Add msg registry generation

firmware/shared/comms/can/can_msg.h

@@ -48,6 +48,13 @@ class CanTxMsg : public CanMsg {
                                     mask);
     }
 
+    template <typename T>
+    static inline uint8_t pack_right_shift(T value, uint8_t shift,
+                                          uint8_t mask) {
+        return static_cast<uint8_t>(static_cast<uint8_t>(value >> shift) &
+                                    mask);
+    }
+
     friend class CanBus;
 };
 

scripts/canal/canParser.ipynb

@@ -270,13 +270,25 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 43,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Rendered code written to 'can_messages.h'\n",
+      "Rendered code written to 'msg_registry.h'\n"
+     ]
+    }
+   ],
    "source": [
     "# Read the template string from a file\n",
     "with open('canal_messages.jinja2', 'r') as file:\n",
-    "    template_str = file.read()\n",
+    "    canal_messages_template = file.read()\n",
+    "    \n",
+    "with open('canal_msg_registry.jinja2', 'r') as file:\n",
+    "    message_registry_template = file.read()\n",
     "\n",
     "# Create the environment with trim_blocks and lstrip_blocks settings\n",
     "env = Environment(trim_blocks=True, lstrip_blocks=True)\n",
@@ -286,7 +298,8 @@
     "env.filters['decimal_to_hex'] = decimal_to_hex\n",
     "\n",
     "# Load the template from the string content\n",
-    "template = env.from_string(template_str)\n",
+    "msgs_template = env.from_string(canal_messages_template)\n",
+    "registry_template = env.from_string(message_registry_template)\n",
     "\n",
     "# Define your context dictionary\n",
     "context = {\n",
@@ -297,16 +310,25 @@
     "    'temp_signal_types': temp_signal_types,\n",
     "    'unpack_info': unpack_info,\n",
     "    'pack_info': pack_info,\n",
+    "    'bus_name': \"Veh\"\n",
     "}\n",
     "\n",
     "# Render the template with the context\n",
-    "rendered_code = template.render(**context)\n",
+    "rendered_code = msgs_template.render(**context)\n",
+    "\n",
+    "# Write the rendered code to a file\n",
+    "with open('../../firmware/projects/DemoCan/generated/can_messages.h', 'w') as output_file:\n",
+    "    output_file.write(rendered_code)\n",
+    "\n",
+    "print(f\"Rendered code written to 'can_messages.h'\")\n",
+    "\n",
+    "rendered_code = registry_template.render(**context)\n",
     "\n",
     "# Write the rendered code to a file\n",
-    "with open('can_messages.h', 'w') as output_file:\n",
+    "with open('../../firmware/projects/DemoCan/generated/msg_registry.h', 'w') as output_file:\n",
     "    output_file.write(rendered_code)\n",
     "\n",
-    "print(f\"Rendered code written to 'can_messages.h'\")"
+    "print(f\"Rendered code written to 'msg_registry.h'\")"
    ]
   }
  ],

scripts/canal/canal_messages.jinja2

@@ -14,7 +14,7 @@
 #pragma once
 
 #include "shared/comms/can/can_msg.h"
-#include "shared/comms/can/raw_can_msg.h
+#include "shared/comms/can/raw_can_msg.h"
 
 namespace generated::can {
 
@@ -42,7 +42,7 @@ private:
     static constexpr {{ sig_var_type }} k{{ sig.name }}Offset = {{ sig.offset }};
     {% endfor %}
 
-    shared::can::CanId Id() const { return kCanId; } override
+    shared::can::CanId Id() const override { return kCanId; } 
 
     void Clone(shared::can::CanRxMsg& rx_msg) const override {
         {{ class_name }}* p_rx_msg =  static_cast<{{ class_name }}*>(&rx_msg);
@@ -53,7 +53,7 @@ private:
     {% endfor %}
     }
 
