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Refactor obj_lines()
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Similar to the previous two, this splits up `obj_lines()` and fixes the
OCTET_STRING length calculation. It wasn't used so there's no change in
generated output.

While I was there I imported the byte-array-esque OD types directly and
replaced all the instances with the shorter names.
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@ThirteenFish
ThirteenFish committed Nov 26, 2024
1 parent 9a2204d commit 6bbf728
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Showing 2 changed files with 83 additions and 115 deletions.
196 changes: 82 additions & 114 deletions oresat_configs/scripts/gen_fw_files.py
View file
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
"""Generate a OreSat card's CANopenNode OD.[c/h] files"""

import math as m
import os
import sys
from argparse import ArgumentParser, Namespace
from itertools import chain
from typing import Any, Optional

import canopen
from canopen.objectdictionary.datatypes import DOMAIN, OCTET_STRING, UNICODE_STRING, VISIBLE_STRING

from .. import Mission, OreSatConfig

Expand Down Expand Up @@ -61,11 +61,6 @@ def register_subparser(subparsers: Any) -> None:
_SKIP_INDEXES = [0x1F81, 0x1F82, 0x1F89]
"""CANopenNode skips the data (it just set to NULL) for these indexes for some reason"""

DATA_TYPE_STR = [
canopen.objectdictionary.datatypes.VISIBLE_STRING,
canopen.objectdictionary.datatypes.UNICODE_STRING,
]

DATA_TYPE_C_TYPES = {
canopen.objectdictionary.datatypes.BOOLEAN: "bool_t",
canopen.objectdictionary.datatypes.INTEGER8: "int8_t",
Expand Down Expand Up @@ -151,7 +146,7 @@ def attr_lines(od: canopen.ObjectDictionary, index: int) -> list[str]:

if isinstance(obj, canopen.objectdictionary.Array):
lines = [f"{INDENT4}.x{index:X}_{obj.name}_sub0 = {obj[0].default},"]
if obj[list(obj.subindices)[1]].data_type == canopen.objectdictionary.datatypes.DOMAIN:
if obj[list(obj.subindices)[1]].data_type == DOMAIN:
return lines # skip domains

lines.append(
Expand All @@ -165,7 +160,7 @@ def attr_lines(od: canopen.ObjectDictionary, index: int) -> list[str]:
lines = [f"{INDENT4}.x{index:X}_{obj.name} = {{"]

for sub in obj.values():
if sub.data_type == canopen.objectdictionary.datatypes.DOMAIN:
if sub.data_type == DOMAIN:
continue # skip domains
lines.append(f"{INDENT8}.{sub.name} = {initializer(sub)},")
lines.append(INDENT4 + "},")
Expand All @@ -177,132 +172,104 @@ def attr_lines(od: canopen.ObjectDictionary, index: int) -> list[str]:
def _var_data_type_len(var: canopen.objectdictionary.Variable) -> int:
"""Get the length of the variable's data in bytes"""

if var.data_type in [
canopen.objectdictionary.datatypes.VISIBLE_STRING,
canopen.objectdictionary.datatypes.OCTET_STRING,
]:
length = len(var.default) # char
elif var.data_type == canopen.objectdictionary.datatypes.UNICODE_STRING:
length = len(var.default) * 2 # uint16_t
elif var.data_type == canopen.objectdictionary.datatypes.DOMAIN:
length = 0
else:
length = DATA_TYPE_C_SIZE[var.data_type] // 8

return length
if var.data_type in (VISIBLE_STRING, OCTET_STRING):
return len(var.default) # char
if var.data_type == UNICODE_STRING:
return len(var.default) * 2 # uint16_t
if var.data_type == DOMAIN:
return 0
return DATA_TYPE_C_SIZE[var.data_type] // 8


def _var_attr_flags(var: canopen.objectdictionary.Variable) -> str:
"""Generate the variable attribute flags str"""

attr_str = ""
attrs = []

if var.access_type in ["ro", "const"]:
attr_str += "ODA_SDO_R"
attrs.append("ODA_SDO_R")
if var.pdo_mappable:
attr_str += " | ODA_TPDO"
attrs.append("ODA_TPDO")
elif var.access_type == "wo":
attr_str += "ODA_SDO_W"
attrs.append("ODA_SDO_W")
if var.pdo_mappable:
attr_str += " | ODA_RPDO"
attrs.append("ODA_RPDO")
else:
attr_str += "ODA_SDO_RW"
attrs.append("ODA_SDO_RW")
if var.pdo_mappable:
attr_str += " | ODA_TRPDO"
attrs.append("ODA_TRPDO")

bytes_types = [
canopen.objectdictionary.DOMAIN,
canopen.objectdictionary.OCTET_STRING,
]
if var.data_type in DATA_TYPE_STR:
attr_str += " | ODA_STR"
elif var.data_type in bytes_types or (DATA_TYPE_C_SIZE[var.data_type] // 8) > 1:
attr_str += " | ODA_MB"

