From ef01db3ff0272e01cf210f4fe5d8dd91eb9de5a3 Mon Sep 17 00:00:00 2001 From: zyunlam <143246898+zyunlam@users.noreply.github.com> Date: Tue, 1 Oct 2024 20:54:37 -0500 Subject: [PATCH] Fix Hilsim (#57) --- MIDAS/.gitignore | 1 + MIDAS/hilsim/flight_computer.csv | 18990 ++++++++++++++++ MIDAS/hilsim/hilsim_test.py | 167 + MIDAS/hilsim/hilsimpacket_pb2.py | 25 + MIDAS/hilsim/rocketstate_pb2.py | 25 + MIDAS/src/hilsim/.gitignore | 2 + MIDAS/src/hilsim/README.md | 11 +- MIDAS/src/hilsim/generate_protobuf.bat | 11 + MIDAS/src/hilsim/generate_protobuf.sh | 0 MIDAS/src/hilsim/generate_size.py | 24 + MIDAS/src/hilsim/global_packet.h | 5 + MIDAS/src/hilsim/hilsimpacket.pb.c | 12 + MIDAS/src/hilsim/hilsimpacket.pb.h | 161 + MIDAS/src/hilsim/hilsimpacket.proto | 64 + MIDAS/src/hilsim/hilsimpacket_pb2.py | 25 + MIDAS/src/hilsim/main.cpp | 63 + .../nanopb_generator/nanopb_generator.py | 2586 +++ .../nanopb_generator/nanopb_generator.py2 | 13 + .../nanopb_generator/platformio_generator.py | 157 + .../hilsim/nanopb_generator/proto/Makefile | 10 + .../hilsim/nanopb_generator/proto/__init__.py | 128 + .../proto/__pycache__/__init__.cpython-39.pyc | Bin 3350 -> 0 bytes .../proto/__pycache__/_utils.cpython-39.pyc | Bin 2127 -> 0 bytes .../__pycache__/nanopb_pb2.cpython-39.pyc | Bin 2796 -> 0 bytes .../hilsim/nanopb_generator/proto/_utils.py | 67 + .../proto/google/protobuf/descriptor.proto | 872 + .../nanopb_generator/proto/nanopb.proto | 185 + .../nanopb_generator/proto/nanopb_pb2.py | 35 + MIDAS/src/hilsim/nanopb_generator/protoc | 45 + .../hilsim/nanopb_generator/protoc-gen-nanopb | 11 + .../nanopb_generator/protoc-gen-nanopb-py2 | 16 + .../nanopb_generator/protoc-gen-nanopb.bat | 12 + MIDAS/src/hilsim/nanopb_generator/protoc.bat | 9 + MIDAS/src/hilsim/rocketstate.pb.c | 12 + MIDAS/src/hilsim/rocketstate.pb.h | 48 + MIDAS/src/hilsim/rocketstate.proto | 5 + MIDAS/src/hilsim/rocketstate_pb2.py | 25 + MIDAS/src/hilsim/sensors.h | 88 + MIDAS/src/hilsim/sensors/Barometer.cpp | 16 + MIDAS/src/hilsim/sensors/Continuity.cpp | 10 + MIDAS/src/hilsim/sensors/GPSSensor.cpp | 10 + MIDAS/src/hilsim/sensors/HighG.cpp | 17 + MIDAS/src/hilsim/sensors/LowG.cpp | 12 + MIDAS/src/hilsim/sensors/LowGLSM.cpp | 13 + MIDAS/src/hilsim/sensors/Magnetometer.cpp | 10 + MIDAS/src/hilsim/sensors/Orientation.cpp | 31 + MIDAS/src/hilsim/sensors/Pyro.cpp | 11 + MIDAS/src/hilsim/sensors/Voltage.cpp | 16 + MIDAS/src/hilsim/sensors/sensors.h | 54 + MIDAS/src/hilsim/telemetry_backend.cpp | 18 + MIDAS/src/hilsim/telemetry_backend.h | 30 + MIDAS/src/systems.cpp | 1 - MIDAS/src/systems.h | 2 + MIDAS/src/telemetry.h | 1 + 54 files changed, 24160 insertions(+), 2 deletions(-) create mode 100644 MIDAS/hilsim/flight_computer.csv create mode 100644 MIDAS/hilsim/hilsim_test.py create mode 100644 MIDAS/hilsim/hilsimpacket_pb2.py create mode 100644 MIDAS/hilsim/rocketstate_pb2.py create mode 100644 MIDAS/src/hilsim/.gitignore create mode 100644 MIDAS/src/hilsim/generate_protobuf.bat create mode 100644 MIDAS/src/hilsim/generate_protobuf.sh create mode 100644 MIDAS/src/hilsim/generate_size.py create mode 100644 MIDAS/src/hilsim/global_packet.h create mode 100644 MIDAS/src/hilsim/hilsimpacket.pb.c create mode 100644 MIDAS/src/hilsim/hilsimpacket.pb.h create mode 100644 MIDAS/src/hilsim/hilsimpacket.proto create mode 100644 MIDAS/src/hilsim/hilsimpacket_pb2.py create mode 100644 MIDAS/src/hilsim/main.cpp create mode 100644 MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py create mode 100644 MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py2 create mode 100644 MIDAS/src/hilsim/nanopb_generator/platformio_generator.py create mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/Makefile create mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/__init__.py delete mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/__pycache__/__init__.cpython-39.pyc delete mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/__pycache__/_utils.cpython-39.pyc delete mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/__pycache__/nanopb_pb2.cpython-39.pyc create mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/_utils.py create mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/google/protobuf/descriptor.proto create mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/nanopb.proto create mode 100644 MIDAS/src/hilsim/nanopb_generator/proto/nanopb_pb2.py create mode 100644 MIDAS/src/hilsim/nanopb_generator/protoc create mode 100644 MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb create mode 100644 MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb-py2 create mode 100644 MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb.bat create mode 100644 MIDAS/src/hilsim/nanopb_generator/protoc.bat create mode 100644 MIDAS/src/hilsim/rocketstate.pb.c create mode 100644 MIDAS/src/hilsim/rocketstate.pb.h create mode 100644 MIDAS/src/hilsim/rocketstate.proto create mode 100644 MIDAS/src/hilsim/rocketstate_pb2.py create mode 100644 MIDAS/src/hilsim/sensors.h create mode 100644 MIDAS/src/hilsim/sensors/Barometer.cpp create mode 100644 MIDAS/src/hilsim/sensors/Continuity.cpp create mode 100644 MIDAS/src/hilsim/sensors/GPSSensor.cpp create mode 100644 MIDAS/src/hilsim/sensors/HighG.cpp create mode 100644 MIDAS/src/hilsim/sensors/LowG.cpp create mode 100644 MIDAS/src/hilsim/sensors/LowGLSM.cpp create mode 100644 MIDAS/src/hilsim/sensors/Magnetometer.cpp create mode 100644 MIDAS/src/hilsim/sensors/Orientation.cpp create mode 100644 MIDAS/src/hilsim/sensors/Pyro.cpp create mode 100644 MIDAS/src/hilsim/sensors/Voltage.cpp create mode 100644 MIDAS/src/hilsim/sensors/sensors.h create mode 100644 MIDAS/src/hilsim/telemetry_backend.cpp create mode 100644 MIDAS/src/hilsim/telemetry_backend.h diff --git a/MIDAS/.gitignore b/MIDAS/.gitignore index 4ba81f14..fa66e01a 100644 --- a/MIDAS/.gitignore +++ b/MIDAS/.gitignore @@ -3,3 +3,4 @@ /src/log_checksum.h **/.DS_Store *.launch +*.pyc \ No newline at end of file diff --git a/MIDAS/hilsim/flight_computer.csv 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+2135295,-0.339221,-0.051789,-1.9986,-3.675,2.6775,-4.92625,0.1211,-0.10458,0.35574,0,0,0,0,0,31.16,1023.97,-94.3808,-0.214844,1.0293,-0.910156,14,12,14,14,0,-74.7753,-31.6518,-18.6281,-69.1741,8.07275 +2135305,-0.339221,-0.051789,-1.9986,-3.675,2.6775,-4.92625,0.1211,-0.10458,0.35574,0,0,0,0,0,31.16,1023.97,-94.3808,-0.214844,1.0293,-0.910156,14,12,14,14,0,-74.7753,-31.6518,-18.6281,-69.1741,8.07275 +2135315,-0.339221,-0.051789,-1.9986,-3.675,2.6775,-4.92625,0.1211,-0.10458,0.35574,0,0,0,0,0,31.16,1023.97,-94.3808,-0.214844,1.0293,-0.910156,14,12,14,14,0,-74.7753,-31.6518,-18.6281,-69.1741,8.07275 diff --git a/MIDAS/hilsim/hilsim_test.py b/MIDAS/hilsim/hilsim_test.py new file mode 100644 index 00000000..bcc6caa5 --- /dev/null +++ b/MIDAS/hilsim/hilsim_test.py @@ -0,0 +1,167 @@ +import serial +import pandas + +import glob +import sys + +import hilsimpacket_pb2 +import os +import time +import rocketstate_pb2 + +def serial_ports(): + """ Lists serial port names + + :raises EnvironmentError: + On unsupported or unknown platforms + :returns: + A list of the serial ports available on the system + """ + if sys.platform.startswith('win'): + ports = ['COM%s' % (i + 1) for i in range(256)] + elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'): + # this excludes your current terminal "/dev/tty" + ports = glob.glob('/dev/tty[A-Za-z]*') + elif sys.platform.startswith('darwin'): + ports = glob.glob('/dev/tty.*') + else: + raise EnvironmentError('Unsupported platform') + + for port in ports: + try: + s = serial.Serial(port) + #s.close() + return s + result.append(port) + except (OSError, serial.SerialException): + pass + return None + +def csv_to_protobuf(parsed_csv) -> hilsimpacket_pb2.HILSIMPacket: + hilsim_packet = hilsimpacket_pb2.HILSIMPacket() + + hilsim_packet.imu_high_ax = parsed_csv['highg_ax'] + hilsim_packet.imu_high_ay = parsed_csv["highg_ay"] + hilsim_packet.imu_high_az = parsed_csv["highg_az"] + hilsim_packet.barometer_altitude = parsed_csv["barometer_altitude"] + hilsim_packet.barometer_temperature = parsed_csv["temperature"] + hilsim_packet.barometer_pressure = parsed_csv["pressure"] + hilsim_packet.imu_low_lsm_ax = parsed_csv["ax"] + hilsim_packet.imu_low_lsm_ay = parsed_csv["ay"] + hilsim_packet.imu_low_lsm_az = parsed_csv["az"] + hilsim_packet.imu_low_lsm_gx = parsed_csv["gx"] + hilsim_packet.imu_low_lsm_gy = parsed_csv["gy"] + hilsim_packet.imu_low_lsm_gz = parsed_csv["gz"] + hilsim_packet.mag_x = parsed_csv["mx"] + hilsim_packet.mag_y = parsed_csv["my"] + hilsim_packet.mag_z = parsed_csv["mz"] + + hilsim_packet.imu_low_ax = 0 + hilsim_packet.imu_low_ay = 0 + hilsim_packet.imu_low_az = 0 + hilsim_packet.ornt_roll = 0 + hilsim_packet.ornt_pitch = 0 + hilsim_packet.ornt_yaw = 0 + hilsim_packet.ornt_rollv = 0 + hilsim_packet.ornt_pitchv = 0 + hilsim_packet.ornt_yawv = 0 + hilsim_packet.ornt_rolla = 0 + hilsim_packet.ornt_pitcha = 0 + hilsim_packet.ornt_yawa = 0 + hilsim_packet.ornt_ax = 0 + hilsim_packet.ornt_ay = 0 + hilsim_packet.ornt_az = 0 + hilsim_packet.ornt_gx = 0 + hilsim_packet.ornt_gy = 0 + hilsim_packet.ornt_gz = 0 + hilsim_packet.ornt_mx = 0 + hilsim_packet.ornt_my = 0 + hilsim_packet.ornt_mz = 0 + hilsim_packet.ornt_temp = 0 + return hilsim_packet + + +tmp = 0 +def new_protobuf() -> hilsimpacket_pb2.HILSIMPacket: + global tmp + hilsim_packet = hilsimpacket_pb2.HILSIMPacket() + tmp = tmp + 1 + hilsim_packet.imu_high_ax = tmp + hilsim_packet.imu_high_ay = tmp + hilsim_packet.imu_high_az = tmp + hilsim_packet.barometer_altitude = tmp + hilsim_packet.barometer_temperature = tmp + hilsim_packet.barometer_pressure = tmp + hilsim_packet.imu_low_lsm_ax = tmp + hilsim_packet.imu_low_lsm_ay = tmp + hilsim_packet.imu_low_lsm_az = tmp + hilsim_packet.imu_low_lsm_gx = tmp + hilsim_packet.imu_low_lsm_gy = tmp + hilsim_packet.imu_low_lsm_gz = tmp + hilsim_packet.mag_x = tmp + hilsim_packet.mag_y = tmp + hilsim_packet.mag_z = tmp + + hilsim_packet.imu_low_ax = tmp + hilsim_packet.imu_low_ay = tmp + hilsim_packet.imu_low_az = tmp + hilsim_packet.ornt_roll = tmp + hilsim_packet.ornt_pitch = tmp + hilsim_packet.ornt_yaw = tmp + hilsim_packet.ornt_rollv = tmp + hilsim_packet.ornt_pitchv = tmp + hilsim_packet.ornt_yawv = tmp + hilsim_packet.ornt_rolla = tmp + hilsim_packet.ornt_pitcha = tmp + hilsim_packet.ornt_yawa = tmp + hilsim_packet.ornt_ax = tmp + hilsim_packet.ornt_ay = tmp + hilsim_packet.ornt_az = tmp + hilsim_packet.ornt_gx = tmp + hilsim_packet.ornt_gy = tmp + hilsim_packet.ornt_gz = tmp + hilsim_packet.ornt_mx = tmp + hilsim_packet.ornt_my = tmp + hilsim_packet.ornt_mz = tmp + hilsim_packet.ornt_temp = tmp + return hilsim_packet + + +# Get first serial port... +if __name__ == "__main__": + MIDAS = serial_ports() + if MIDAS == None: + print("You need to connect MIDAS") + exit() + + MIDAS.write(b'!') + print("Reading") + + # Read input + print(MIDAS.read_until()) + print(MIDAS.read_until()) + print(MIDAS.read_until()) + print(MIDAS.read_until()) + + # Read the csv + csv = pandas.read_csv(os.path.dirname(os.path.abspath(sys.argv[tmp])) + "/flight_computer.csv", index_col=0) + while True: + packet = new_protobuf() + data = packet.SerializeToString() + # Encode the length of package in 2 bytes and then output the the information + + MIDAS.write(len(data).to_bytes(2, "big")) + byte_len = len(data).to_bytes(2, "big") + # print(int.from_bytes(byte_len)) + MIDAS.write(data) + #output = MIDAS.read_all() + print(MIDAS.read_all()) + # print("Dumping data...") + by = MIDAS.read() + data2 = MIDAS.read(int.from_bytes(by)) + state = rocketstate_pb2.RocketState() + state.ParseFromString(data2) + print(state.rocket_state) + #print(len(data).to_bytes(2, "big")) + #print(data) + # print("More stuff") diff --git a/MIDAS/hilsim/hilsimpacket_pb2.py b/MIDAS/hilsim/hilsimpacket_pb2.py new file mode 100644 index 00000000..ff60dffb --- /dev/null +++ b/MIDAS/hilsim/hilsimpacket_pb2.py @@ -0,0 +1,25 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: hilsimpacket.