diff --git a/docs/docs/firmware/dev-setup.md b/docs/docs/firmware/dev-setup.md index d07b5f189..ee8c9e627 100644 --- a/docs/docs/firmware/dev-setup.md +++ b/docs/docs/firmware/dev-setup.md @@ -150,7 +150,7 @@ Navigate to a directory where you would like to hold the `racecar` repo (I used git clone --recurse-submodules https://github.com/macformula/racecar.git -## Install CANgen dependencies +## Install CANgen Create a Python virtual environment for CANgen. Navigate into `racecar/firmware` and run. @@ -168,14 +168,16 @@ Create a Python virtual environment for CANgen. Navigate into `racecar/firmware` source .env/bin/activate ``` -The second command "activates" the virtual environment. You will see `(.env)` beside your terminal prompt when it is activated, and it must be activated before building any project. +The second command "activates" the virtual environment. You will see `(.env)` beside your terminal prompt when it is activated. __It must be activated before building any project.__ -Finally, with the environment activated, install the CANgen requirements. +With the environment activated, change into `racecar/` and install CANgen: ```bash -pip install -r ../scripts/cangen/requirements.txt +pip install -e scripts/cangen ``` +> The `-e` flag is _very_ important. It install CANgen as an editable package which means you won't have to reinstall when the package is changed. + You can now start developing in `racecar`! However, I recommend you configure your IDE with `clangd`, so continue to the next section. ## IDE Integration diff --git a/firmware/cmake/cangen.cmake b/firmware/cmake/cangen.cmake index 9336c671d..6f308158b 100644 --- a/firmware/cmake/cangen.cmake +++ b/firmware/cmake/cangen.cmake @@ -1,22 +1,14 @@ -find_package(Python3 COMPONENTS Interpreter) -message(${Python3_EXECUTABLE}) - -if(NOT ${Python3_FOUND}) - message(FATAL_ERROR "Python 3 executable not found") -endif() - -FILE(GLOB_RECURSE CAN_DEPENDENCIES CONFIGURE_DEPENDS "${CMAKE_SOURCE_DIR}/../scripts/cangen/*" "${CMAKE_SOURCE_DIR}/dbcs/*") - list(APPEND CAN_DEPENDENCIES "${CMAKE_CURRENT_SOURCE_DIR}/config.yaml") cmake_language(GET_MESSAGE_LOG_LEVEL LOG_LEVEL) +# cangen is provided by racecar/scripts/cangen add_custom_target( generated_can - COMMAND ${Python3_EXECUTABLE} "${CMAKE_SOURCE_DIR}/../scripts/cangen/main.py" "--project=\"${CMAKE_CURRENT_SOURCE_DIR}\"" "--log-level=${LOG_LEVEL}" - DEPENDS ${CAN_DEPENDENCIES} - WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} - COMMENT Generating CAN code from DBCs + COMMAND "cangen" ${CMAKE_CURRENT_SOURCE_DIR} "--log-level=${LOG_LEVEL}" + DEPENDS ${CAN_DEPENDENCIES} + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + COMMENT Generating CAN code from DBCs ) add_dependencies(main generated_can) diff --git a/firmware/projects/EV5/FrontController/config.yaml b/firmware/projects/EV5/FrontController/config.yaml index d2135f17f..56dff5a56 100644 --- a/firmware/projects/EV5/FrontController/config.yaml +++ b/firmware/projects/EV5/FrontController/config.yaml @@ -2,8 +2,6 @@ canGen: ourNode: fc busses: - busName: veh - dbcFiles: - - "../veh.dbc" + dbcFile: "../veh.dbc" - busName: pt - dbcFiles: - - "../pt.dbc" + dbcFile: "../pt.dbc" diff --git a/firmware/projects/EV5/LVController/config.yaml b/firmware/projects/EV5/LVController/config.yaml index 3a30623c2..325701615 100644 --- a/firmware/projects/EV5/LVController/config.yaml +++ b/firmware/projects/EV5/LVController/config.yaml @@ -2,5 +2,4 @@ canGen: ourNode: lvc busses: - busName: veh - dbcFiles: - - "../veh.dbc" \ No newline at end of file + dbcFile: "../veh.dbc" \ No newline at end of file diff --git a/firmware/projects/EV5/TMS/config.yaml b/firmware/projects/EV5/TMS/config.yaml