working with tests

python/tests/messages/cal.yivo

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

python/tests/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/tests/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/tests/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/tests/test_gen.py

@@ -0,0 +1,37 @@
+from yivo import *
+from collections import namedtuple
+import pytest
+from numpy import pi, allclose
+
+from yivo.generator.yivo_gen import main
+
+def test_generator():
+    info = {
+        "namespace": "foobar",
+        "license": "MIT Kevin Walchko (c) 2023",
+        "output": "tmp",
+        1: "tests/messages/vec.yivo",
+        2: "tests/messages/quat.yivo",
+        4: "tests/messages/imu.yivo",
+        5: "tests/messages/cal.yivo"
+    }
+
+    main(info)
+
+    from tmp.python.vec_t import vec_t
+    from tmp.python.base import fmt, cls, sizeof, id2str, msg_id
+
+    v = vec_t(1,2,3)
+
+    assert fmt(v) == "fff"
+    assert sizeof(v) == 12
+    assert cls(v) == vec_t
+    assert id2str(msg_id(v)) == "vec_t"
+
+    from tmp.python.quat_t import quat_t
+
+    q = quat_t(1,2,3,4)
+    assert fmt(q) == "ffff"
+    assert sizeof(q) == 16
+    assert cls(q) == quat_t
+    assert id2str(msg_id(q)) == "quat_t"

python/yivo/__init__.py

@@ -9,7 +9,6 @@
 from .packet import Errors
 from .packet import checksum
 from .packet import num_fields
-# from .packet import make_Struct # done internally now
 from .packet import MsgInfo
 
 __copyright__ = 'Copyright (c) 2020 Kevin Walchko'

python/yivo/generator/format.py

@@ -49,6 +49,8 @@ def create_python(msg_parts, out_path):
         if c: line += f" {c}"
         vars.append(line)
 
+    # print(">>", msg_parts.file.stem)
+
     tmpl = env.get_template("msg.py.jinja")
     info = {
         "name": msg_parts.file.stem,

python/yivo/generator/templates/base.py.jinja

@@ -4,7 +4,7 @@ import dataclasses
 
 def id2str(id):
     {% for mid, name in ids.items() -%}
-    if id == {{ mid }}: return "{{ name|upper }}"
+    if id == {{ mid }}: return "{{ name|lower }}_t"
     {% endfor -%}
     return "UNKNOWN"
 
@@ -31,6 +31,7 @@ def sizeof(a):
 
 def cls(a):
     return a.__yivo__()[2]
+    {# return a.__class__ #}
 
 def msg_id(a):
     return a.__yivo__()[3]

python/yivo/generator/templates/msg.py.jinja

@@ -1,7 +1,9 @@
 # Do not edit, this is autogenerated
 # {{ license_notice }}
+###############################################################################
 from dataclasses import dataclass
 from enum import IntEnum
+from .base import Base
 {% for inc in includes %}
 {{ inc }}
 {% endfor %}

python/yivo/generator/yivo_gen.py

@@ -21,6 +21,15 @@
 
 Field = namedtuple("Field", "type array_size var comment")
 
+py_init = """
+# this file is auto generated
+from .base import fmt
+from .base import sizeof
+from .base import cls
+from .base import msg_id
+from .base import id2str
+"""
+
 class Enums:
     def __init__(self, name, size=None):
         self.name = name
@@ -163,7 +172,8 @@ def main(files):
     # create the base headers for messages ------------
     ids = {}
     for k,v in files.items():
-        ids[k] = v.split('.')[0]
+        f = pathlib.Path(v)
+        ids[k] = f.stem
 
     baseinfo = [
         ("base.py.jinja", ids, "py"),
@@ -188,6 +198,9 @@ def main(files):
 
     # create messages from each template ---------------
     path = pathlib.Path(".").absolute()
+
+    write_file(pydir/"__init__.py", py_init)
+
     for msgid, file in files.items():
         file = path/file
         msg_parts = tokenize(file)

python/yivo/packet.py

@@ -12,6 +12,9 @@
 
 def make_Struct(payload):
     """
+    Wraps the payload format inside the header/footer format
+    yivo uses.
+
     [ 0, 1, 2, 3,4,    5:-2, -1]
     [h0,h1,LN,HN,T, payload, CS]
     Header: h0, h1
@@ -199,6 +202,10 @@ def __unpack(self):
         return Errors.NONE, val
 
     def valid_msg(self, msg):
+        """
+        Checks message to make sure it is valid, returns
+        True if the message is correct, False otherwise.
+        """
         size, msgid, payload, cs = chunk(msg)
 
         a = ord(self.header[0])