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x12hilsimpacket.proto\"\xfa\x05\n\x0cHILSIMPacket\x12\x13\n\x0bimu_high_ax\x18\x01 \x02(\x02\x12\x13\n\x0bimu_high_ay\x18\x02 \x02(\x02\x12\x13\n\x0bimu_high_az\x18\x03 \x02(\x02\x12\x1a\n\x12\x62\x61rometer_altitude\x18\x04 \x02(\x02\x12\x1d\n\x15\x62\x61rometer_temperature\x18\x05 \x02(\x02\x12\x1a\n\x12\x62\x61rometer_pressure\x18\x06 \x02(\x02\x12\x12\n\nimu_low_ax\x18\x07 \x02(\x02\x12\x12\n\nimu_low_ay\x18\x08 \x02(\x02\x12\x12\n\nimu_low_az\x18\t \x02(\x02\x12\x16\n\x0eimu_low_lsm_ax\x18\n \x02(\x02\x12\x16\n\x0eimu_low_lsm_ay\x18\x0b \x02(\x02\x12\x16\n\x0eimu_low_lsm_az\x18\x0c \x02(\x02\x12\x16\n\x0eimu_low_lsm_gx\x18\r \x02(\x02\x12\x16\n\x0eimu_low_lsm_gy\x18\x0e \x02(\x02\x12\x16\n\x0eimu_low_lsm_gz\x18\x0f \x02(\x02\x12\r\n\x05mag_x\x18\x10 \x02(\x02\x12\r\n\x05mag_y\x18\x11 \x02(\x02\x12\r\n\x05mag_z\x18\x12 \x02(\x02\x12\x11\n\tornt_roll\x18\x13 \x02(\x02\x12\x12\n\nornt_pitch\x18\x14 \x02(\x02\x12\x10\n\x08ornt_yaw\x18\x15 \x02(\x02\x12\x12\n\nornt_rollv\x18\x16 \x02(\x02\x12\x13\n\x0bornt_pitchv\x18\x17 \x02(\x02\x12\x11\n\tornt_yawv\x18\x18 \x02(\x02\x12\x12\n\nornt_rolla\x18\x19 \x02(\x02\x12\x13\n\x0bornt_pitcha\x18\x1a \x02(\x02\x12\x11\n\tornt_yawa\x18\x1b \x02(\x02\x12\x0f\n\x07ornt_ax\x18\x1c \x02(\x02\x12\x0f\n\x07ornt_ay\x18\x1d \x02(\x02\x12\x0f\n\x07ornt_az\x18\x1e \x02(\x02\x12\x0f\n\x07ornt_gx\x18\x1f \x02(\x02\x12\x0f\n\x07ornt_gy\x18 \x02(\x02\x12\x0f\n\x07ornt_gz\x18! \x02(\x02\x12\x0f\n\x07ornt_mx\x18\" \x02(\x02\x12\x0f\n\x07ornt_my\x18# \x02(\x02\x12\x0f\n\x07ornt_mz\x18$ \x02(\x02\x12\x11\n\tornt_temp\x18% \x02(\x02') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hilsimpacket_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_HILSIMPACKET']._serialized_start=23 + _globals['_HILSIMPACKET']._serialized_end=785 +# @@protoc_insertion_point(module_scope) diff --git a/MIDAS/hilsim/rocketstate_pb2.py b/MIDAS/hilsim/rocketstate_pb2.py new file mode 100644 index 00000000..3ca496c6 --- /dev/null +++ b/MIDAS/hilsim/rocketstate_pb2.py @@ -0,0 +1,25 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: rocketstate.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x11rocketstate.proto\"#\n\x0bRocketState\x12\x14\n\x0crocket_state\x18\x01 \x02(\x05') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'rocketstate_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_ROCKETSTATE']._serialized_start=21 + _globals['_ROCKETSTATE']._serialized_end=56 +# @@protoc_insertion_point(module_scope) diff --git a/MIDAS/src/hilsim/.gitignore b/MIDAS/src/hilsim/.gitignore new file mode 100644 index 00000000..6feea79d --- /dev/null +++ b/MIDAS/src/hilsim/.gitignore @@ -0,0 +1,2 @@ +/__pycache__/* +*.pyc diff --git a/MIDAS/src/hilsim/README.md b/MIDAS/src/hilsim/README.md index 8e5e229c..d5882daa 100644 --- a/MIDAS/src/hilsim/README.md +++ b/MIDAS/src/hilsim/README.md @@ -1,2 +1,11 @@ # HILSIM -Protobuf to be added +To communicate with HILSIM server, we use protobuf to go back and forth. +Important links: + - Protobuf: https://protobuf.dev/ + - Nanopb: https://github.com/nanopb/nanopb + +You can run `generate_protobuf.sh` or `generate_protobuf.bat` to generate the protobuf files. + +Do note that you will need the command protoc to run it. It can be found here: + +Protoc is only used to generate the python files, and the C++ files have to be generated by nanopb. diff --git a/MIDAS/src/hilsim/generate_protobuf.bat b/MIDAS/src/hilsim/generate_protobuf.bat new file mode 100644 index 00000000..415d458f --- /dev/null +++ b/MIDAS/src/hilsim/generate_protobuf.bat @@ -0,0 +1,11 @@ +@echo off +REM Generate hilsim packet +protoc -I=. --python_out=. hilsimpacket.proto +python nanopb_generator/nanopb_generator.py hilsimpacket.proto + +python nanopb_generator/nanopb_generator.py rocketstate.proto +protoc -I=. --python_out=. rocketstate.proto + +cp hilsimpacket_pb2.py ../../hilsim/hilsimpacket_pb2.py +cp rocketstate_pb2.py ../../hilsim/rocketstate_pb2.py +REM Get the size of the packets and automatically dump it to a header file diff --git a/MIDAS/src/hilsim/generate_protobuf.sh b/MIDAS/src/hilsim/generate_protobuf.sh new file mode 100644 index 00000000..e69de29b diff --git a/MIDAS/src/hilsim/generate_size.py b/MIDAS/src/hilsim/generate_size.py new file mode 100644 index 00000000..a7b115c3 --- /dev/null +++ b/MIDAS/src/hilsim/generate_size.py @@ -0,0 +1,24 @@ +import hilsimpacket_pb2 + +def main(): + hilsim_packet = hilsimpacket_pb2.HILSIMPacket() + hilsim_packet.imu_high_ax = 0 + hilsim_packet.imu_high_ay = 0 + hilsim_packet.imu_high_az = 0 + hilsim_packet.barometer_altitude = 0 + hilsim_packet.barometer_temperature = 0 + hilsim_packet.barometer_pressure = 0 + hilsim_packet.imu_low_ax = 0 + hilsim_packet.imu_low_ay = 0 + hilsim_packet.imu_low_az = 0 + hilsim_packet.imu_low_gx = 0 + hilsim_packet.imu_low_gy = 0 + hilsim_packet.imu_low_gz = 0 + hilsim_packet.mag_x = 0 + hilsim_packet.mag_y = 0 + hilsim_packet.mag_z = 0 + print(vars(hilsimpacket_pb2.HILSIMPacket)) + print(len(hilsim_packet.SerializeToString())) + +if __name__ == '__main__': + main() diff --git a/MIDAS/src/hilsim/global_packet.h b/MIDAS/src/hilsim/global_packet.h new file mode 100644 index 00000000..a2b936b9 --- /dev/null +++ b/MIDAS/src/hilsim/global_packet.h @@ -0,0 +1,5 @@ +#pragma once +#include "hilsim/hilsimpacket.pb.h" +#include "hilsim/rocketstate.pb.h" + +extern HILSIMPacket global_packet; diff --git a/MIDAS/src/hilsim/hilsimpacket.pb.c b/MIDAS/src/hilsim/hilsimpacket.pb.c new file mode 100644 index 00000000..1fb5b4fe --- /dev/null +++ b/MIDAS/src/hilsim/hilsimpacket.pb.c @@ -0,0 +1,12 @@ +/* Automatically generated nanopb constant definitions */ +/* Generated by nanopb-0.4.7 */ + +#include "hilsimpacket.pb.h" +#if PB_PROTO_HEADER_VERSION != 40 +#error Regenerate this file with the current version of nanopb generator. +#endif + +PB_BIND(HILSIMPacket, HILSIMPacket, AUTO) + + + diff --git a/MIDAS/src/hilsim/hilsimpacket.pb.h b/MIDAS/src/hilsim/hilsimpacket.pb.h new file mode 100644 index 00000000..e0d00ff2 --- /dev/null +++ b/MIDAS/src/hilsim/hilsimpacket.pb.h @@ -0,0 +1,161 @@ +/* Automatically generated nanopb header */ +/* Generated by nanopb-0.4.7 */ + +#ifndef PB_HILSIMPACKET_PB_H_INCLUDED +#define PB_HILSIMPACKET_PB_H_INCLUDED +#include + +#if PB_PROTO_HEADER_VERSION != 40 +#error Regenerate this file with the current version of nanopb generator. +#endif + +/* Struct definitions */ +typedef struct _HILSIMPacket { + /* High-G IMU data */ + float imu_high_ax; + float imu_high_ay; + float imu_high_az; + /* Barometer data */ + float barometer_altitude; + float barometer_temperature; + float barometer_pressure; + /* Low-G IMU data */ + float imu_low_ax; + float imu_low_ay; + float imu_low_az; + /* Low-G lsm IMU data */ + float imu_low_lsm_ax; + float imu_low_lsm_ay; + float imu_low_lsm_az; + float imu_low_lsm_gx; + float imu_low_lsm_gy; + float imu_low_lsm_gz; + /* Mag data */ + float mag_x; + float mag_y; + float mag_z; + /* Orientation data */ + float ornt_roll; + float ornt_pitch; + float ornt_yaw; + float ornt_rollv; + float ornt_pitchv; + float ornt_yawv; + float ornt_rolla; + float ornt_pitcha; + float ornt_yawa; + float ornt_ax; + float ornt_ay; + float ornt_az; + float ornt_gx; + float ornt_gy; + float ornt_gz; + float ornt_mx; + float ornt_my; + float ornt_mz; + float ornt_temp; +} HILSIMPacket; + + +#ifdef __cplusplus +extern "C" { +#endif + +/* Initializer values for message structs */ +#define HILSIMPacket_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#define HILSIMPacket_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} + +/* Field tags (for use in manual encoding/decoding) */ +#define HILSIMPacket_imu_high_ax_tag 1 +#define HILSIMPacket_imu_high_ay_tag 2 +#define HILSIMPacket_imu_high_az_tag 3 +#define HILSIMPacket_barometer_altitude_tag 4 +#define HILSIMPacket_barometer_temperature_tag 5 +#define HILSIMPacket_barometer_pressure_tag 6 +#define HILSIMPacket_imu_low_ax_tag 7 +#define HILSIMPacket_imu_low_ay_tag 8 +#define HILSIMPacket_imu_low_az_tag 9 +#define HILSIMPacket_imu_low_lsm_ax_tag 10 +#define HILSIMPacket_imu_low_lsm_ay_tag 11 +#define HILSIMPacket_imu_low_lsm_az_tag 12 +#define HILSIMPacket_imu_low_lsm_gx_tag 13 +#define HILSIMPacket_imu_low_lsm_gy_tag 14 +#define HILSIMPacket_imu_low_lsm_gz_tag 15 +#define HILSIMPacket_mag_x_tag 16 +#define HILSIMPacket_mag_y_tag 17 +#define HILSIMPacket_mag_z_tag 18 +#define HILSIMPacket_ornt_roll_tag 19 +#define HILSIMPacket_ornt_pitch_tag 20 +#define HILSIMPacket_ornt_yaw_tag 21 +#define HILSIMPacket_ornt_rollv_tag 22 +#define HILSIMPacket_ornt_pitchv_tag 23 +#define HILSIMPacket_ornt_yawv_tag 24 +#define HILSIMPacket_ornt_rolla_tag 25 +#define HILSIMPacket_ornt_pitcha_tag 26 +#define HILSIMPacket_ornt_yawa_tag 27 +#define HILSIMPacket_ornt_ax_tag 28 +#define HILSIMPacket_ornt_ay_tag 29 +#define HILSIMPacket_ornt_az_tag 30 +#define HILSIMPacket_ornt_gx_tag 31 +#define HILSIMPacket_ornt_gy_tag 32 +#define HILSIMPacket_ornt_gz_tag 33 +#define HILSIMPacket_ornt_mx_tag 34 +#define HILSIMPacket_ornt_my_tag 35 +#define HILSIMPacket_ornt_mz_tag 36 +#define HILSIMPacket_ornt_temp_tag 37 + +/* Struct field encoding specification for nanopb */ +#define HILSIMPacket_FIELDLIST(X, a) \ +X(a, STATIC, REQUIRED, FLOAT, imu_high_ax, 1) \ +X(a, STATIC, REQUIRED, FLOAT, imu_high_ay, 2) \ +X(a, STATIC, REQUIRED, FLOAT, imu_high_az, 3) \ +X(a, STATIC, REQUIRED, FLOAT, barometer_altitude, 4) \ +X(a, STATIC, REQUIRED, FLOAT, barometer_temperature, 5) \ +X(a, STATIC, REQUIRED, FLOAT, barometer_pressure, 6) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_ax, 7) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_ay, 8) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_az, 9) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_lsm_ax, 10) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_lsm_ay, 11) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_lsm_az, 12) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_lsm_gx, 13) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_lsm_gy, 14) \ +X(a, STATIC, REQUIRED, FLOAT, imu_low_lsm_gz, 15) \ +X(a, STATIC, REQUIRED, FLOAT, mag_x, 16) \ +X(a, STATIC, REQUIRED, FLOAT, mag_y, 17) \ +X(a, STATIC, REQUIRED, FLOAT, mag_z, 18) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_roll, 19) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_pitch, 20) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_yaw, 21) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_rollv, 22) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_pitchv, 23) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_yawv, 24) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_rolla, 25) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_pitcha, 26) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_yawa, 27) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_ax, 28) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_ay, 29) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_az, 30) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_gx, 31) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_gy, 32) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_gz, 33) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_mx, 34) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_my, 35) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_mz, 36) \ +X(a, STATIC, REQUIRED, FLOAT, ornt_temp, 37) +#define HILSIMPacket_CALLBACK NULL +#define HILSIMPacket_DEFAULT NULL + +extern const pb_msgdesc_t HILSIMPacket_msg; + +/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ +#define HILSIMPacket_fields &HILSIMPacket_msg + +/* Maximum encoded size of messages (where known) */ +#define HILSIMPacket_size 207 + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif diff --git a/MIDAS/src/hilsim/hilsimpacket.proto b/MIDAS/src/hilsim/hilsimpacket.proto new file mode 100644 index 00000000..44df7991 --- /dev/null +++ b/MIDAS/src/hilsim/hilsimpacket.proto @@ -0,0 +1,64 @@ +/** + * @struct HILSIMPacket + * @brief Structure to hold data received serially from a desktop computer + * + * The simulated/past-launch data is streamed through serial row-by-row to TARS. TARS receives it in the HILSIM thread and populates + * data that would otherwise be read from sensors via the received HILSIM packet. Used for rapid testing and iteration of onboard + * hardware, GNC, and telemetry systems. + * To generate hilsimpacket.pb.h, use the following command: + * `python nanopb_generator/nanopb_generator.py hilsimpacket.proto` + * To generate hilsimpacket_pb2.py, use the following command: + * `protoc -I=. --python_out=. hilsimpacket.proto` +*/ +syntax = "proto2"; + +message HILSIMPacket { + // High-G IMU data + required float imu_high_ax = 1; + required float imu_high_ay = 2; + required float imu_high_az = 3; + + // Barometer data + required float barometer_altitude = 4; + required float barometer_temperature = 5; + required float barometer_pressure = 6; + + // Low-G IMU data + required float imu_low_ax = 7; + required float imu_low_ay = 8; + required float imu_low_az = 9; + + // Low-G lsm IMU data + required float imu_low_lsm_ax = 10; + required float imu_low_lsm_ay = 11; + required float imu_low_lsm_az = 12; + required float imu_low_lsm_gx = 13; + required float imu_low_lsm_gy = 14; + required float imu_low_lsm_gz = 15; + + // Mag data + required float mag_x = 16; + required float mag_y = 17; + required float mag_z = 18; + + // Orientation data + required float ornt_roll = 19; + required float ornt_pitch = 20; + required float ornt_yaw = 21; + required float ornt_rollv = 22; + required float ornt_pitchv = 23; + required float ornt_yawv = 24; + required float ornt_rolla = 25; + required float ornt_pitcha = 26; + required float ornt_yawa = 27; + required float ornt_ax = 28; + required float ornt_ay = 29; + required float ornt_az = 30; + required float ornt_gx = 31; + required float ornt_gy = 32; + required float ornt_gz = 33; + required float ornt_mx = 34; + required float ornt_my = 35; + required float ornt_mz = 36; + required float ornt_temp = 37; +} diff --git a/MIDAS/src/hilsim/hilsimpacket_pb2.py b/MIDAS/src/hilsim/hilsimpacket_pb2.py new file mode 100644 index 00000000..ff60dffb --- /dev/null +++ b/MIDAS/src/hilsim/hilsimpacket_pb2.py @@ -0,0 +1,25 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: hilsimpacket.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x12hilsimpacket.proto\"\xfa\x05\n\x0cHILSIMPacket\x12\x13\n\x0bimu_high_ax\x18\x01 \x02(\x02\x12\x13\n\x0bimu_high_ay\x18\x02 \x02(\x02\x12\x13\n\x0bimu_high_az\x18\x03 \x02(\x02\x12\x1a\n\x12\x62\x61rometer_altitude\x18\x04 \x02(\x02\x12\x1d\n\x15\x62\x61rometer_temperature\x18\x05 \x02(\x02\x12\x1a\n\x12\x62\x61rometer_pressure\x18\x06 \x02(\x02\x12\x12\n\nimu_low_ax\x18\x07 \x02(\x02\x12\x12\n\nimu_low_ay\x18\x08 \x02(\x02\x12\x12\n\nimu_low_az\x18\t \x02(\x02\x12\x16\n\x0eimu_low_lsm_ax\x18\n \x02(\x02\x12\x16\n\x0eimu_low_lsm_ay\x18\x0b \x02(\x02\x12\x16\n\x0eimu_low_lsm_az\x18\x0c \x02(\x02\x12\x16\n\x0eimu_low_lsm_gx\x18\r \x02(\x02\x12\x16\n\x0eimu_low_lsm_gy\x18\x0e \x02(\x02\x12\x16\n\x0eimu_low_lsm_gz\x18\x0f \x02(\x02\x12\r\n\x05mag_x\x18\x10 \x02(\x02\x12\r\n\x05mag_y\x18\x11 \x02(\x02\x12\r\n\x05mag_z\x18\x12 \x02(\x02\x12\x11\n\tornt_roll\x18\x13 \x02(\x02\x12\x12\n\nornt_pitch\x18\x14 \x02(\x02\x12\x10\n\x08ornt_yaw\x18\x15 \x02(\x02\x12\x12\n\nornt_rollv\x18\x16 \x02(\x02\x12\x13\n\x0bornt_pitchv\x18\x17 \x02(\x02\x12\x11\n\tornt_yawv\x18\x18 \x02(\x02\x12\x12\n\nornt_rolla\x18\x19 \x02(\x02\x12\x13\n\x0bornt_pitcha\x18\x1a \x02(\x02\x12\x11\n\tornt_yawa\x18\x1b \x02(\x02\x12\x0f\n\x07ornt_ax\x18\x1c \x02(\x02\x12\x0f\n\x07ornt_ay\x18\x1d \x02(\x02\x12\x0f\n\x07ornt_az\x18\x1e \x02(\x02\x12\x0f\n\x07ornt_gx\x18\x1f \x02(\x02\x12\x0f\n\x07ornt_gy\x18 \x02(\x02\x12\x0f\n\x07ornt_gz\x18! \x02(\x02\x12\x0f\n\x07ornt_mx\x18\" \x02(\x02\x12\x0f\n\x07ornt_my\x18# \x02(\x02\x12\x0f\n\x07ornt_mz\x18$ \x02(\x02\x12\x11\n\tornt_temp\x18% \x02(\x02') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hilsimpacket_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_HILSIMPACKET']._serialized_start=23 + _globals['_HILSIMPACKET']._serialized_end=785 +# @@protoc_insertion_point(module_scope) diff --git a/MIDAS/src/hilsim/main.cpp b/MIDAS/src/hilsim/main.cpp new file mode 100644 index 00000000..c56e07ce --- /dev/null +++ b/MIDAS/src/hilsim/main.cpp @@ -0,0 +1,63 @@ +#include +#include +#include + +#include +#include "global_packet.h" + +HILSIMPacket global_packet = HILSIMPacket_init_zero; + +MultipleLogSink<> sink; +RocketSystems systems{.log_sink = sink}; + +DECLARE_THREAD(hilsim, void*arg) { + uint8_t buffer[HILSIMPacket_size]; + int n = 0; + // Debug kamaji output to verify if we're reading the correct packets + while (Serial.read() != 33); + char magic[] = {69, 110, 117, 109, 99, 108, 97, 119, 0}; + Serial.println(magic); + Serial.println(__TIME__); + Serial.println(__DATE__); + Serial.flush(); + + while (true) { + while (!Serial.available()); + uint8_t a = Serial.read(); + uint8_t b = Serial.read(); + uint16_t length = (uint16_t) b + (((uint16_t) a) << 8); + // Parse the two bytes as integers + + size_t hilsim_packet_size = Serial.readBytes(buffer, length); + // Serial.print(length); + // Serial.print(" "); + // Serial.printf("%d %d ", a, b); + HILSIMPacket packet = HILSIMPacket_init_zero; + pb_istream_t stream = pb_istream_from_buffer(buffer, hilsim_packet_size); + bool status = pb_decode(&stream, HILSIMPacket_fields, &packet); + if (!status) { + THREAD_SLEEP(10); + continue; + } + global_packet = packet; + RocketState rocket_state = RocketState_init_zero; + rocket_state.rocket_state = (int) (100 * sin((double)n / 360)); + uint8_t buffer2[RocketState_size]; + pb_ostream_t output_stream = pb_ostream_from_buffer(buffer, sizeof(buffer)); + status = pb_encode(&output_stream, RocketState_fields, &rocket_state); + Serial.write(output_stream.bytes_written); + Serial.write(buffer, output_stream.bytes_written); + Serial.flush(); + n++; + + THREAD_SLEEP(10); + } +} + +void setup() { + Serial.begin(9600); + while (!Serial); + hilsim_thread(nullptr); +} + +void loop(){} diff --git a/MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py b/MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py new file mode 100644 index 00000000..84372fc6 --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py @@ -0,0 +1,2586 @@ +#!/usr/bin/env python3 +# kate: replace-tabs on; indent-width 4; + +from __future__ import unicode_literals + +'''Generate header file for nanopb from a ProtoBuf FileDescriptorSet.''' +nanopb_version = "nanopb-0.4.7" + +import sys +import re +import codecs +import copy +import itertools +import tempfile +import shutil +import shlex +import os +from functools import reduce + +# Python-protobuf breaks easily with protoc version differences if +# using the cpp or upb implementation. Force it to use pure Python +# implementation. Performance is not very important in the generator. +if not os.getenv("PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION"): + os.putenv("PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION", "python") + os.environ["PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION"] = "python" + +try: + # Make sure grpc_tools gets included in binary package if it is available + import grpc_tools.protoc +except: + pass + +try: + import google.protobuf.text_format as text_format + import google.protobuf.descriptor_pb2 as descriptor + import google.protobuf.compiler.plugin_pb2 as plugin_pb2 + import google.protobuf.reflection as reflection + import google.protobuf.descriptor +except: + sys.stderr.write(''' + ********************************************************************** + *** Could not import the Google protobuf Python libraries *** + *** *** + *** Easiest solution is often to install the dependencies via pip: *** + *** pip install protobuf grpcio-tools *** + ********************************************************************** + ''' + '\n') + raise + +# Depending on how this script is run, we may or may not have PEP366 package name +# available for relative imports. +if not __package__: + import proto + from proto._utils import invoke_protoc + from proto import TemporaryDirectory +else: + from . import proto + from .proto._utils import invoke_protoc + from .proto import TemporaryDirectory + +if getattr(sys, 'frozen', False): + # Binary package, just import the file + from proto import nanopb_pb2 +else: + # Try to rebuild nanopb_pb2.py if necessary + nanopb_pb2 = proto.load_nanopb_pb2() + +try: + # Add some dummy imports to keep packaging tools happy. + import google # bbfreeze seems to need these + import pkg_resources # pyinstaller / protobuf 2.5 seem to need these + from proto import nanopb_pb2 # pyinstaller seems to need this + import pkg_resources.py2_warn +except: + # Don't care, we will error out later