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dronecan_dsdljs_pack_generator.py
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179 lines (169 loc) · 12 KB
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#!/usr/bin/env python
# encoding: utf-8
'''
Author: Huibean Luo <huibean.luo@vimdrones.com>
'''
from common import get_cast_mode
def generate_primitive_type_pack(value_type, field_name):
if value_type.kind == value_type.KIND_BOOLEAN:
return f"PrimitiveType.pack(PrimitiveType.KIND_BOOLEAN, this.{field_name}, {value_type.bitlen})"
elif value_type.kind == value_type.KIND_UNSIGNED_INT:
return f"PrimitiveType.pack(PrimitiveType.KIND_UNSIGNED_INT, this.{field_name}, {value_type.bitlen}, {get_cast_mode(value_type)})"
elif value_type.kind == value_type.KIND_SIGNED_INT:
return f"PrimitiveType.pack(PrimitiveType.KIND_SIGNED_INT, this.{field_name}, {value_type.bitlen}, {get_cast_mode(value_type)})"
elif value_type.kind == value_type.KIND_FLOAT:
return f"PrimitiveType.pack(PrimitiveType.KIND_FLOAT, this.{field_name}, {value_type.bitlen})"
else:
raise NotImplementedError(f"Unsupported kind: {value_type.kind}")
def generate_pack_method(message, fields):
js_code = " pack(tao=true) {\n"
js_code += " let bits = [];\n"
if getattr(message, 'union', None) is True:
js_code += f" let unionFieldLength = {len(message.fields).bit_length()};\n"
js_code += f" let unionFieldBits = arrayLengthToBits(this.unionFieldIndex.value, unionFieldLength);\n"
js_code += f" bits = bits.concat(unionFieldBits);\n"
js_code += f" switch (this.unionFieldIndex.value) {{\n"
for index, field in enumerate(fields):
if field.type.category == field.type.CATEGORY_ARRAY:
# Array type
if field.type.mode == field.type.MODE_STATIC:
# Static array
value_type = field.type.value_type
js_code += f" case {index}:\n"
js_code += f" const {field.name}_length = {field.type.max_size};\n"
js_code += f" for (let i = 0; i < {field.name}_length; i++) {{\n"
if value_type.category == value_type.CATEGORY_PRIMITIVE:
js_code += f" let {field.name}_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}_bits);\n"
elif value_type.category == value_type.CATEGORY_COMPOUND:
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}Msg_bits);\n"
else:
raise ValueError(f"Unsupported value category: {vars(value_type)}")
js_code += f" }}\n\n"
elif field.type.mode == field.type.MODE_DYNAMIC:
value_type = field.type.value_type
# Dynamic array
js_code += f" case {index}:\n"
js_code += f" const {field.name}_length = this.fields.{field.name}.length;\n"
array_length_bitlen = field.type.max_size.bit_length()
js_code += f" if (this.fields.{field.name}.length > {field.name}_length) {{\n"
js_code += f" throw new Error(`Array length of {field.name} exceeds maximum length of {field.name}_length`);\n"
js_code += f" }}\n"
if index != len(fields) - 1:
js_code += f" let {field.name}_length_bits = arrayLengthToBits(this.fields.{field.name}.length, {array_length_bitlen});\n"
js_code += f" bits = bits.concat({field.name}_length_bits);\n"
else:
js_code += f" if (!tao) {{\n"
js_code += f" let {field.name}_length_bits = arrayLengthToBits(this.fields.{field.name}.length, {array_length_bitlen});\n"
js_code += f" bits = bits.concat({field.name}_length_bits);\n"
js_code += f" }}\n"
js_code += f" for (let i = 0; i < {field.name}_length; i++) {{\n"
if value_type.category == value_type.CATEGORY_PRIMITIVE:
bitlen = value_type.bitlen
js_code += f" let {field.name}_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}_bits);\n"
elif value_type.category == value_type.CATEGORY_COMPOUND:
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}Msg_bits);\n"
else:
raise ValueError(f"Unsupported value category: {vars(value_type)}")
js_code += f" }}\n\n"
else:
raise ValueError(f"Unsupported array mode: {field.type.mode}")
elif field.type.category == field.type.CATEGORY_COMPOUND:
js_code += f" case {index}:\n"
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.pack();\n"
js_code += f" bits = bits.concat({field.name}Msg_bits);\n"
elif field.type.category == field.type.CATEGORY_PRIMITIVE:
value_type = field.type
js_code += f" case {index}:\n"
js_code += f" let {field.name}_bits = this.fields.{field.name}.pack();\n"
js_code += f" bits = bits.concat({field.name}_bits);\n"