index ca6c88649..8ff0acebd 100644 --- a/firmware/projects/EV5/TMS/config.yaml +++ b/firmware/projects/EV5/TMS/config.yaml @@ -2,5 +2,4 @@ canGen: ourNode: tms busses: - busName: veh - dbcFiles: - - "../veh.dbc" + dbcFile: "../veh.dbc" \ No newline at end of file diff --git a/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml b/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml index 44d67931a..5e933b995 100644 --- a/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml +++ b/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml @@ -2,8 +2,6 @@ canGen: ourNode: fc busses: - busName: veh - dbcFiles: - - "../../veh.dbc" + dbcFile: "../../veh.dbc" - busName: pt - dbcFiles: - - "../../pt.dbc" + dbcFile: "../../pt.dbc" diff --git a/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml b/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml index 88bc63970..0a47cb787 100644 --- a/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml +++ b/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml @@ -2,5 +2,4 @@ canGen: ourNode: FC busses: - busName: io - dbcFiles: - - "io.dbc" + dbcFile: "io.dbc" diff --git a/firmware/projects/EV5/debug/MotorDebug/config.yaml b/firmware/projects/EV5/debug/MotorDebug/config.yaml index 238f2d0e1..666201815 100644 --- a/firmware/projects/EV5/debug/MotorDebug/config.yaml +++ b/firmware/projects/EV5/debug/MotorDebug/config.yaml @@ -2,5 +2,4 @@ canGen: ourNode: FRONTCONTROLLER busses: - busName: vehicle - dbcFiles: - - "pedal.dbc" + dbcFile: "pedal.dbc" diff --git a/scripts/cangen/README.md b/scripts/cangen/README.md new file mode 100644 index 000000000..303c1f64c --- /dev/null +++ b/scripts/cangen/README.md @@ -0,0 +1,43 @@ +# Cangen + +Generates C++ files from a corresponding dbc file. Ensures repeatable generation between all projects. + +## Installation + +From the `racecar/` directory, run + +```bash +pip install scripts/cangen +``` + +## Usage + +To generate CAN code for a project, execute `cangen` and pass the project folder. The project folder is the one which contains `config.yaml`. + +## Example + +If you are in the `racecar/firmware/` directory, you could generate `EV5/FrontController` code with + +```bash +cangen projects/EV5/FrontController +``` + +This command will generate code in a `generated/can/` subfolder of the project. + +``` +FrontController +├─ fc_docs +├─ generated/can +│  ├─ .gitignore +│  ├─ pt_can_messages.h +│  ├─ pt_msg_registry.h +│  ├─ veh_can_messages.h +│  └─ veh_msg_registry.h +├─ inc +├─ platforms +├─ vehicle_control_system +├─ CMakeLists.txt +├─ config.yaml +├─ main.cc +└─ README.md +``` diff --git a/scripts/cangen/cangen/__init__.py b/scripts/cangen/cangen/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/scripts/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py similarity index 78% rename from scripts/cangen/can_generator.py rename to scripts/cangen/cangen/can_generator.py index e8bdb7a72..d41dc6436 100644 --- a/scripts/cangen/can_generator.py +++ b/scripts/cangen/cangen/can_generator.py @@ -7,6 +7,7 @@ import math import os import re +import shutil import time from typing import Dict, List, Tuple @@ -14,6 +15,8 @@ from cantools.database import Database, Message, Signal from jinja2 import Environment +from .config import Bus, Config + logger = logging.getLogger(__name__) EIGHT_BITS = 8 @@ -22,43 +25,45 @@ MSG_REGISTRY_FILE_NAME = "_msg_registry.h" CAN_MESSAGES_FILE_NAME = "_can_messages.h" +CAN_MESSAGES_TEMPLATE_FILENAME = "can_messages.h.jinja2" +MSG_REGISTRY_TEMPLATE_FILENAME = "msg_registry.h.jinja2" -def _assert_valid_dbc(filename: str): - """Raise an error if filename is not a valid and existant dbc file.""" - - if