Merge pull request #2 from UOA-FSAE/main

merge latest main for definitions

.github/workflows/validator.yml

@@ -0,0 +1,33 @@
+# This workflow will install Python dependencies, run tests and lint with a single version of Python
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python
+
+name: Python application
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python 3.10
+      uses: actions/setup-python@v3
+      with:
+        python-version: "3.10"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pyyaml
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+    - name: Run validator
+      run: |
+        python validator.py

definitions.yml

@@ -0,0 +1,13 @@
+---
+can:
+  - name: "can1"
+    baudrate: 1000
+  - name: "can2"
+    baudrate: 1000
+  - name: "can3"
+    baudrate: 250
+
+messages:
+  - ID: 0x103
+    can_line: "can3"
+    message: "AMSError"

fs-common-protobuf/can.proto

@@ -2,108 +2,12 @@ syntax = "proto3";
 
 /* Current ID: 0x103 */
 message AMSError {
-    bool IMD = 0;
-    bool valid_cell_count = 1; /* If the number of cells found by BMS is equal to expected number of cells */
-    bool is_bms_alive = 2; /* If the bms is reporting / alive */
-    bool is_over_temperature = 3; /* If the temperature of the cells is above the threshold */
-    bool is_warn_temperature = 4; /* If the temperature of the cells is over the warning the threshold */
-    bool is_over_voltage = 5; /* If the voltage of the cells is above the threshold */
-    bool is_under_voltage = 6; /* If the voltage of the cells is below the threshold */
+    bool IMD = 1;   /* Imd fault */
+    bool valid_cell_count = 2; /* If the number of cells found by BMS is equal to expected number of cells */
+    bool is_bms_alive = 3; /* If the bms is reporting / alive */
+    bool is_over_temperature = 4; /* If the temperature of the cells is above the threshold */
+    bool is_warn_temperature = 5; /* If the temperature of the cells is over the warning the threshold */
+    bool is_over_voltage = 6; /* If the voltage of the cells is above the threshold */
+    bool is_under_voltage = 7; /* If the voltage of the cells is below the threshold */
 }
 
-
-
-
-// TODO below are the specific bit lengths needed on the CAN frame for each
-// value. Either values need to be shift encoded into a single/two 32 bit ints
-// or masking on values should be specified.
-
-/* Go-Kart */
-/* Motec -> Orin
-/* Current ID: */
-/* size 3 bytes */
-message CANRAW {
-    int8 velocity = 1
-    int16 steering = 2
-}
-
-
-/* Orin -> Nano */
-/* Current ID: 0x300 */
-/* size 6 bytes */
-message Ackermann {
-    int8 speed = 1; /* Desired speed of the car. Must be between 0 and 120 km/h. */
-    int8 acceleration = 2; /* Desired acceleration. Must be between 0 and 256 m/s^2. */
-    int8 jerk = 3; /* Desired jefk. Must be between 0 and 1 m/s^3. */
-    int16 steering_angle = 4; /* Desired steering_angle. Must be between -45 and 45 degrees. */
-    int8 steering_angle_velocity = 5; /* Desired_angle_velocity. Must be between 0 and 1 radians/s. */
-}
-
-
-
-//* Data Logging
-
-/* Required ID: 0x500 */
-/* size 8 bytes */
-message DrivingDynamics1 {
-    uint8 speed_actual = 1; /* bit 0-7 */  
-    uint8 speed_target = 2; /* bit 8-15 */  
-    int8 steering_angle_actual = 3; /* bit 16-23 */
-    int8 steering_angle_target = 4; /* bit 24-31 */
-    uint8 brake_hydr_actual = 5; /* bit 32-39 */
-    uint8 brake_hydr_target = 6; /* bit 40-47 */
-    int8 motor_moment_actual = 7; /* bit 48-55 */
-    int8 motor_moment_target = 8; /* bit 56-63 */
-
-}
-
-/* Required ID: 0x501 */
-/* size 6 bytes */
-message DrivingDynamics2 {
-    int16 acceleration_longitudinal = 1; /* bit 0-15      1/512 scale */
-    int16 acceleration_lateral = 2; /* bit 16-31          1/512 scale */
-    int16 yaw_rate = 3; /* bit 32-47                      1/128 scale*/
-}
-
-/* Required ID: 0x502 */
-/* size 5 Bytes */
-message SystemStatus {
-    AS_State as_state = 1; /* bit 0-2 */
-    EBS_State ebs_state = 2; /* bit 3-4 */
-    AMI_State ami_state = 3; /* bit 5-7 */
-    bool steering_state = 4; /* bit 8 */
-    Service_Brake_State service_brake_state = 5; /* bit 9-10*/
-    uint4 lap_counter = 6; /* bit 11-14 */
-    uint8 Cones_count_actual = 7; /* bit 15-22 */
-    uint17 Cones_count_all = 8; /* bit 23-39 (17 bits) */
-}
-
-enum AS_State {
-    AS_state_off = 0;
-    AS_state_ready = 1;
-    AS_state_driving = 2;
-    AS_state_emergency_brake = 3;
-    AS_state_finish = 4;
-}
-
-enum EBS_State {
-    EBS_state_unavailable = 0;
-    EBS_state_armed = 1;
-    EBS_state_activated = 2;
-}
-
-enum AMI_State {
-    AMI_state_acceleration = 0;
-    AMI_state_skidpad = 1;
-    AMI_state_trackdrive = 2;
-    AMI_state_braketest = 3;
-    AMI_state_inspection = 4;
-    AMI_state_autocross = 5;
-}
-
-enum Service_Brake_State {
-    Steering_state = 0;
-    Service_brake_state_disengaged = 1;
-    Service_brake_state_engaged = 2;
-    Service_brake_state_available = 3;
-}

validator.py

@@ -0,0 +1,38 @@
+""" Validates definitions
+
+Checks to see if the names of all the messages in definitions are the correct name.
+"""
+import yaml
+
+
+def get_all_can_message_names() -> list:
+    with open("fs-common-protobuf/can.proto", "r") as file:
+        message_names = []
+
+        for line in file:
+            line_parts = line.split(" ")
+            if line_parts[0] == "message":
+                message_names.append(line_parts[1])
+
+    return message_names
+
+
+def get_all_defined_messages() -> list:
+    with open("definitions.yml", "r") as file:
+        definitions = yaml.safe_load(file)
+        message_names = [message['message'] for message in definitions['messages']]
+
+    return message_names
+
+
+if __name__ == "__main__":
+    can_message_names = get_all_can_message_names()
+    print(f"all protobuf can message names = {can_message_names}")
+
+    definition_message_names = get_all_defined_messages()
+    print(f"all definition message names requested = {definition_message_names}")
+
+    for definition_message_name in definition_message_names:
+        if definition_message_name not in can_message_names:
+            raise ValueError(f"{definition_message_name} not defined in can proto. \n"
+                             f"list of available message names are {can_message_names}")