMGEN_H\n"
+	s += "#define COMMGEN_H\n\n"
+	s += "#ifdef __cplusplus\n"
+	s += "extern \"C\" {\n"
+	s += "#endif\n\n"
+	s += "#include <stdint.h>\n\n"
+	s += gen_struct_def(cmd_list)
+	s += "/* To avoid the volatile qualifier being a pain in the ass, the main loop\n"
+	s += " * accesses the DataReal struct through this pointer. */\n"
+	s += "extern volatile struct comm_data_t *Data;\n\n"
+	s += "/* Parse a packet, update the struct, and send a reply. */\n"
+	s += "void parse_packet(uint8_t *buf, uint16_t count);\n\n"	
+	for c in cmd_list:
+		s += gen_send_proto(c) + "\n"
+		s + gen_parse_proto(c) + "\n"
+	s += gen_packing_protos()
+	s += gen_build_str_dec()
+	#s += "void send_packet(uint8_t *data, uint16_t count);\n\n"
+	s += "#ifdef __cplusplus\n"
+	s += "}\n"
+	s += "#endif\n\n"	
+	s += "#endif\n"
+	return s
+	
+def gen_struct_dec(cmd_list):
+	s = "struct comm_data_t DataReal = {\n"
+	for c in cmd_list:
+		for i,d in zip(list(range(0, len(c["default"]))), c["default"]):
+			s += "\t." + c["argument"][i][1] + " = " + d + ",\n"
+	s += "};\n"
+	s += "volatile struct comm_data_t *Data = &DataReal;\n"
+	return s
+	
+def gen_source(cmd_list):
+	s = "/* Warning: This file is automatically generated. Do not modify. */\n"
+	s += "#include <stdint.h>\n"
+	s += "#include <string.h>\n"
+	s += "#include \"commgen.h\"\n\n"
+	s += "#include \"comm.h\"\n\n"
+	s += gen_struct_dec(cmd_list)
+	for c in cmd_list:
+		s += gen_parse_func(c) + "\n"
+		s += gen_send_func(c, False) + "\n"
+	s += gen_packing_funcs()
+	s += gen_parse_packet_source(cmd_list)
+	s += gen_build_str_def()
+	return s
+
+def gen_parse_packet_source(cmd_list):
+	#TODO: check for count == 0
+	"""Return a string containing the source code to the 
+	     parse_packet(uint8_t *buf, uint16_t count)
+	   function, which parses a packet, updates values in the global Data structure,
+	   and dispatches a reply.
+	   The function relies on the following special functions:
+	     send_packet(uint8_t *data, uint16_t count) - send the given packet across the radio link.
+	                                                  The send_packet() function must add a start and end byte and 
+	                                                  escape characters where necessary.
+	   as well as the send_* and parse_* functions."""
+	s = ""
+	s += "void parse_packet(uint8_t *buf, uint16_t count){\n"
+	s += "\tuint8_t cmd = buf[0];\n"
+	s += "\tswitch(cmd){\n"
+	for c in cmd_list:
+		s += "\t\t/* %s */\n"%(c["name"])
+		s += "\t\tcase 0x%02X: /* (Write form) */\n"%c["code"]
+		s += "\t\t\tparse_%s(buf, "%cannon_name(c["name"])
+		add_trigger = False
+		for a in c["argument"]:
+			if a[0] == "*":
+				s += "DataReal.%s, "%(a[1])
+				add_trigger = True;
+			else:
+				s += "&(DataReal.%s), "%(a[1])
+		s = s[0:-2] + ");\n"
+		s += "\t\t\tbuf[0] = cmd;\n"
+		s += "\t\t\tsend_packet(buf, 1);\n"
+		if add_trigger:
+			s += "\t\t\t%s_trigger();\n"%cannon_name(c["name"])
+		s += "\t\t\tbreak;\n"
+		
+		s += "\t\tcase 0x%02X: /* (Read form) */\n"%(c["code"] | 0x80)
+		s += "\t\t\tsend_%s("%cannon_name(c["name"])
+		for a in c["argument"]:
+			s += "DataReal.%s, "%(a[1])
+		s = s[0:-2] + ");\n"
+		s += "\t\t\tbreak;\n"
+	s += "\t\tdefault:\n"
+	s += "\t\t\tbuf[0] = 0;\n"
+	s += "\t\t\tsend_packet(buf, 1);\n"
+	s += "\t\t\tbreak;\n"
+	s += "\t}\n}\n"
+	return s
+	#TODO: writeable stuff 
+		
+
+def main():
+	if len(sys.argv) != 4:
+		sys.stderr.write("error: wrong number of arguments. Expected path to spec file, source file, and header file.")
+	with open(sys.argv[1], "r") as f:
+		cmds = extract_table(f.read())
+		with open(sys.argv[3], "w") as f:
+			f.write(gen_header(cmds))
+		with open(sys.argv[2], "w") as f:
+			f.write(gen_source(cmds))
+
+if __name__ == "__main__":
+	main()
+