not os.path.isfile(filename): - raise FileNotFoundError(f"Could not find a file at {filename}.") - - _, extension = os.path.splitext(filename) - if extension != ".dbc": - raise ValueError(f"{filename} is not a .dbc file.") +DIR_THIS_FILE = os.path.abspath(os.path.dirname(__file__)) +DIR_TEMPLATES = os.path.join(DIR_THIS_FILE, "templates") +CAN_MESSAGES_TEMPLATE_PATH = os.path.join(DIR_TEMPLATES, CAN_MESSAGES_TEMPLATE_FILENAME) +MSG_REGISTRY_TEMPLATE_PATH = os.path.join(DIR_TEMPLATES, MSG_REGISTRY_TEMPLATE_FILENAME) - logger.debug(f"{filename} is a valid dbc file.") - -def _parse_dbc_files(dbc_files: List[str]) -> Database: - logger.info(f"Parsing DBC files: {dbc_files}") +def _parse_dbc_files(dbc_file: str) -> Database: + logger.info(f"Parsing DBC files: {dbc_file}") can_db = Database() - for dbc_file in dbc_files: - _assert_valid_dbc(dbc_file) - with open(dbc_file, "r") as f: - can_db.add_dbc(f) - logger.info(f"Successfully added DBC: {dbc_file}") + with open(dbc_file, "r") as f: + can_db.add_dbc(f) + logger.info(f"Successfully added DBC: {dbc_file}") return can_db -def _normalize_node_name( - node_name: str -) -> str: + +def _normalize_node_name(node_name: str) -> str: return node_name.upper() + def _filter_messages_by_node( messages: List[Message], node: str ) -> Tuple[List[Message], List[Message]]: normalized_node_name = _normalize_node_name(node) - tx_msgs = [msg for msg in messages if normalized_node_name in map(_normalize_node_name, msg.senders)] - rx_msgs = [msg for msg in messages if normalized_node_name in map(_normalize_node_name, msg.receivers)] + + tx_msgs = [ + msg + for msg in messages + if normalized_node_name in map(_normalize_node_name, msg.senders) + ] + rx_msgs = [ + msg + for msg in messages + if normalized_node_name in map(_normalize_node_name, msg.receivers) + ] logger.debug( f"Filtered messages by node: {node}. " @@ -91,7 +96,6 @@ def _get_mask_shift_big( def _get_mask_shift_little( length: int, start: int ) -> Tuple[np.ndarray[int], np.ndarray[int]]: - idx = np.arange(64) mask_bool = (idx >= start) & (idx < start + length) mask_bytes = np.packbits(mask_bool, bitorder="little") @@ -107,7 +111,6 @@ def _get_mask_shift_little( def _get_masks_shifts( msgs: List[Message], ) -> Dict[str, Dict[str, Tuple[List[int], List[int]]]]: - # Create a dictionary of empty dictionaries, indexed by message names masks_shifts_dict = {msg.name: {} for msg in msgs} @@ -151,7 +154,6 @@ def _get_signal_datatype(signal: Signal, allow_floating_point: bool = True) -> s def _get_signal_types(can_db: Database, allow_floating_point=True): - # Create a dictionary (indexed by message name) of dictionaries (indexed by signal # name) corresponding to the datatype of each signal within each message. sig_types = { @@ -174,20 +176,6 @@ def _camel_to_snake(text): return re.sub("([a-z0-9])([A-Z])", r"\1_\2", s1).lower() -def _decimal_to_hex(decimal_value): - """ - Converts a non-negative decimal integer to a lowercase hexadecimal string. - - Raises: - ValueError: If the input is negative. - """ - - if decimal_value < 0: - raise ValueError("Input must be a non-negative integer") - - return hex(decimal_value) - - def _generate_from_jinja2_template( template_path: str, output_path: str, context_dict: dict ): @@ -200,7 +188,7 @@ def _generate_from_jinja2_template( # Register the camel_to_snake filter env.filters["camel_to_snake"] = _camel_to_snake - env.filters["decimal_to_hex"] = _decimal_to_hex + env.filters["decimal_to_hex"] = hex # Load the template from the string content template = env.from_string(template_str) @@ -224,14 +212,7 @@ def _generate_from_jinja2_template( logger.info(f"Rendered code written to '{os.path.abspath(output_path)}'") -def