update

.gitignore

@@ -10,3 +10,4 @@ poetry.lock
 __pycache__
 .pytest_cache
 old
+tmp

python/examples/files.json

@@ -0,0 +1,9 @@
+{
+    "namespace": "foobar",
+    "license": "MIT Kevin Walchko (c) 2023",
+    "output": "tmp",
+    "1": "messages/vec.yivo",
+    "2": "messages/quat.yivo",
+    "4": "messages/imu.yivo",
+    "5": "messages/cal.yivo"
+}

python/examples/messages/cal.yivo

@@ -0,0 +1,8 @@
+float[12] cals
+uint8 sensor
+
+<enum types uint8_t
+accels = 1
+gyros = 2
+mags = 4
+enum>

python/examples/messages/imu.yivo

@@ -0,0 +1,18 @@
+include vec
+
+<enum error uint32_t
+none = 0
+accels = 1
+gyros = 2
+mags = 4
+pressure = 8
+temperature = 16
+enum>
+
+vec accel
+vec gyro
+vec mag
+float pressure
+float temperature
+uint32 error
+uint32 timestamp

python/examples/messages/quat.yivo

@@ -0,0 +1,26 @@
+float w
+float x
+float y
+float z
+
+fru fru
+
+<c
+float magnitude() {
+  return sqrtf(w*w + x*x + y*y + z*z);
+}
+
+vec_t normalize() {
+  float mag = magnitude();
+  return quat_t{w/mag,x/mag,y/mag,z/mag};
+}
+c>
+
+<p
+def magnitude(self):
+    return sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
+
+def normalize(self):
+    mag = self.magnitude()
+    return quat_t(self.w/mag, self.x/mag, self.y/mag, self.z/mag)
+p>

python/examples/messages/vec.yivo

@@ -0,0 +1,19 @@
+float x
+float y
+float z
+
+<c
+float magnitude() {
+  return sqrtf(x*x + y*y + z*z);
+}
+
+vec_t normalize() {
+  float mag = magnitude();
+  return vec_t{x/mag,y/mag,z/mag};
+}
+c>
+
+<p
+def normalize(self):
+    return sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
+p>

python/pyproject.toml

@@ -32,7 +32,7 @@ pytest = "*"
 numpy = "*"
 
 [tool.poetry.scripts]
-yivo_generate = 'yivo.generator.yivo_gen'
+yivo_generate = 'yivo.generator.yivo_gen:run'
 
 [build-system]
 requires = ["poetry-core>=1.0.0"]