if it is actually important. + pass + +# --------------------------------------------------------------------------- +# Generation of single fields +# --------------------------------------------------------------------------- + +import time +import os.path + +# Values are tuple (c type, pb type, encoded size, data_size) +FieldD = descriptor.FieldDescriptorProto +datatypes = { + FieldD.TYPE_BOOL: ('bool', 'BOOL', 1, 4), + FieldD.TYPE_DOUBLE: ('double', 'DOUBLE', 8, 8), + FieldD.TYPE_FIXED32: ('uint32_t', 'FIXED32', 4, 4), + FieldD.TYPE_FIXED64: ('uint64_t', 'FIXED64', 8, 8), + FieldD.TYPE_FLOAT: ('float', 'FLOAT', 4, 4), + FieldD.TYPE_INT32: ('int32_t', 'INT32', 10, 4), + FieldD.TYPE_INT64: ('int64_t', 'INT64', 10, 8), + FieldD.TYPE_SFIXED32: ('int32_t', 'SFIXED32', 4, 4), + FieldD.TYPE_SFIXED64: ('int64_t', 'SFIXED64', 8, 8), + FieldD.TYPE_SINT32: ('int32_t', 'SINT32', 5, 4), + FieldD.TYPE_SINT64: ('int64_t', 'SINT64', 10, 8), + FieldD.TYPE_UINT32: ('uint32_t', 'UINT32', 5, 4), + FieldD.TYPE_UINT64: ('uint64_t', 'UINT64', 10, 8), + + # Integer size override options + (FieldD.TYPE_INT32, nanopb_pb2.IS_8): ('int8_t', 'INT32', 10, 1), + (FieldD.TYPE_INT32, nanopb_pb2.IS_16): ('int16_t', 'INT32', 10, 2), + (FieldD.TYPE_INT32, nanopb_pb2.IS_32): ('int32_t', 'INT32', 10, 4), + (FieldD.TYPE_INT32, nanopb_pb2.IS_64): ('int64_t', 'INT32', 10, 8), + (FieldD.TYPE_SINT32, nanopb_pb2.IS_8): ('int8_t', 'SINT32', 2, 1), + (FieldD.TYPE_SINT32, nanopb_pb2.IS_16): ('int16_t', 'SINT32', 3, 2), + (FieldD.TYPE_SINT32, nanopb_pb2.IS_32): ('int32_t', 'SINT32', 5, 4), + (FieldD.TYPE_SINT32, nanopb_pb2.IS_64): ('int64_t', 'SINT32', 10, 8), + (FieldD.TYPE_UINT32, nanopb_pb2.IS_8): ('uint8_t', 'UINT32', 2, 1), + (FieldD.TYPE_UINT32, nanopb_pb2.IS_16): ('uint16_t','UINT32', 3, 2), + (FieldD.TYPE_UINT32, nanopb_pb2.IS_32): ('uint32_t','UINT32', 5, 4), + (FieldD.TYPE_UINT32, nanopb_pb2.IS_64): ('uint64_t','UINT32', 10, 8), + (FieldD.TYPE_INT64, nanopb_pb2.IS_8): ('int8_t', 'INT64', 10, 1), + (FieldD.TYPE_INT64, nanopb_pb2.IS_16): ('int16_t', 'INT64', 10, 2), + (FieldD.TYPE_INT64, nanopb_pb2.IS_32): ('int32_t', 'INT64', 10, 4), + (FieldD.TYPE_INT64, nanopb_pb2.IS_64): ('int64_t', 'INT64', 10, 8), + (FieldD.TYPE_SINT64, nanopb_pb2.IS_8): ('int8_t', 'SINT64', 2, 1), + (FieldD.TYPE_SINT64, nanopb_pb2.IS_16): ('int16_t', 'SINT64', 3, 2), + (FieldD.TYPE_SINT64, nanopb_pb2.IS_32): ('int32_t', 'SINT64', 5, 4), + (FieldD.TYPE_SINT64, nanopb_pb2.IS_64): ('int64_t', 'SINT64', 10, 8), + (FieldD.TYPE_UINT64, nanopb_pb2.IS_8): ('uint8_t', 'UINT64', 2, 1), + (FieldD.TYPE_UINT64, nanopb_pb2.IS_16): ('uint16_t','UINT64', 3, 2), + (FieldD.TYPE_UINT64, nanopb_pb2.IS_32): ('uint32_t','UINT64', 5, 4), + (FieldD.TYPE_UINT64, nanopb_pb2.IS_64): ('uint64_t','UINT64', 10, 8), +} + +class NamingStyle: + def enum_name(self, name): + return "_%s" % (name) + + def struct_name(self, name): + return "_%s" % (name) + + def type_name(self, name): + return "%s" % (name) + + def define_name(self, name): + return "%s" % (name) + + def var_name(self, name): + return "%s" % (name) + + def enum_entry(self, name): + return "%s" % (name) + + def func_name(self, name): + return "%s" % (name) + + def bytes_type(self, struct_name, name): + return "%s_%s_t" % (struct_name, name) + +class NamingStyleC(NamingStyle): + def enum_name(self, name): + return self.underscore(name) + + def struct_name(self, name): + return self.underscore(name) + + def type_name(self, name): + return "%s_t" % self.underscore(name) + + def define_name(self, name): + return self.underscore(name).upper() + + def var_name(self, name): + return self.underscore(name) + + def enum_entry(self, name): + return self.underscore(name).upper() + + def func_name(self, name): + return self.underscore(name) + + def bytes_type(self, struct_name, name): + return "%s_%s_t" % (self.underscore(struct_name), self.underscore(name)) + + def underscore(self, word): + word = str(word) + word = re.sub(r"([A-Z]+)([A-Z][a-z])", r'\1_\2', word) + word = re.sub(r"([a-z\d])([A-Z])", r'\1_\2', word) + word = word.replace("-", "_") + return word.lower() + +class Globals: + '''Ugly global variables, should find a good way to pass these.''' + verbose_options = False + separate_options = [] + matched_namemasks = set() + protoc_insertion_points = False + naming_style = NamingStyle() + +# String types and file encoding for Python2 UTF-8 support +if sys.version_info.major == 2: + import codecs + open = codecs.open + strtypes = (unicode, str) + + def str(x): + try: + return strtypes[1](x) + except UnicodeEncodeError: + return strtypes[0](x) +else: + strtypes = (str, ) + + +class Names: + '''Keeps a set of nested names and formats them to C identifier.''' + def __init__(self, parts = ()): + if isinstance(parts, Names): + parts = parts.parts + elif isinstance(parts, strtypes): + parts = (parts,) + self.parts = tuple(parts) + + if self.parts == ('',): + self.parts = () + + def __str__(self): + return '_'.join(self.parts) + + def __repr__(self): + return 'Names(%s)' % ','.join("'%s'" % x for x in self.parts) + + def __add__(self, other): + if isinstance(other, strtypes): + return Names(self.parts + (other,)) + elif isinstance(other, Names): + return Names(self.parts + other.parts) + elif isinstance(other, tuple): + return Names(self.parts + other) + else: + raise ValueError("Name parts should be of type str") + + def __eq__(self, other): + return isinstance(other, Names) and self.parts == other.parts + + def __lt__(self, other): + if not isinstance(other, Names): + return NotImplemented + return str(self) < str(other) + +def names_from_type_name(type_name): + '''Parse Names() from FieldDescriptorProto type_name''' + if type_name[0] != '.': + raise NotImplementedError("Lookup of non-absolute type names is not supported") + return Names(type_name[1:].split('.')) + +def varint_max_size(max_value): + '''Returns the maximum number of bytes a varint can take when encoded.''' + if max_value < 0: + max_value = 2**64 - max_value + for i in range(1, 11): + if (max_value >> (i * 7)) == 0: + return i + raise ValueError("Value too large for varint: " + str(max_value)) + +assert varint_max_size(-1) == 10 +assert varint_max_size(0) == 1 +assert varint_max_size(127) == 1 +assert varint_max_size(128) == 2 + +class EncodedSize: + '''Class used to represent the encoded size of a field or a message. + Consists of a combination of symbolic sizes and integer sizes.''' + def __init__(self, value = 0, symbols = [], declarations = [], required_defines = []): + if isinstance(value, EncodedSize): + self.value = value.value + self.symbols = value.symbols + self.declarations = value.declarations + self.required_defines = value.required_defines + elif isinstance(value, strtypes + (Names,)): + self.symbols = [str(value)] + self.value = 0 + self.declarations = [] + self.required_defines = [str(value)] + else: + self.value = value + self.symbols = symbols + self.declarations = declarations + self.required_defines = required_defines + + def __add__(self, other): + if isinstance(other, int): + return EncodedSize(self.value + other, self.symbols, self.declarations, self.required_defines) + elif isinstance(other, strtypes + (Names,)): + return EncodedSize(self.value, self.symbols + [str(other)], self.declarations, self.required_defines + [str(other)]) + elif isinstance(other, EncodedSize): + return EncodedSize(self.value + other.value, self.symbols + other.symbols, + self.declarations + other.declarations, self.required_defines + other.required_defines) + else: + raise ValueError("Cannot add size: " + repr(other)) + + def __mul__(self, other): + if isinstance(other, int): + return EncodedSize(self.value * other, [str(other) + '*' + s for s in self.symbols], + self.declarations, self.required_defines) + else: + raise ValueError("Cannot multiply size: " + repr(other)) + + def __str__(self): + if not self.symbols: + return str(self.value) + else: + return '(' + str(self.value) + ' + ' + ' + '.join(self.symbols) + ')' + + def __repr__(self): + return 'EncodedSize(%s, %s, %s, %s)' % (self.value, self.symbols, self.declarations, self.required_defines) + + def get_declarations(self): + '''Get any declarations that must appear alongside this encoded size definition, + such as helper union {} types.''' + return '\n'.join(self.declarations) + + def get_cpp_guard(self, local_defines): + '''Get an #if preprocessor statement listing all defines that are required for this definition.''' + needed = [x for x in self.required_defines if x not in local_defines] + if needed: + return '#if ' + ' && '.join(['defined(%s)' % x for x in needed]) + "\n" + else: + return '' + + def upperlimit(self): + if not self.symbols: + return self.value + else: + return 2**32 - 1 + +class ProtoElement(object): + # Constants regarding path of proto elements in file descriptor. + # They are used to connect proto elements with source code information (comments) + # These values come from: + # https://github.com/google/protobuf/blob/master/src/google/protobuf/descriptor.proto + FIELD = 2 + MESSAGE = 4 + ENUM = 5 + NESTED_TYPE = 3 + NESTED_ENUM = 4 + + def __init__(self, path, comments = None): + ''' + path is a tuple containing integers (type, index, ...) + comments is a dictionary mapping between element path & SourceCodeInfo.Location + (contains information about source comments). + ''' + assert(isinstance(path, tuple)) + self.element_path = path + self.comments = comments or {} + + def get_member_comments(self, index): + '''Get comments for a member of enum or message.''' + return self.get_comments((ProtoElement.FIELD, index), leading_indent = True) + + def format_comment(self, comment): + '''Put comment inside /* */ and sanitize comment contents''' + comment = comment.strip() + comment = comment.replace('/*', '/ *') + comment = comment.replace('*/', '* /') + return "/* %s */" % comment + + def get_comments(self, member_path = (), leading_indent = False): + '''Get leading & trailing comments for a protobuf element. + + member_path is the proto path of an element or member (ex. [5 0] or [4 1 2 0]) + leading_indent is a flag that indicates if leading comments should be indented + ''' + + # Obtain SourceCodeInfo.Location object containing comment + # information (based on the member path) + path = self.element_path + member_path + comment = self.comments.get(path) + + leading_comment = "" + trailing_comment = "" + + if not comment: + return leading_comment, trailing_comment + + if comment.leading_comments: + leading_comment = " " if leading_indent else "" + leading_comment += self.format_comment(comment.leading_comments) + + if comment.trailing_comments: + trailing_comment = self.format_comment(comment.trailing_comments) + + return leading_comment, trailing_comment + + +class Enum(ProtoElement): + def __init__(self, names, desc, enum_options, element_path, comments): + ''' + desc is EnumDescriptorProto + index is the index of this enum element inside the file + comments is a dictionary mapping between element path & SourceCodeInfo.Location + (contains information about source comments) + ''' + super(Enum, self).