generate_code( - dbc_files: List[str], - our_node: str, - bus_name: str, - output_dir: str, - can_messages_template_path: str, - msg_registry_template_path: str, -): +def generate_code(bus: Bus, config: Config): """ Parses DBC files, extracts information, and generates code using Jinja2 templates. @@ -241,9 +222,13 @@ def generate_code( templates (not included here) to create the final code. """ + dbc_file = bus.dbc_file_path + our_node = config.node + bus_name = bus.bus_name + logger.info("Generating code") - can_db = _parse_dbc_files(dbc_files) + can_db = _parse_dbc_files(dbc_file) signal_types = _get_signal_types(can_db) temp_signal_types = _get_signal_types(can_db, allow_floating_point=False) @@ -266,19 +251,30 @@ def generate_code( "bus_name": bus_name, } - # Replace these lines with your Jinja2 template logic logger.debug("Generating code for can messages") _generate_from_jinja2_template( - can_messages_template_path, - os.path.join(output_dir, bus_name.lower() + CAN_MESSAGES_FILE_NAME), + CAN_MESSAGES_TEMPLATE_PATH, + os.path.join(config.output_dir, bus_name.lower() + CAN_MESSAGES_FILE_NAME), context, ) logger.debug("Generating code for msg registry") _generate_from_jinja2_template( - msg_registry_template_path, - os.path.join(output_dir, bus_name.lower() + MSG_REGISTRY_FILE_NAME), + MSG_REGISTRY_TEMPLATE_PATH, + os.path.join(config.output_dir, bus_name.lower() + MSG_REGISTRY_FILE_NAME), context, ) logger.info("Code generation complete") + + +def generate_can_from_dbc(project_folder_name: str): + os.chdir(project_folder_name) + config = Config.from_yaml("config.yaml") + + # Deletes output path folder and files within, before creating new ones + if os.path.exists(config.output_dir): + shutil.rmtree(config.output_dir) + + for bus in config.busses: + generate_code(bus, config) diff --git a/scripts/cangen/cangen/config.py b/scripts/cangen/cangen/config.py new file mode 100644 index 000000000..f5394697c --- /dev/null +++ b/scripts/cangen/cangen/config.py @@ -0,0 +1,34 @@ +from __future__ import annotations +import yaml + +DEFAULT_OUTPUT_DIR = "generated/can" + + +class Bus: + def __init__(self, bus: dict): + self.dbc_file_path: str = bus.pop("dbcFile") + self.bus_name: str = bus.pop("busName").capitalize() + + if bus: + raise ValueError( + f"{bus.keys()} field/s not expected in configuration file for bus {self.bus_name}." + ) + + +class Config: + @staticmethod + def from_yaml(config_file_name: str) -> Config: + with open(config_file_name, "r") as file: + config = yaml.safe_load(file) + return Config(config.pop("canGen")) + + def __init__(self, config: dict): + self.node = config.pop("ourNode") + self.output_dir = config.pop("outputPath", DEFAULT_OUTPUT_DIR) + + self.busses = [Bus(bus) for bus in config.pop("busses")] + + if config: + raise ValueError( + f"{config.keys()} field/s not expected in configuration file from node." + ) diff --git a/scripts/cangen/cangen/main.py b/scripts/cangen/cangen/main.py new file mode 100644 index 000000000..f2912e7fe --- /dev/null +++ b/scripts/cangen/cangen/main.py @@ -0,0 +1,42 @@ +""" +Author: Samuel Parent +Date: 2024-04-13 +""" + +import argparse +import logging + +from .can_generator import generate_can_from_dbc + +logging.basicConfig(level="INFO", format="%(levelname)-8s| (%(name)s) %(message)s") +logger = logging.getLogger(__name__) + + +def parse(): + parser = argparse.ArgumentParser(description="DBC to C code generator") + parser.add_argument("project", type=str, help="Name of the project") + parser.add_argument( + "--log-level", + dest="level", + choices=["STATUS", "INFO", "VERBOSE", "DEBUG"], + default="INFO", + help="Log verbosity threshold", + ) + + # If parsing