elif field.type.category == field.type.CATEGORY_VOID:
js_code += f" case {index}:\n"
js_code += f" for (let j = 0; j < {field.type.bitlen}; j++) {{\n"
js_code += f" bits.push(0);\n"
js_code += f" }}\n"
else:
raise ValueError(f"Unsupported category: {field.type.category}")
js_code += f" break;\n"
js_code += f" default:\n"
js_code += f" throw new Error(`Invalid union field index: ${{this.unionFieldIndex.value}}`);\n"
js_code += f" }}\n"
else:
for index, field in enumerate(fields):
if field.type.category == field.type.CATEGORY_ARRAY:
# Array type
if field.type.mode == field.type.MODE_STATIC:
# Static array
value_type = field.type.value_type
js_code += f" // Encode static array field {field.name}\n"
js_code += f" const {field.name}_length = {field.type.max_size};\n"
js_code += f" for (let i = 0; i < {field.name}_length; i++) {{\n"
if value_type.category == value_type.CATEGORY_PRIMITIVE:
js_code += f" let {field.name}_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}_bits);\n"
elif value_type.category == value_type.CATEGORY_COMPOUND:
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}Msg_bits);\n"
else:
raise ValueError(f"Unsupported value category: {vars(value_type)}")
js_code += f" }}\n\n"
elif field.type.mode == field.type.MODE_DYNAMIC:
value_type = field.type.value_type
# Dynamic array
js_code += f" // Encode dynamic array field {field.name}\n"
js_code += f" const {field.name}_length = this.fields.{field.name}.length;\n"
array_length_bitlen = field.type.max_size.bit_length()
js_code += f" if (this.fields.{field.name}.length > {field.name}_length) {{\n"
js_code += f" throw new Error(`Array length of {field.name} exceeds maximum length of {field.name}_length`);\n"
js_code += f" }}\n"
if index != len(fields) - 1:
js_code += f" let {field.name}_length_bits = arrayLengthToBits(this.fields.{field.name}.length, {array_length_bitlen});\n"
js_code += f" bits = bits.concat({field.name}_length_bits);\n"
else:
js_code += f" if (!tao) {{\n"
js_code += f" let {field.name}_length_bits = arrayLengthToBits(this.fields.{field.name}.length, {array_length_bitlen});\n"
js_code += f" bits = bits.concat({field.name}_length_bits);\n"
js_code += f" }}\n"
js_code += f" for (let i = 0; i < {field.name}_length; i++) {{\n"
if value_type.category == value_type.CATEGORY_PRIMITIVE:
bitlen = value_type.bitlen
js_code += f" let {field.name}_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}_bits);\n"
elif value_type.category == value_type.CATEGORY_COMPOUND:
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.items[i].pack();\n"
js_code += f" bits = bits.concat({field.name}Msg_bits);\n"
else:
raise ValueError(f"Unsupported value category: {vars(value_type)}")
js_code += f" }}\n\n"
else:
raise ValueError(f"Unsupported array mode: {field.type.mode}")
elif field.type.category == field.type.CATEGORY_COMPOUND:
if index != len(fields) - 1:
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.pack(false);\n"
else:
js_code += f" let {field.name}Msg_bits = this.fields.{field.name}.pack();\n"
js_code += f" bits = bits.concat({field.name}Msg_bits);\n"
elif field.type.category == field.type.CATEGORY_PRIMITIVE:
value_type = field.type
js_code += f" let {field.name}_bits = this.fields.{field.name}.pack();\n"
js_code += f" bits = bits.concat({field.name}_bits);\n"
elif field.type.category == field.type.CATEGORY_VOID:
js_code += f" for (let j = 0; j < {field.type.bitlen}; j++) {{\n"
js_code += f" bits.push(0);\n"
js_code += f" }}\n"
else:
raise ValueError(f"Unsupported category: {field.type.category}")
js_code += f" if (bits.length <= this.constructor.MAX_BIT_LEN && bits.length >= this.constructor.MIN_BIT_LEN ) {{\n"
js_code += f" if (this.constructor.MAX_BIT_LEN === this.constructor.MIN_BIT_LEN && this.constructor.MAX_BIT_LEN !== bits.length) {{\n"
js_code += f" throw new Error(`Encoded message length is not equal to the fixed length of ${{this.constructor.MAX_BIT_LEN}}`);\n"
js_code += f" }}\n"
js_code += f" }} else if (this.constructor.MAX_BIT_LEN > 0 && bits.length <= this.constructor.MAX_BIT_LEN) {{\n"
js_code += f" throw new Error(`Encoded message length is less than minimum length of ${{this.constructor.MIN_BIT_LEN}}`);\n"
js_code += f" }}\n"
js_code += f" return bits;\n"
js_code += " }\n"
js_code += "\n"
return js_code