__init__(element_path, comments) + + self.options = enum_options + self.names = names + + # by definition, `names` include this enum's name + base_name = Names(names.parts[:-1]) + + if enum_options.long_names: + self.values = [(names + x.name, x.number) for x in desc.value] + else: + self.values = [(base_name + x.name, x.number) for x in desc.value] + + self.value_longnames = [self.names + x.name for x in desc.value] + self.packed = enum_options.packed_enum + + def has_negative(self): + for n, v in self.values: + if v < 0: + return True + return False + + def encoded_size(self): + return max([varint_max_size(v) for n,v in self.values]) + + def __repr__(self): + return 'Enum(%s)' % self.names + + def __str__(self): + leading_comment, trailing_comment = self.get_comments() + + result = '' + if leading_comment: + result = '%s\n' % leading_comment + + result += 'typedef enum %s {' % Globals.naming_style.enum_name(self.names) + if trailing_comment: + result += " " + trailing_comment + + result += "\n" + + enum_length = len(self.values) + enum_values = [] + for index, (name, value) in enumerate(self.values): + leading_comment, trailing_comment = self.get_member_comments(index) + + if leading_comment: + enum_values.append(leading_comment) + + comma = "," + if index == enum_length - 1: + # last enum member should not end with a comma + comma = "" + + enum_value = " %s = %d%s" % (Globals.naming_style.enum_entry(name), value, comma) + if trailing_comment: + enum_value += " " + trailing_comment + + enum_values.append(enum_value) + + result += '\n'.join(enum_values) + result += '\n}' + + if self.packed: + result += ' pb_packed' + + result += ' %s;' % Globals.naming_style.type_name(self.names) + return result + + def auxiliary_defines(self): + # sort the enum by value + sorted_values = sorted(self.values, key = lambda x: (x[1], x[0])) + result = '#define %s %s\n' % ( + Globals.naming_style.define_name('_%s_MIN' % self.names), + Globals.naming_style.enum_entry(sorted_values[0][0])) + result += '#define %s %s\n' % ( + Globals.naming_style.define_name('_%s_MAX' % self.names), + Globals.naming_style.enum_entry(sorted_values[-1][0])) + result += '#define %s ((%s)(%s+1))\n' % ( + Globals.naming_style.define_name('_%s_ARRAYSIZE' % self.names), + Globals.naming_style.type_name(self.names), + Globals.naming_style.enum_entry(sorted_values[-1][0])) + + if not self.options.long_names: + # Define the long names always so that enum value references + # from other files work properly. + for i, x in enumerate(self.values): + result += '#define %s %s\n' % (self.value_longnames[i], x[0]) + + if self.options.enum_to_string: + result += 'const char *%s(%s v);\n' % ( + Globals.naming_style.func_name('%s_name' % self.names), + Globals.naming_style.type_name(self.names)) + + return result + + def enum_to_string_definition(self): + if not self.options.enum_to_string: + return "" + + result = 'const char *%s(%s v) {\n' % ( + Globals.naming_style.func_name('%s_name' % self.names), + Globals.naming_style.type_name(self.names)) + + result += ' switch (v) {\n' + + for ((enumname, _), strname) in zip(self.values, self.value_longnames): + # Strip off the leading type name from the string value. + strval = str(strname)[len(str(self.names)) + 1:] + result += ' case %s: return "%s";\n' % ( + Globals.naming_style.enum_entry(enumname), + Globals.naming_style.enum_entry(strval)) + + result += ' }\n' + result += ' return "unknown";\n' + result += '}\n' + + return result + +class FieldMaxSize: + def __init__(self, worst = 0, checks = [], field_name = 'undefined'): + if isinstance(worst, list): + self.worst = max(i for i in worst if i is not None) + else: + self.worst = worst + + self.worst_field = field_name + self.checks = list(checks) + + def extend(self, extend, field_name = None): + self.worst = max(self.worst, extend.worst) + + if self.worst == extend.worst: + self.worst_field = extend.worst_field + + self.checks.extend(extend.checks) + +class Field(ProtoElement): + macro_x_param = 'X' + macro_a_param = 'a' + + def __init__(self, struct_name, desc, field_options, element_path = (), comments = None): + '''desc is FieldDescriptorProto''' + ProtoElement.__init__(self, element_path, comments) + self.tag = desc.number + self.struct_name = struct_name + self.union_name = None + self.name = desc.name + self.default = None + self.max_size = None + self.max_count = None + self.array_decl = "" + self.enc_size = None + self.data_item_size = None + self.ctype = None + self.fixed_count = False + self.callback_datatype = field_options.callback_datatype + self.math_include_required = False + self.sort_by_tag = field_options.sort_by_tag + + if field_options.type == nanopb_pb2.FT_INLINE: + # Before nanopb-0.3.8, fixed length bytes arrays were specified + # by setting type to FT_INLINE. But to handle pointer typed fields, + # it makes sense to have it as a separate option. + field_options.type = nanopb_pb2.FT_STATIC + field_options.fixed_length = True + + # Parse field options + if field_options.HasField("max_size"): + self.max_size = field_options.max_size + + self.default_has = field_options.default_has + + if desc.type == FieldD.TYPE_STRING and field_options.HasField("max_length"): + # max_length overrides max_size for strings + self.max_size = field_options.max_length + 1 + + if field_options.HasField("max_count"): + self.max_count = field_options.max_count + + if desc.HasField('default_value'): + self.default = desc.default_value + + # Check field rules, i.e. required/optional/repeated. + can_be_static = True + if desc.label == FieldD.LABEL_REPEATED: + self.rules = 'REPEATED' + if self.max_count is None: + can_be_static = False + else: + self.array_decl = '[%d]' % self.max_count + if field_options.fixed_count: + self.rules = 'FIXARRAY' + + elif field_options.proto3: + if desc.type == FieldD.TYPE_MESSAGE and not field_options.proto3_singular_msgs: + # In most other protobuf libraries proto3 submessages have + # "null" status. For nanopb, that is implemented as has_ field. + self.rules = 'OPTIONAL' + elif hasattr(desc, "proto3_optional") and desc.proto3_optional: + # Protobuf 3.12 introduced optional fields for proto3 syntax + self.rules = 'OPTIONAL' + else: + # Proto3 singular fields (without has_field) + self.rules = 'SINGULAR' + elif desc.label == FieldD.LABEL_REQUIRED: + self.rules = 'REQUIRED' + elif desc.label == FieldD.LABEL_OPTIONAL: + self.rules = 'OPTIONAL' + else: + raise NotImplementedError(desc.label) + + # Check if the field can be implemented with static allocation + # i.e. whether the data size is known. + if desc.type == FieldD.TYPE_STRING and self.max_size is None: + can_be_static = False + + if desc.type == FieldD.TYPE_BYTES and self.max_size is None: + can_be_static = False + + # Decide how the field data will be allocated + if field_options.type == nanopb_pb2.FT_DEFAULT: + if can_be_static: + field_options.type = nanopb_pb2.FT_STATIC + else: + field_options.type = field_options.fallback_type + + if field_options.type == nanopb_pb2.FT_STATIC and not can_be_static: + raise Exception("Field '%s' is defined as static, but max_size or " + "max_count is not given." % self.name) + + if field_options.fixed_count and self.max_count is None: + raise Exception("Field '%s' is defined as fixed count, " + "but max_count is not given." % self.name) + + if field_options.type == nanopb_pb2.FT_STATIC: + self.allocation = 'STATIC' + elif field_options.type == nanopb_pb2.FT_POINTER: + self.allocation = 'POINTER' + elif field_options.type == nanopb_pb2.FT_CALLBACK: + self.allocation = 'CALLBACK' + else: + raise NotImplementedError(field_options.type) + + if field_options.HasField("type_override"): + desc.type = field_options.type_override + + # Decide the C data type to use in the struct. + if desc.type in datatypes: + self.ctype, self.pbtype, self.enc_size, self.data_item_size = datatypes[desc.type] + + # Override the field size if user wants to use smaller integers + if (desc.type, field_options.int_size) in datatypes: + self.ctype, self.pbtype, self.enc_size, self.data_item_size = datatypes[(desc.type, field_options.int_size)] + elif desc.type == FieldD.TYPE_ENUM: + self.pbtype = 'ENUM' + self.data_item_size = 4 + self.ctype = names_from_type_name(desc.type_name) + if self.default is not None: + self.default = self.ctype + self.default + self.enc_size = None # Needs to be filled in when enum values are known + elif desc.type == FieldD.TYPE_STRING: + self.pbtype = 'STRING' + self.ctype = 'char' + if self.allocation == 'STATIC': + self.ctype = 'char' + self.array_decl += '[%d]' % self.max_size + # -1 because of null terminator. Both pb_encode and pb_decode + # check the presence of it. + self.enc_size = varint_max_size(self.max_size) + self.max_size - 1 + elif desc.type == FieldD.TYPE_BYTES: + if field_options.fixed_length: + self.pbtype = 'FIXED_LENGTH_BYTES' + + if self.max_size is None: + raise Exception("Field '%s' is defined as fixed length, " + "but max_size is not given." % self.name) + + self.enc_size = varint_max_size(self.max_size) + self.max_size + self.ctype = 'pb_byte_t' + self.array_decl += '[%d]' % self.max_size + else: + self.pbtype = 'BYTES' + self.ctype = 'pb_bytes_array_t' + if self.allocation == 'STATIC': + self.ctype = Globals.naming_style.bytes_type(self.struct_name, self.name) + self.enc_size = varint_max_size(self.max_size) + self.max_size + elif desc.type == FieldD.TYPE_MESSAGE: + self.pbtype = 'MESSAGE' + self.ctype = self.submsgname = names_from_type_name(desc.type_name) + self.enc_size = None # Needs to be filled in after the message type is available + if field_options.submsg_callback and self.allocation == 'STATIC': + self.pbtype = 'MSG_W_CB' + else: + raise NotImplementedError(desc.type) + + if self.default and self.pbtype in ['FLOAT', 'DOUBLE']: + if 'inf' in self.default or 'nan' in self.default: + self.math_include_required = True + + def __lt__(self, other): + return self.tag < other.tag + + def __repr__(self): + return 'Field(%s)' % self.name + + def __str__(self): + result = '' + + var_name = Globals.naming_style.var_name(self.name) + type_name = Globals.naming_style.type_name(self.ctype) if isinstance(self.ctype, Names) else self.ctype + + if self.allocation == 'POINTER': + if self.rules == 'REPEATED': + if self.pbtype == 'MSG_W_CB': + result += ' pb_callback_t cb_' + var_name + ';\n' + result += ' pb_size_t ' + var_name + '_count;\n' + + if self.rules == 'FIXARRAY' and self.pbtype in ['STRING', 'BYTES']: + # Pointer to fixed size array of pointers + result += ' %s* (*%s)%s;' % (type_name, var_name, self.array_decl) + elif self.pbtype == 'FIXED_LENGTH_BYTES' or self.rules == 'FIXARRAY': + # Pointer to fixed size array of items + result += ' %s (*%s)%s;' % (type_name, var_name, self.array_decl) + elif self.rules == 'REPEATED' and self.pbtype in ['STRING', 