fails (ex incorrect or no arguments provided) then this exits with + # code 2. + return parser.parse_args() + + +def main(): + args = parse() + + cmake_to_python_level = { + "STATUS": "INFO", + "INFO": "INFO", + "VERBOSE": "DEBUG", + "DEBUG": "DEBUG", + } + logger.setLevel(cmake_to_python_level[args.level]) + + generate_can_from_dbc(args.project) diff --git a/scripts/cangen/templates/can_messages.h.jinja2 b/scripts/cangen/cangen/templates/can_messages.h.jinja2 similarity index 100% rename from scripts/cangen/templates/can_messages.h.jinja2 rename to scripts/cangen/cangen/templates/can_messages.h.jinja2 diff --git a/scripts/cangen/templates/msg_registry.h.jinja2 b/scripts/cangen/cangen/templates/msg_registry.h.jinja2 similarity index 100% rename from scripts/cangen/templates/msg_registry.h.jinja2 rename to scripts/cangen/cangen/templates/msg_registry.h.jinja2 diff --git a/scripts/cangen/main.py b/scripts/cangen/main.py deleted file mode 100644 index 6fd651a03..000000000 --- a/scripts/cangen/main.py +++ /dev/null @@ -1,99 +0,0 @@ -""" -Author: Samuel Parent -Date: 2024-04-13 -""" - -import argparse -import logging -import os - -import can_generator -import yaml -import shutil - -# Generate a set of directory paths, all based on this file's location -DIR_THIS_FILE = os.path.abspath(os.path.dirname(__file__)) - -DIR_FIRMWARE = os.path.join(DIR_THIS_FILE, os.pardir, os.pardir, "firmware") -DIR_PROJECTS = os.path.join(DIR_FIRMWARE, "projects") - -CONFIG_FILE_NAME = "config.yaml" -DEFAULT_OUTPUT_DIR = "generated/can" - -DIR_TEMPLATES = os.path.join(DIR_THIS_FILE, "templates") -CAN_MESSAGES_TEMPLATE_FILENAME = "can_messages.h.jinja2" -MSG_REGISTRY_TEMPLATE_FILENAME = "msg_registry.h.jinja2" - - -logging.basicConfig(level="INFO", format="%(levelname)-8s| (%(name)s) %(message)s") - - -def parse(): - parser = argparse.ArgumentParser(description="DBC to C code generator") - parser.add_argument( - "--project", type=str, required=True, help="Name of the project" - ) - parser.add_argument( - "--log-level", dest='level', choices=["STATUS", "INFO", "VERBOSE", "DEBUG"], default="INFO", help="Log verbosity threshold" - ) - - # If parsing fails (ex incorrect or no arguments provided) then this exits with - # code 2. - return parser.parse_args() - - -if __name__ == "__main__": - - # Change directory to the project folder - args = parse() - project_folder_name = args.project - os.chdir(os.path.join(DIR_PROJECTS, project_folder_name)) - - # Map CMAKE log levels -> Python log levels - log_level_mappings = { - "STATUS": "INFO", - "INFO": "INFO", - "VERBOSE": "DEBUG", - "DEBUG": "DEBUG" - } - # Set log level threshold to specified verbosity - logging.getLogger().setLevel(log_level_mappings[args.level]) - - # Read & Parse the config file - with open(CONFIG_FILE_NAME, "r") as file: - config = yaml.safe_load(file) - - config_file_path = os.path.abspath(CONFIG_FILE_NAME) - - our_node = config["canGen"]["ourNode"] - bus_list = config["canGen"]["busses"] - output_path = config["canGen"].get("outputPath", DEFAULT_OUTPUT_DIR) - - # Deletes output path folder and files within, before creating new ones - if os.path.exists(output_path): - shutil.rmtree(output_path) - - for bus in bus_list: - # import pdb - - # pdb.set_trace() - bus_name = bus['busName'].capitalize() - dbc_files = bus['dbcFiles'] - - dbc_file_paths = [os.path.normpath(os.path.join(os.path.dirname(config_file_path), dbc)) for dbc in dbc_files] - - can_messages_template_path = os.path.join( - DIR_TEMPLATES, CAN_MESSAGES_TEMPLATE_FILENAME - ) - msg_registry_template_path = os.path.join( - DIR_TEMPLATES, MSG_REGISTRY_TEMPLATE_FILENAME - ) - - 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