return attr_str
if var.data_type in (VISIBLE_STRING, UNICODE_STRING):
attrs.append("ODA_STR")
elif var.data_type in (DOMAIN, OCTET_STRING) or (DATA_TYPE_C_SIZE[var.data_type] // 8) > 1:
attrs.append("ODA_MB")

return " | ".join(attrs)

def obj_lines(od: canopen.ObjectDictionary, index: int) -> list[str]:
"""Generate lines for OD.c for a sepecific index"""

lines = []
def data_orig(index: int, obj: canopen.objectdictionary.Variable, name: str, arr: str = "") -> str:
"""Generates the dataOrig field for an OD_obj_*_t"""

obj = od[index]
name = obj.name
lines.append(f"{INDENT4}.o_{index:X}_{name} = " + "{")
if index in _SKIP_INDEXES or obj.data_type == DOMAIN:
return "NULL,"
if obj.data_type in (VISIBLE_STRING, OCTET_STRING, UNICODE_STRING):
return f"&OD_RAM.x{index:X}_{name}[0]{arr},"
return f"&OD_RAM.x{index:X}_{name}{arr},"

if isinstance(obj, canopen.objectdictionary.Variable):
if index in _SKIP_INDEXES or obj.data_type == canopen.objectdictionary.datatypes.DOMAIN:
lines.append(f"{INDENT8}.dataOrig = NULL,")
elif (
obj.data_type in DATA_TYPE_STR
or obj.data_type == canopen.objectdictionary.datatypes.OCTET_STRING
):
lines.append(f"{INDENT8}.dataOrig = &OD_RAM.x{index:X}_{name}[0],")
else:
lines.append(f"{INDENT8}.dataOrig = &OD_RAM.x{index:X}_{name},")

lines.append(f"{INDENT8}.attribute = {_var_attr_flags(obj)},")
lines.append(f"{INDENT8}.dataLength = {_var_data_type_len(obj)}")
elif isinstance(obj, canopen.objectdictionary.Array):
lines.append(f"{INDENT8}.dataOrig0 = &OD_RAM.x{index:X}_{name}_sub0,")
def obj_entry_body(index: int, obj: canopen.objectdictionary.Variable) -> list[str]:
"""Generates the body of an OD_obj_*_t entry"""

if isinstance(obj, canopen.objectdictionary.Variable):
return [
".dataOrig = " + data_orig(index, obj, obj.name),
f".attribute = {_var_attr_flags(obj)},",
f".dataLength = {_var_data_type_len(obj)}",
]
if isinstance(obj, canopen.objectdictionary.Array):
first_obj = obj[list(obj.subindices)[1]]
if (
index in _SKIP_INDEXES
or first_obj.data_type == canopen.objectdictionary.datatypes.DOMAIN
):
lines.append(f"{INDENT8}.dataOrig = NULL,")
elif first_obj.data_type in [
canopen.objectdictionary.datatypes.VISIBLE_STRING,
canopen.objectdictionary.datatypes.OCTET_STRING,
canopen.objectdictionary.datatypes.UNICODE_STRING,
]:
lines.append(f"{INDENT8}.dataOrig = &OD_RAM.x{index:X}_{name}[0][0],")
else:
lines.append(f"{INDENT8}.dataOrig = &OD_RAM.x{index:X}_{name}[0],")

lines.append(f"{INDENT8}.attribute0 = ODA_SDO_R,")
lines.append(f"{INDENT8}.attribute = {_var_attr_flags(first_obj)},")
length = _var_data_type_len(first_obj)
lines.append(f"{INDENT8}.dataElementLength = {length},")

c_name = DATA_TYPE_C_TYPES[first_obj.data_type]
if first_obj.data_type == canopen.objectdictionary.datatypes.DOMAIN:
lines.append(f"{INDENT8}.dataElementSizeof = 0,")
elif first_obj.data_type in DATA_TYPE_STR:
sub_length = len(first_obj.default) + 1 # add 1 for '\0'
lines.append(f"{INDENT8}.dataElementSizeof = sizeof({c_name}[{sub_length}]),")
elif first_obj.data_type == canopen.objectdictionary.datatypes.OCTET_STRING:
sub_length = m.ceil(len(first_obj.default.replace(" ", "")) / 2)
lines.append(f"{INDENT8}.dataElementSizeof = sizeof({c_name}[{sub_length}]),")
if first_obj.data_type == DOMAIN:
size = "0"
elif first_obj.data_type in (VISIBLE_STRING, UNICODE_STRING):
size = f"sizeof({c_name}[{len(first_obj.default) + 1}])" # add 1 for '\0'
elif first_obj.data_type == OCTET_STRING:
size = f"sizeof({c_name}[{len(first_obj.default)}])"
else:
lines.append(f"{INDENT8}.dataElementSizeof = sizeof({c_name}),")
else: # ObjectType.DOMAIN
for i in obj:
name_sub = obj[i].name
lines.append(INDENT8 + "{")