python/readme.md

@@ -78,6 +78,17 @@ jerry=32
 enum>
 ```
 
+```json
+{
+    "namespace": "foobar",
+    "license": "MIT Kevin Walchko (c) 2023",
+    "output": "test",
+    "1": "messages/vec.yivo",
+    "2": "messages/quat.yivo",
+    "4": "messages/imu.yivo",
+    "5": "messages/cal.yivo"
+}
+```
 
 # MIT License
 

python/yivo/generator/format.py

@@ -0,0 +1,129 @@
+from jinja2 import Environment
+from jinja2.loaders import FileSystemLoader
+import pathlib
+from collections import namedtuple
+
+tmp_dir = pathlib.Path(__file__).resolve().parent/"templates"
+env = Environment(loader=FileSystemLoader(tmp_dir))
+
+# py - python name
+# fmt - pack/unpack
+# complex - for user defined types, more involved
+VarInfo = namedtuple("VarInfo","c py size fmt complex")
+
+var_types = {
+    "uint8": VarInfo("uint8_t", "int",1, "B", False),
+    "uint16": VarInfo("uint16_t", "int",2, "H", False),
+    "uint32": VarInfo("uint32_t", "int", 4, "I", False),
+    "uint64": VarInfo("uint64_t", "int",8, "Q", False),
+    "int8": VarInfo("int8_t", "int",1, "b", False),
+    "int16": VarInfo("int16_t", "int", 2, "h", False),
+    "int32": VarInfo("int32_t", "int", 4, "i", False),
+    "int64": VarInfo("int64_t", "int", 8, "q", False),
+    "float": VarInfo("float", "float", 4, "f", False),
+    "double": VarInfo("double", "float", 8, "d", False)
+}
+
+def write_file(filename, content):
+    with filename.open("w", encoding="utf-8") as fd:
+        fd.write(content)
+        print(f"Wrote File: {filename}")
+
+def create_python(msg_parts, out_path):
+    comments = []
+    for c in msg_parts.comments:
+        comments.append(c)
+
+    func_args = []
+    for t, ars, v, c in msg_parts.fields:
+        func_args.append(v)
+
+    includes = []
+    for i in msg_parts.includes:
+        ii = f'from {i} import *'
+        includes.append(ii)
+
+    vars = []
+    for t, ars, v, c in msg_parts.fields:
+        line = f"{v}: {var_types[t].py}"
+        if c: line += f" {c}"
+        vars.append(line)
+
+    tmpl = env.get_template("msg.py.jinja")
+    info = {
+        "name": msg_parts.file.stem,
+        "vars": vars,
+        "includes": includes,
+        "msg_size": msg_parts.msg_size,
+        # "msg_size_type": "uint8_t",
+        "comments": comments,
+        "args": func_args,
+        "functions": msg_parts.py_funcs,
+        "enums": msg_parts.enums,
+        "format": var_types[ msg_parts.file.stem ].fmt,
+        "msgid": msg_parts.id,
+        "license_notice": msg_parts.license_notice
+    }
+    content = tmpl.render(info)
+
+    filename = msg_parts.file.stem + "_t.py"
+    filename = out_path/filename
+    write_file(filename, content)
+
+
+def create_c_header(msg_parts, out_path):
+    """
+    struct
+        - vars: string, "int bob[2];"
+
+    functions
+        - func_args: tuple(type, var_name), ("int","bob[2]")
+    """
+    comments = []
+    for c in msg_parts.comments:
+        c = c.replace("#", "//")
+        comments.append(c)
+
+    func_args = []
+    for t, ars, v, c in msg_parts.fields:
+        if var_types[t].complex: t = var_types[t].c + "&"
+        else: t = var_types[t].c
+        if ars > 0:
+            vv = f"{v}[{ars}]"
+        else:
+            vv = f"{v}"
+
+        func_args.append((t,vv,v))
+
+    includes = []
+    for i in msg_parts.includes:
+        ii = f'#include "{i}.h"'
+        includes.append(ii)
+
+    vars = []
+    for t, ars, v, c in msg_parts.fields:
+        if ars == 0: line = f"{var_types[t].c} {v};"
+        else: line = f"{var_types[t].c} {v}[{ars}];"
+        if c: line += f" {c.replace('#','//')}"
+        vars.append(line)
+
+    tmpl = env.get_template("msg.cpp.jinja")
+    info = {
+        "name": msg_parts.file.stem,
+        "vars": vars,
+        "includes": includes,
+        "msg_size": msg_parts.msg_size,
+        "msg_size_type": "uint8_t",
+        "comments": comments,
+        "args": func_args,
+        "functions": msg_parts.c_funcs,
+        "enums": msg_parts.enums,
+        "msgid": msg_parts.id,
+        "license_notice": msg_parts.license_notice,
+        "namespace": msg_parts.namespace
+    }
+    content = tmpl.render(info)
+
+    filename = msg_parts.file.stem + "_t.hpp"
+    filename = out_path/filename
+    write_file(filename, content)

python/yivo/generator/msg_parts.py

@@ -0,0 +1,62 @@
+
+from colorama import Fore
+
+
+class MsgParts:
+    """
+    Breaks a message format appart and stores the results so it can be
+    converted into other languages. Supported languages:
+    - python
+    - C/C++
+    """
+    def __init__(self):
+        self.comments = []  # comments in body of message prototype
+        self.fields = []    # variables in message
+        self.includes = []  # included message headers/modules
+        self.c_funcs = []   # custom C functions
+        self.py_funcs = []  # custom Python functions
+        self.enums = []     # enums
+        self.msg_size = 0   # size of message in bytes
+        self.file = None    # filename for naming the message
+        self.id = 0         # message id number
+        self.namespace = None # cpp namespace
+
+    def __repr__(self):
+        return str(self)
+
+    def __str__(self):
+        ret = f"{Fore.YELLOW}------------------------------\n"
+        ret += f"File: {self.file}\n"
+        if self.namespace is not None:
+            ret += f"Namespace: {self.namespace}\n"
+        ret += f"------------------------------\n{Fore.RESET}"
+        ret += f"{Fore.CYAN}Comments:\n{Fore.RESET}"
+        ret += f"{Fore.GREEN}"
+        for c in self.comments:
+            ret += f" {c}\n"
+        ret += f"{Fore.RESET}"
+
+        ret += f"\n{Fore.CYAN}Fields:\n{Fore.RESET}"
+        for f in self.fields:
+            ret += f" {f}\n"
+
+        ret += f"\n{Fore.CYAN}Python Functions:\n{Fore.RESET}"
+        for f in self.py_funcs:
+            ret += f" {f}\n"
+
+        ret += f"\n{Fore.CYAN}C Functions:\n{Fore.RESET}"
+        for f in self.c_funcs:
+            ret += f" {f}\n"
+
+        ret += f"\n{Fore.CYAN}Includes:\n{Fore.RESET}"
+        ret += f"{Fore.BLUE}"
+        for i in self.includes:
+            ret += f" {i}\n"
+        ret += f"{Fore.RESET}\n"
+
+        ret += f"\n{Fore.CYAN}Enums:\n{Fore.RESET}"
+        for f in self.enums:
+            ret += f" {f}\n"
+
+        ret += f"{Fore.CYAN}\nMessage Size:{Fore.RESET} {self.msg_size}\n"
+        return ret