-    void Unpack(shared::can::RawCanMsg& raw_msg) override {
+    void Unpack(const shared::can::RawCanMsg& raw_msg) override {
         if (raw_msg.header.id != kCanId) {
             return;
         }
@@ -66,6 +66,7 @@ private:
     {% for sig in msg.signals %}
         {% set masks, shifts = unpack_info[msg.name][sig.name] %}
         {% set temp_sig_var = "temp_" + sig.name | camel_to_snake %}
+        {% set temp_sig_var_type = temp_signal_types[msg.name][sig.name] %}
         {% set sig_var = sig.name | camel_to_snake %}
         {% set sig_var_type = signal_types[msg.name][sig.name] %}
         {% set sig_var_scale = "k" + sig.name + "Scale" %}
@@ -75,9 +76,9 @@ private:
             {% set shift = shifts[i] %}
             {% if mask != 0 %}
                 {% if shift >= 0 %}
-        {{ temp_sig_var }} |= unpack_left_shift(raw_msg.data[{{ i }}], {{ shift }}U, {{ mask | decimal_to_hex }}U);
+        {{ temp_sig_var }} |= unpack_left_shift<{{ temp_sig_var_type }}>(raw_msg.data[{{ i }}], {{ shift }}U, {{ mask | decimal_to_hex }}U);
                 {% else %}
-        {{ temp_sig_var }} |= unpack_right_shift(raw_msg.data[{{ i }}], {{ -shift }}U, {{ mask | decimal_to_hex }}U);
+        {{ temp_sig_var }} |= unpack_right_shift<{{ temp_sig_var_type }}>(raw_msg.data[{{ i }}], {{ -shift }}U, {{ mask | decimal_to_hex }}U);
                 {% endif %}
             {% endif %}
         {% endfor %}
@@ -144,9 +145,9 @@ private:
             {% set shift = shifts[i] %}
             {% if mask != 0 %}
                 {% if shift >= 0 %}
-        temp_raw_msg[{{ i }}] |= pack_right_shift({{ temp_sig_var }}, {{ shift }}U, {{ mask | decimal_to_hex }}U);
+        temp_raw_msg.data[{{ i }}] |= pack_right_shift({{ temp_sig_var }}, {{ shift }}U, {{ mask | decimal_to_hex }}U);
                 {% else %}
-        temp_raw_msg[{{ i }}] |= pack_left_shift({{ temp_sig_var }}, {{ -(shift) }}U, {{ mask | decimal_to_hex }}U);
+        temp_raw_msg.data[{{ i }}] |= pack_left_shift({{ temp_sig_var }}, {{ -(shift) }}U, {{ mask | decimal_to_hex }}U);
                 {% endif %}
             {% endif %}
         {% endfor %}
@@ -155,7 +156,6 @@ private:
         // Copy temp raw msg to raw msg
         raw_msg = temp_raw_msg;
     }
-
 };
 {% endfor %}
 

scripts/canal/canal_msg_registry.jinja2

@@ -0,0 +1,72 @@
+/// @author Samuel Parent
+/// @date {{ date }}
+
+#pragma once
+
+#include "can_messages.h"
+#include "shared/comms/can/can_msg.h"
+#include "shared/comms/can/msg_registry.h"
+#include "shared/comms/can/raw_can_msg.h"
+#include "third-party/etl/include/etl/unordered_map.h"
+
+namespace generated::can {
+
+{% set reg_class_name = bus_name + "MsgRegistry" %}
+class {{ reg_class_name }} : public shared::can::MsgRegistry {
+public:
+    bool SetMessage(const shared::can::RawCanMsg& raw_msg) {
+        bool msg_found = false;
+
+        if (rx_msg_map_.count(raw_msg.header.id) > 0) {
+            msg_found = true;
+
+            Unpack(rx_msg_map_[raw_msg.header.id], raw_msg);
+        }
+
+        return msg_found;
+    }
+
+    bool GetMessage(shared::can::CanRxMsg& rx_msg) {
+        bool msg_found = false;
+
+        shared::can::CanId mid = MsgId(&rx_msg);
+
+        if (rx_msg_map_.count(mid) > 0) {
+            msg_found = true;
+
+            Clone(rx_msg_map_[mid], rx_msg);
+        }
+
+        return msg_found;
+    }
+
+private:
+    static constexpr size_t kNumRxMsgs = {{ rx_msgs | length }};
+
+    // Message IDs
+    {% for msg in rx_msgs %}
+    {% set class_name = msg.name %}
+    {% set class_const = "k" + class_name + "CanId" %}
+    {% set hex_id = msg.frame_id | decimal_to_hex %}
+    static constexpr shared::can::CanId {{ class_const }} = {{ hex_id }};
+    {% endfor %}
+
+    // Can Rx Messages
+    {% for msg in rx_msgs %}
+    {% set class_name = msg.name %}
+    {% set class_var = (class_name | camel_to_snake) + "_" %}
+    {{ class_name }} {{ class_var }};
+    {% endfor %}
+
+    etl::unordered_map<shared::can::CanId, shared::can::CanRxMsg*, kNumRxMsgs>
+    {% for msg in rx_msgs %}
+    {% set class_name = msg.name %}
+    {% set class_var = (class_name | camel_to_snake) + "_" %}
+    {% set msg_id = "k" + class_name + "CanId" %}
+    rx_msg_map_ = {
+        { {{ msg_id }}, &{{class_var}} },
+    };
+    {% endfor %}
+};
+
+}  // namespace generated::can