'BYTES']: + # String/bytes arrays need to be defined as pointers to pointers + result += ' %s **%s;' % (type_name, var_name) + elif self.pbtype in ['MESSAGE', 'MSG_W_CB']: + # Use struct definition, so recursive submessages are possible + result += ' struct %s *%s;' % (Globals.naming_style.struct_name(self.ctype), var_name) + else: + # Normal case, just a pointer to single item + result += ' %s *%s;' % (type_name, var_name) + elif self.allocation == 'CALLBACK': + result += ' %s %s;' % (self.callback_datatype, var_name) + else: + if self.pbtype == 'MSG_W_CB' and self.rules in ['OPTIONAL', 'REPEATED']: + result += ' pb_callback_t cb_' + var_name + ';\n' + + if self.rules == 'OPTIONAL': + result += ' bool has_' + var_name + ';\n' + elif self.rules == 'REPEATED': + result += ' pb_size_t ' + var_name + '_count;\n' + + result += ' %s %s%s;' % (type_name, var_name, self.array_decl) + + leading_comment, trailing_comment = self.get_comments(leading_indent = True) + if leading_comment: result = leading_comment + "\n" + result + if trailing_comment: result = result + " " + trailing_comment + + return result + + def types(self): + '''Return definitions for any special types this field might need.''' + if self.pbtype == 'BYTES' and self.allocation == 'STATIC': + result = 'typedef PB_BYTES_ARRAY_T(%d) %s;\n' % (self.max_size, Globals.naming_style.var_name(self.ctype)) + else: + result = '' + return result + + def get_dependencies(self): + '''Get list of type names used by this field.''' + if self.allocation == 'STATIC': + return [str(self.ctype)] + elif self.allocation == 'POINTER' and self.rules == 'FIXARRAY': + return [str(self.ctype)] + else: + return [] + + def get_initializer(self, null_init, inner_init_only = False): + '''Return literal expression for this field's default value. + null_init: If True, initialize to a 0 value instead of default from .proto + inner_init_only: If True, exclude initialization for any count/has fields + ''' + + inner_init = None + if self.pbtype in ['MESSAGE', 'MSG_W_CB']: + if null_init: + inner_init = Globals.naming_style.define_name('%s_init_zero' % self.ctype) + else: + inner_init = Globals.naming_style.define_name('%s_init_default' % self.ctype) + elif self.default is None or null_init: + if self.pbtype == 'STRING': + inner_init = '""' + elif self.pbtype == 'BYTES': + inner_init = '{0, {0}}' + elif self.pbtype == 'FIXED_LENGTH_BYTES': + inner_init = '{0}' + elif self.pbtype in ('ENUM', 'UENUM'): + inner_init = '_%s_MIN' % Globals.naming_style.define_name(self.ctype) + else: + inner_init = '0' + else: + if self.pbtype == 'STRING': + data = codecs.escape_encode(self.default.encode('utf-8'))[0] + inner_init = '"' + data.decode('ascii') + '"' + elif self.pbtype == 'BYTES': + data = codecs.escape_decode(self.default)[0] + data = ["0x%02x" % c for c in bytearray(data)] + if len(data) == 0: + inner_init = '{0, {0}}' + else: + inner_init = '{%d, {%s}}' % (len(data), ','.join(data)) + elif self.pbtype == 'FIXED_LENGTH_BYTES': + data = codecs.escape_decode(self.default)[0] + data = ["0x%02x" % c for c in bytearray(data)] + if len(data) == 0: + inner_init = '{0}' + else: + inner_init = '{%s}' % ','.join(data) + elif self.pbtype in ['FIXED32', 'UINT32']: + inner_init = str(self.default) + 'u' + elif self.pbtype in ['FIXED64', 'UINT64']: + inner_init = str(self.default) + 'ull' + elif self.pbtype in ['SFIXED64', 'INT64']: + inner_init = str(self.default) + 'll' + elif self.pbtype in ['FLOAT', 'DOUBLE']: + inner_init = str(self.default) + if 'inf' in inner_init: + inner_init = inner_init.replace('inf', 'INFINITY') + elif 'nan' in inner_init: + inner_init = inner_init.replace('nan', 'NAN') + elif (not '.' in inner_init) and self.pbtype == 'FLOAT': + inner_init += '.0f' + elif self.pbtype == 'FLOAT': + inner_init += 'f' + else: + inner_init = str(self.default) + + if inner_init_only: + return inner_init + + outer_init = None + if self.allocation == 'STATIC': + if self.rules == 'REPEATED': + outer_init = '0, {' + ', '.join([inner_init] * self.max_count) + '}' + elif self.rules == 'FIXARRAY': + outer_init = '{' + ', '.join([inner_init] * self.max_count) + '}' + elif self.rules == 'OPTIONAL': + if null_init or not self.default_has: + outer_init = 'false, ' + inner_init + else: + outer_init = 'true, ' + inner_init + else: + outer_init = inner_init + elif self.allocation == 'POINTER': + if self.rules == 'REPEATED': + outer_init = '0, NULL' + else: + outer_init = 'NULL' + elif self.allocation == 'CALLBACK': + if self.pbtype == 'EXTENSION': + outer_init = 'NULL' + else: + outer_init = '{{NULL}, NULL}' + + if self.pbtype == 'MSG_W_CB' and self.rules in ['REPEATED', 'OPTIONAL']: + outer_init = '{{NULL}, NULL}, ' + outer_init + + return outer_init + + def tags(self): + '''Return the #define for the tag number of this field.''' + identifier = Globals.naming_style.define_name('%s_%s_tag' % (self.struct_name, self.name)) + return '#define %-40s %d\n' % (identifier, self.tag) + + def fieldlist(self): + '''Return the FIELDLIST macro entry for this field. + Format is: X(a, ATYPE, HTYPE, LTYPE, field_name, tag) + ''' + name = Globals.naming_style.var_name(self.name) + + if self.rules == "ONEOF": + # For oneofs, make a tuple of the union name, union member name, + # and the name inside the parent struct. + if not self.anonymous: + name = '(%s,%s,%s)' % ( + Globals.naming_style.var_name(self.union_name), + Globals.naming_style.var_name(self.name), + Globals.naming_style.var_name(self.union_name) + '.' + + Globals.naming_style.var_name(self.name)) + else: + name = '(%s,%s,%s)' % ( + Globals.naming_style.var_name(self.union_name), + Globals.naming_style.var_name(self.name), + Globals.naming_style.var_name(self.name)) + + return '%s(%s, %-9s %-9s %-9s %-16s %3d)' % (self.macro_x_param, + self.macro_a_param, + self.allocation + ',', + self.rules + ',', + self.pbtype + ',', + name + ',', + self.tag) + + def data_size(self, dependencies): + '''Return estimated size of this field in the C struct. + This is used to try to automatically pick right descriptor size. + If the estimate is wrong, it will result in compile time error and + user having to specify descriptor_width option. + ''' + if self.allocation == 'POINTER' or self.pbtype == 'EXTENSION': + size = 8 + alignment = 8 + elif self.allocation == 'CALLBACK': + size = 16 + alignment = 8 + elif self.pbtype in ['MESSAGE', 'MSG_W_CB']: + alignment = 8 + if str(self.submsgname) in dependencies: + other_dependencies = dict(x for x in dependencies.items() if x[0] != str(self.struct_name)) + size = dependencies[str(self.submsgname)].data_size(other_dependencies) + else: + size = 256 # Message is in other file, this is reasonable guess for most cases + sys.stderr.write('Could not determine size for submessage %s, using default %d\n' % (self.submsgname, size)) + + if self.pbtype == 'MSG_W_CB': + size += 16 + elif self.pbtype in ['STRING', 'FIXED_LENGTH_BYTES']: + size = self.max_size + alignment = 4 + elif self.pbtype == 'BYTES': + size = self.max_size + 4 + alignment = 4 + elif self.data_item_size is not None: + size = self.data_item_size + alignment = 4 + if self.data_item_size >= 8: + alignment = 8 + else: + raise Exception("Unhandled field type: %s" % self.pbtype) + + if self.rules in ['REPEATED', 'FIXARRAY'] and self.allocation == 'STATIC': + size *= self.max_count + + if self.rules not in ('REQUIRED', 'SINGULAR'): + size += 4 + + if size % alignment != 0: + # Estimate how much alignment requirements will increase the size. + size += alignment - (size % alignment) + + return size + + def encoded_size(self, dependencies): + '''Return the maximum size that this field can take when encoded, + including the field tag. If the size cannot be determined, returns + None.''' + + if self.allocation != 'STATIC': + return None + + if self.pbtype in ['MESSAGE', 'MSG_W_CB']: + encsize = None + if str(self.submsgname) in dependencies: + submsg = dependencies[str(self.submsgname)] + other_dependencies = dict(x for x in dependencies.items() if x[0] != str(self.struct_name)) + encsize = submsg.encoded_size(other_dependencies) + + my_msg = dependencies.get(str(self.struct_name)) + external = (not my_msg or submsg.protofile != my_msg.protofile) + + if encsize and encsize.symbols and external: + # Couldn't fully resolve the size of a dependency from + # another file. Instead of including the symbols directly, + # just use the #define SubMessage_size from the header. + encsize = None + + if encsize is not None: + # Include submessage length prefix + encsize += varint_max_size(encsize.upperlimit()) + elif not external: + # The dependency is from the same file and size cannot be + # determined for it, thus we know it will not be possible + # in runtime either. + return None + + if encsize is None: + # Submessage or its size cannot be found. + # This can occur if submessage is defined in different + # file, and it or its .options could not be found. + # Instead of direct numeric value, reference the size that + # has been #defined in the other file. + encsize = EncodedSize(self.submsgname + 'size') + + # We will have to make a conservative assumption on the length + # prefix size, though. + encsize += 5 + + elif self.pbtype in ['ENUM', 'UENUM']: + if str(self.ctype) in dependencies: + enumtype = dependencies[str(self.ctype)] + encsize = enumtype.encoded_size() + else: + # Conservative assumption + encsize = 10 + + elif self.enc_size is None: + raise RuntimeError("Could not determine encoded size for %s.%s" + % (self.struct_name, self.name)) + else: + encsize = EncodedSize(self.enc_size) + + encsize += varint_max_size(self.tag << 3) # Tag + wire type + + if self.rules in ['REPEATED', 'FIXARRAY']: + # Decoders must be always able to handle unpacked arrays. + # Therefore we have to reserve space for it, even though + # we emit packed arrays ourselves. For length of 1, packed + # arrays are larger however so we need to add allowance + # for the length byte. + encsize *= self.max_count + + if self.max_count == 1: + encsize += 1 + + return encsize + + def has_callbacks(self): + return self.allocation == 'CALLBACK' + + def requires_custom_field_callback(self): + return self.allocation == 'CALLBACK' and self.callback_datatype != 'pb_callback_t' + +class ExtensionRange(Field): + def __init__(self, struct_name, range_start, field_options): + '''Implements a special pb_extension_t* field in an extensible message + structure. The range_start signifies the index at which the extensions + start. Not necessarily all tags above this are extensions, it is merely + a speed optimization. + ''' + self.tag = range_start + self.struct_name = struct_name + self.name = 'extensions' + self.pbtype = 'EXTENSION' + self.rules = 'OPTIONAL' + self.allocation = 'CALLBACK' + self.ctype = 'pb_extension_t' + self.array_decl = '' + self.default = None + self.max_size = 0 + self.max_count = 0 + self.data_item_size = 0 + self.fixed_count = False + self.callback_datatype = 'pb_extension_t*' + + def requires_custom_field_callback(self): + return False + + def __str__(self): + return ' pb_extension_t *extensions;' + + def types(self): + return '' + + def tags(self): + return '' + + def encoded_size(self, dependencies): + # We exclude extensions from the count, because they cannot be known + # until runtime. Other option would be to return None here, but this + # way the value remains useful if extensions are not used. + return EncodedSize(0) + +class ExtensionField(Field): + def __init__(self, fullname, desc, field_options): + self.fullname = fullname + self.extendee_name = names_from_type_name(desc.extendee) + Field.