if obj[i].data_type == canopen.objectdictionary.datatypes.DOMAIN:
lines.append(f"{INDENT12}.dataOrig = NULL,")
elif obj[i].data_type in [
canopen.objectdictionary.datatypes.VISIBLE_STRING,
canopen.objectdictionary.datatypes.OCTET_STRING,
canopen.objectdictionary.datatypes.UNICODE_STRING,
]:
line = f"{INDENT12}.dataOrig = &OD_RAM.x{index:X}_{name}.{name_sub}[0],"
lines.append(line)
else:
lines.append(f"{INDENT12}.dataOrig = &OD_RAM.x{index:X}_{name}.{name_sub},")
size = f"sizeof({c_name})"

return [
f".dataOrig0 = &OD_RAM.x{index:X}_{obj.name}_sub0,",
".dataOrig = " + data_orig(index, first_obj, obj.name, "[0]"),
".attribute0 = ODA_SDO_R,",
f".attribute = {_var_attr_flags(first_obj)},",
f".dataElementLength = {_var_data_type_len(first_obj)},",
f".dataElementSizeof = {size},",
]
if isinstance(obj, canopen.objectdictionary.Record):
return [
line
for i, sub in obj.items()
for line in [
"{",
f"{INDENT4}.dataOrig = " + data_orig(index, sub, f"{obj.name}.{sub.name}"),
f"{INDENT4}.subIndex = {i},",
f"{INDENT4}.attribute = {_var_attr_flags(sub)},",
f"{INDENT4}.dataLength = {_var_data_type_len(sub)}",
"},",
]
]
raise TypeError(f"Invalid object {obj.name} type: {type(obj)}")

lines.append(f"{INDENT12}.subIndex = {i},")
lines.append(f"{INDENT12}.attribute = {_var_attr_flags(obj[i])},")
lines.append(f"{INDENT12}.dataLength = {_var_data_type_len(obj[i])}")
lines.append(INDENT8 + "},")

lines.append(INDENT4 + "},")
def obj_lines(od: canopen.ObjectDictionary, index: int) -> list[str]:
"""Generate lines for OD.c for a specific index"""

return lines
return [
f"{INDENT4}.o_{index:X}_{od[index].name} = {{",
*(INDENT8 + line for line in obj_entry_body(index, od[index])),
f"{INDENT4}}},",
]


def write_canopennode_c(od: canopen.ObjectDictionary, dir_path: str = ".") -> None:
Expand Down Expand Up @@ -394,11 +361,11 @@ def decl_type(obj: canopen.objectdictionary.Variable, name: str) -> list[str]:
"""Generates a type declaration for an ODVariable"""

ctype = DATA_TYPE_C_TYPES
if obj.data_type == canopen.objectdictionary.datatypes.DOMAIN:
if obj.data_type == DOMAIN:
return [] # skip domains
if obj.data_type in DATA_TYPE_STR:
if obj.data_type in (VISIBLE_STRING, UNICODE_STRING):
return [f"{INDENT4}{ctype[obj.data_type]} {name}[{len(obj.default) + 1}];"] # + 1 for '\0'
if obj.data_type == canopen.objectdictionary.datatypes.OCTET_STRING:
if obj.data_type == OCTET_STRING:
return [f"{INDENT4}{ctype[obj.data_type]} {name}[{len(obj.default)}];"]
return [f"{INDENT4}{ctype[obj.data_type]} {name};"]

Expand All @@ -416,9 +383,10 @@ def _canopennode_h_lines(od: canopen.ObjectDictionary, index: int) -> list[str]:
return decl_type(obj, name)
if isinstance(obj, canopen.objectdictionary.Array):
sub = obj[list(obj.subindices)[1]]
lines = [f"{INDENT4}uint8_t {name}_sub0;"]
lines.extend(decl_type(sub, f"{name}[OD_CNT_ARR_{index:X}]"))
return lines
return [
f"{INDENT4}uint8_t {name}_sub0;",
*decl_type(sub, f"{name}[OD_CNT_ARR_{index:X}]"),
]
if isinstance(obj, canopen.objectdictionary.Record):
lines = [f"{INDENT4}struct {{"]
for sub in obj.values():
Expand Down
2 changes: 1 addition & 1 deletion pyproject.toml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ path = "*/__init__.py"
ignore = "W0611,R0903"

[[tool.mypy.overrides]]
module = "canopen,canopen.objectdictionary"
module = "canopen,canopen.objectdictionary,canopen.objectdictionary.datatypes"
ignore_missing_imports = true

[tool.isort]
Expand Down

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