__init__(self, self.fullname + "extmsg", desc, field_options) + + if self.rules != 'OPTIONAL': + self.skip = True + else: + self.skip = False + self.rules = 'REQUIRED' # We don't really want the has_field for extensions + # currently no support for comments for extension fields => provide (), {} + self.msg = Message(self.fullname + "extmsg", None, field_options, (), {}) + self.msg.fields.append(self) + + def tags(self): + '''Return the #define for the tag number of this field.''' + identifier = Globals.naming_style.define_name('%s_tag' % (self.fullname)) + return '#define %-40s %d\n' % (identifier, self.tag) + + def extension_decl(self): + '''Declaration of the extension type in the .pb.h file''' + if self.skip: + msg = '/* Extension field %s was skipped because only "optional"\n' % self.fullname + msg +=' type of extension fields is currently supported. */\n' + return msg + + return ('extern const pb_extension_type_t %s; /* field type: %s */\n' % + (Globals.naming_style.var_name(self.fullname), str(self).strip())) + + def extension_def(self, dependencies): + '''Definition of the extension type in the .pb.c file''' + + if self.skip: + return '' + + result = "/* Definition for extension field %s */\n" % self.fullname + result += str(self.msg) + result += self.msg.fields_declaration(dependencies) + result += 'pb_byte_t %s_default[] = {0x00};\n' % self.msg.name + result += self.msg.fields_definition(dependencies) + result += 'const pb_extension_type_t %s = {\n' % Globals.naming_style.var_name(self.fullname) + result += ' NULL,\n' + result += ' NULL,\n' + result += ' &%s_msg\n' % Globals.naming_style.type_name(self.msg.name) + result += '};\n' + return result + + +# --------------------------------------------------------------------------- +# Generation of oneofs (unions) +# --------------------------------------------------------------------------- + +class OneOf(Field): + def __init__(self, struct_name, oneof_desc, oneof_options): + self.struct_name = struct_name + self.name = oneof_desc.name + self.ctype = 'union' + self.pbtype = 'oneof' + self.fields = [] + self.allocation = 'ONEOF' + self.default = None + self.rules = 'ONEOF' + self.anonymous = oneof_options.anonymous_oneof + self.sort_by_tag = oneof_options.sort_by_tag + self.has_msg_cb = False + + def add_field(self, field): + field.union_name = self.name + field.rules = 'ONEOF' + field.anonymous = self.anonymous + self.fields.append(field) + + if self.sort_by_tag: + self.fields.sort() + + if field.pbtype == 'MSG_W_CB': + self.has_msg_cb = True + + # Sort by the lowest tag number inside union + self.tag = min([f.tag for f in self.fields]) + + def __str__(self): + result = '' + if self.fields: + if self.has_msg_cb: + result += ' pb_callback_t cb_' + Globals.naming_style.var_name(self.name) + ';\n' + + result += ' pb_size_t which_' + Globals.naming_style.var_name(self.name) + ";\n" + result += ' union {\n' + for f in self.fields: + result += ' ' + str(f).replace('\n', '\n ') + '\n' + if self.anonymous: + result += ' };' + else: + result += ' } ' + Globals.naming_style.var_name(self.name) + ';' + return result + + def types(self): + return ''.join([f.types() for f in self.fields]) + + def get_dependencies(self): + deps = [] + for f in self.fields: + deps += f.get_dependencies() + return deps + + def get_initializer(self, null_init): + if self.has_msg_cb: + return '{{NULL}, NULL}, 0, {' + self.fields[0].get_initializer(null_init) + '}' + else: + return '0, {' + self.fields[0].get_initializer(null_init) + '}' + + def tags(self): + return ''.join([f.tags() for f in self.fields]) + + def data_size(self, dependencies): + return max(f.data_size(dependencies) for f in self.fields) + + def encoded_size(self, dependencies): + '''Returns the size of the largest oneof field.''' + largest = 0 + dynamic_sizes = {} + for f in self.fields: + size = EncodedSize(f.encoded_size(dependencies)) + if size is None or size.value is None: + return None + elif size.symbols: + dynamic_sizes[f.tag] = size + elif size.value > largest: + largest = size.value + + if not dynamic_sizes: + # Simple case, all sizes were known at generator time + return EncodedSize(largest) + + if largest > 0: + # Some sizes were known, some were not + dynamic_sizes[0] = EncodedSize(largest) + + # Couldn't find size for submessage at generation time, + # have to rely on macro resolution at compile time. + if len(dynamic_sizes) == 1: + # Only one symbol was needed + return list(dynamic_sizes.values())[0] + else: + # Use sizeof(union{}) construct to find the maximum size of + # submessages. + union_name = "%s_%s_size_union" % (self.struct_name, self.name) + union_def = 'union %s {%s};\n' % (union_name, ' '.join('char f%d[%s];' % (k, s) for k,s in dynamic_sizes.items())) + required_defs = list(itertools.chain.from_iterable(s.required_defines for k,s in dynamic_sizes.items())) + return EncodedSize(0, ['sizeof(union %s)' % union_name], [union_def], required_defs) + + def has_callbacks(self): + return bool([f for f in self.fields if f.has_callbacks()]) + + def requires_custom_field_callback(self): + return bool([f for f in self.fields if f.requires_custom_field_callback()]) + +# --------------------------------------------------------------------------- +# Generation of messages (structures) +# --------------------------------------------------------------------------- + + +class Message(ProtoElement): + def __init__(self, names, desc, message_options, element_path, comments): + super(Message, self).__init__(element_path, comments) + self.name = names + self.fields = [] + self.oneofs = {} + self.desc = desc + self.math_include_required = False + self.packed = message_options.packed_struct + self.descriptorsize = message_options.descriptorsize + + if message_options.msgid: + self.msgid = message_options.msgid + + if desc is not None: + self.load_fields(desc, message_options) + + self.callback_function = message_options.callback_function + if not message_options.HasField('callback_function'): + # Automatically assign a per-message callback if any field has + # a special callback_datatype. + for field in self.fields: + if field.requires_custom_field_callback(): + self.callback_function = "%s_callback" % self.name + break + + def load_fields(self, desc, message_options): + '''Load field list from DescriptorProto''' + + no_unions = [] + + if hasattr(desc, 'oneof_decl'): + for i, f in enumerate(desc.oneof_decl): + oneof_options = get_nanopb_suboptions(desc, message_options, self.name + f.name) + if oneof_options.no_unions: + no_unions.append(i) # No union, but add fields normally + elif oneof_options.type == nanopb_pb2.FT_IGNORE: + pass # No union and skip fields also + else: + oneof = OneOf(self.name, f, oneof_options) + self.oneofs[i] = oneof + else: + sys.stderr.write('Note: This Python protobuf library has no OneOf support\n') + + for index, f in enumerate(desc.field): + field_options = get_nanopb_suboptions(f, message_options, self.name + f.name) + if field_options.type == nanopb_pb2.FT_IGNORE: + continue + + if field_options.descriptorsize > self.descriptorsize: + self.descriptorsize = field_options.descriptorsize + + field = Field(self.name, f, field_options, self.element_path + (ProtoElement.FIELD, index), self.comments) + if hasattr(f, 'oneof_index') and f.HasField('oneof_index'): + if hasattr(f, 'proto3_optional') and f.proto3_optional: + no_unions.append(f.oneof_index) + + if f.oneof_index in no_unions: + self.fields.append(field) + elif f.oneof_index in self.oneofs: + self.oneofs[f.oneof_index].add_field(field) + + if self.oneofs[f.oneof_index] not in self.fields: + self.fields.append(self.oneofs[f.oneof_index]) + else: + self.fields.append(field) + + if field.math_include_required: + self.math_include_required = True + + if len(desc.extension_range) > 0: + field_options = get_nanopb_suboptions(desc, message_options, self.name + 'extensions') + range_start = min([r.start for r in desc.extension_range]) + if field_options.type != nanopb_pb2.FT_IGNORE: + self.fields.append(ExtensionRange(self.name, range_start, field_options)) + + if message_options.sort_by_tag: + self.fields.sort() + + def get_dependencies(self): + '''Get list of type names that this structure refers to.''' + deps = [] + for f in self.fields: + deps += f.get_dependencies() + return deps + + def __repr__(self): + return 'Message(%s)' % self.name + + def __str__(self): + leading_comment, trailing_comment = self.get_comments() + + result = '' + if leading_comment: + result = '%s\n' % leading_comment + + result += 'typedef struct %s {' % Globals.naming_style.struct_name(self.name) + if trailing_comment: + result += " " + trailing_comment + + result += '\n' + + if not self.fields: + # Empty structs are not allowed in C standard. + # Therefore add a dummy field if an empty message occurs. + result += ' char dummy_field;' + + result += '\n'.join([str(f) for f in self.fields]) + + if Globals.protoc_insertion_points: + result += '\n/* @@protoc_insertion_point(struct:%s) */' % self.name + + result += '\n}' + + if self.packed: + result += ' pb_packed' + + result += ' %s;' % Globals.naming_style.type_name(self.name) + + if self.packed: + result = 'PB_PACKED_STRUCT_START\n' + result + result += '\nPB_PACKED_STRUCT_END' + + return result + '\n' + + def types(self): + return ''.join([f.types() for f in self.fields]) + + def get_initializer(self, null_init): + if not self.fields: + return '{0}' + + parts = [] + for field in self.fields: + parts.append(field.get_initializer(null_init)) + return '{' + ', '.join(parts) + '}' + + def count_required_fields(self): + '''Returns number of required fields inside this message''' + count = 0 + for f in self.fields: + if not isinstance(f, OneOf): + if f.rules == 'REQUIRED': + count += 1 + return count + + def all_fields(self): + '''Iterate over all fields in this message, including nested OneOfs.''' + for f in self.fields: + if isinstance(f, OneOf): + for f2 in f.fields: + yield f2 + else: + yield f + + + def field_for_tag(self, tag): + '''Given a tag number, return the Field instance.''' + for field in self.all_fields(): + if field.tag == tag: + return field + return None + + def count_all_fields(self): + '''Count the total number of fields in this message.''' + count = 0 + for f in self.fields: + if isinstance(f, OneOf): + count += len(f.fields) + else: + count += 1 + return count + + def fields_declaration(self, dependencies): + '''Return X-macro declaration of all fields in this message.''' + Field.macro_x_param = 'X' + Field.macro_a_param = 'a' + while any(field.name == Field.macro_x_param for field in self.all_fields()): + Field.macro_x_param += '_' + while any(field.name == Field.macro_a_param for field in self.all_fields()): + Field.macro_a_param += '_' + + # Field descriptor array must be sorted by tag number, pb_common.c relies on it. + sorted_fields = list(self.all_fields()) + sorted_fields.sort(key = lambda x: x.tag) + + result = '#define %s_FIELDLIST(%s, %s) \\\n' % ( + Globals.naming_style.define_name(self.name), + Field.macro_x_param, + Field.macro_a_param) + result += ' \\\n'.join(x.fieldlist() for x in sorted_fields) + result += '\n' + + has_callbacks = bool([f for f in self.fields if f.has_callbacks()]) + if has_callbacks: + if self.callback_function != 'pb_default_field_callback': + result += "extern bool %s(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field);\n" % self.callback_function + result += "#define %s_CALLBACK %s\n" % ( + Globals.naming_style.define_name(self.name), + self.callback_function) + else: + result += "#define %s_CALLBACK NULL\n" % Globals.naming_style.define_name(self.name) + + defval = self.default_value(dependencies) + if defval: + hexcoded = ''.join("\\x%02x" % ord(defval[i:i+1]) for i in range(len(defval))) + result += '#define %s_DEFAULT (const pb_byte_t*)"%s\\x00"\n' % ( + Globals.naming_style.define_name(self.name), + hexcoded) + else: + result += '#define %s_DEFAULT NULL\n' % Globals.naming_style.define_name(self.name) + + for field in sorted_fields: + if field.pbtype in ['MESSAGE', 'MSG_W_CB']: + if field.rules == 'ONEOF': + result += "#define %s_%s_%s_MSGTYPE %s\n" % ( + Globals.naming_style.type_name(self.name), + Globals.naming_style.var_name(field.union_name), + Globals.naming_style.var_name(field.name), + Globals.naming_style.type_name(field.ctype) + ) + else: + result += "#define %s_%s_MSGTYPE %s\n" % ( + Globals.naming_style.type_name(self.name), + Globals.naming_style.var_name(field.name), + Globals.naming_style.type_name(field.ctype) + ) + + return result + + def enumtype_defines(self): + '''Defines to allow user code to refer to enum type of a specific field''' + result = '' + for field in self.all_fields(): + if field.pbtype in ['ENUM', "UENUM"]: + if field.rules == 'ONEOF': + result += "#define %s_%s_%s_ENUMTYPE %s\n" % ( + Globals.naming_style.type_name(self.name), + Globals.naming_style.var_name(field.union_name), + Globals.naming_style.var_name(field.name), + Globals.naming_style.type_name(field.ctype) + ) + else: + result += "#define %s_%s_ENUMTYPE %s\n" % ( + Globals.naming_style.type_name(self.name), + Globals.naming_style.var_name(field.name), + Globals.naming_style.type_name(field.ctype) + ) + + return result + + def fields_declaration_cpp_lookup(self): + result = 'template <>\n' + result += 'struct MessageDescriptor<%s> {\n' % (self.name) + result += ' static PB_INLINE_CONSTEXPR const pb_size_t fields_array_length = %d;\n' % (self.count_all_fields()) + result += ' static inline const pb_msgdesc_t* fields() {\n' + result += ' return &%s_msg;\n' % (self.name) + result += ' }\n' + result += '};' + return result + + def fields_definition(self, dependencies): + '''Return the field descriptor definition that goes in .pb.c file.''' + width = self.required_descriptor_width(dependencies) + if width == 1: + width = 'AUTO' + + result = 'PB_BIND(%s, %s, %s)\n' % ( + Globals.naming_style.define_name(self.name), + Globals.naming_style.type_name(self.name), + width) + return result + + def required_descriptor_width(self, dependencies): + '''Estimate how many words are necessary for each field descriptor.''' + if self.descriptorsize != nanopb_pb2.DS_AUTO: + return int(self.descriptorsize) + + if not self.fields: + return 1 + + max_tag = max(field.tag for field in self.all_fields()) + max_offset = self.data_size(dependencies) + max_arraysize = max((field.max_count or 0) for field in self.all_fields()) + max_datasize = max(field.data_size(dependencies) for field in self.all_fields()) + + if max_arraysize > 0xFFFF: + return 8 + elif (max_tag > 0x3FF or max_offset > 0xFFFF or + max_arraysize > 0x0FFF or max_datasize > 0x0FFF): + return 4 + elif max_tag > 0x3F or max_offset > 0xFF: + return 2 + else: + # NOTE: Macro logic in pb.h ensures that width 1 will + # be raised to 2 automatically for string/submsg fields + # and repeated fields. Thus only tag and offset need to + # be checked. + return 1 + + def data_size(self, dependencies): + '''Return approximate sizeof(struct) in the compiled code.''' + return sum(f.data_size(dependencies) for f in self.fields) + + def encoded_size(self, dependencies): + '''Return the maximum size that this message can take when encoded. + If the size cannot be determined, returns None. + ''' + size = EncodedSize(0) + for field in self.fields: + fsize = field.encoded_size(dependencies) + if fsize is None: + return None + size += fsize + + return size + + def default_value(self, dependencies): + '''Generate serialized protobuf message that contains the + default values for optional fields.''' + + if not self.desc: + return b'' + + if self.desc.options.map_entry: + return b'' + + optional_only = copy.deepcopy(self.desc) + + # Remove fields without default values + # The iteration is done in reverse order to avoid remove() messing up iteration. + for field in reversed(list(optional_only.field)): + field.ClearField(str('extendee')) + parsed_field = self.field_for_tag(field.number) + if parsed_field is None or parsed_field.allocation != 'STATIC': + optional_only.field.remove(field) + elif (field.label == FieldD.LABEL_REPEATED or + field.type == FieldD.TYPE_MESSAGE): + optional_only.field.remove(field) + elif hasattr(field, 'oneof_index') and field.HasField('oneof_index'): + optional_only.field.remove(field) + elif field.type == FieldD.TYPE_ENUM: + # The partial descriptor doesn't include the enum type + # so we fake it with int64. + enumname = names_from_type_name(field.type_name) + try: + enumtype = dependencies[str(enumname)] + except KeyError: + raise Exception("Could not find enum type %s while generating default values for %s.\n" % (enumname, self.name) + + "Try passing all source files to generator at once, or use -I option.") + + if not isinstance(enumtype, Enum): + raise Exception("Expected enum type as %s, got %s" % (enumname, repr(enumtype))) + + if field.HasField('default_value'): + defvals = [v for n,v in enumtype.values if n.parts[-1] == field.default_value] + else: + # If no default is specified, the default is the first value. + defvals = [v for n,v in enumtype.values] + if defvals and defvals[0] != 0: + field.type = FieldD.TYPE_INT64 + field.default_value = str(defvals[0]) + field.ClearField(str('type_name')) + else: + optional_only.field.remove(field) + elif not field.HasField('default_value'): + optional_only.field.remove(field) + + if len(optional_only.field) == 0: + return b'' + + optional_only.ClearField(str('oneof_decl')) + optional_only.ClearField(str('nested_type')) + optional_only.ClearField(str('extension')) + optional_only.ClearField(str('enum_type')) + optional_only.name += str(id(self)) + + desc = google.protobuf.descriptor.MakeDescriptor(optional_only) + msg = reflection.MakeClass(desc)() + + for field in optional_only.field: + if field.type == FieldD.TYPE_STRING: + setattr(msg, field.name, field.default_value) + elif field.type == FieldD.TYPE_BYTES: + setattr(msg, field.name, codecs.escape_decode(field.default_value)[0]) + elif field.type in [FieldD.TYPE_FLOAT, FieldD.TYPE_DOUBLE]: + setattr(msg, field.name, float(field.default_value)) + elif field.type == FieldD.TYPE_BOOL: + setattr(msg, field.name, field.default_value == 'true') + else: + setattr(msg, field.name, int(field.default_value)) + + return msg.SerializeToString() + + +# --------------------------------------------------------------------------- +# Processing of entire .proto files +# --------------------------------------------------------------------------- + +def iterate_messages(desc, flatten = False, names = Names(), comment_path = ()): + '''Recursively find all messages. For each, yield name, DescriptorProto, comment_path.''' + if hasattr(desc, 'message_type'): + submsgs = desc.message_type + comment_path += (ProtoElement.MESSAGE,) + else: + submsgs = desc.nested_type + comment_path += (ProtoElement.NESTED_TYPE,) + + for idx, submsg in enumerate(submsgs): + sub_names = names + submsg.name + sub_path = comment_path + (idx,) + if flatten: + yield Names(submsg.name), submsg, sub_path + else: + yield sub_names, submsg, sub_path + + for x in iterate_messages(submsg, flatten, sub_names, sub_path): + yield x + +def iterate_extensions(desc, flatten = False, names = Names()): + '''Recursively find all extensions. + For each, yield name, FieldDescriptorProto. + ''' + for extension in desc.extension: + yield names, extension + + for subname, subdesc, comment_path in iterate_messages(desc, flatten, names): + for extension in subdesc.extension: + yield subname, extension + +def sort_dependencies(messages): + '''Sort a list of Messages based on dependencies.''' + + # Construct first level list of dependencies + dependencies = {} + for message in messages: + dependencies[str(message.name)] = set(message.get_dependencies()) + + # Emit messages after all their dependencies have been processed + remaining = list(messages) + remainset = set(str(m.name) for m in remaining) + while remaining: + for candidate in remaining: + if not remainset.intersection(dependencies[str(candidate.name)]): + remaining.remove(candidate) + remainset.remove(str(candidate.name)) + yield candidate + break + else: + sys.stderr.write("Circular dependency in messages: " + ', '.join(remainset) + " (consider changing to FT_POINTER or FT_CALLBACK)\n") + candidate = remaining.pop(0) + remainset.remove(str(candidate.name)) + yield candidate + +def make_identifier(headername): + '''Make #ifndef identifier that contains uppercase A-Z and digits 0-9''' + result = "" + for c in headername.upper(): + if c.isalnum(): + result += c + else: + result += '_' + return result + +class MangleNames: + '''Handles conversion of type names according to mangle_names option: + M_NONE = 0; // Default, no typename mangling + M_STRIP_PACKAGE = 1; // Strip current package name + M_FLATTEN = 2; // Only use last path component + M_PACKAGE_INITIALS = 3; // Replace the package name by the initials + ''' + def __init__(self, fdesc, file_options): + self.file_options = file_options + self.mangle_names = file_options.mangle_names + self.flatten = (self.mangle_names == nanopb_pb2.M_FLATTEN) + self.strip_prefix = None + self.replacement_prefix = None + self.name_mapping = {} + self.reverse_name_mapping = {} + self.canonical_base = Names(fdesc.package.split('.')) + + if self.mangle_names == nanopb_pb2.M_STRIP_PACKAGE: + self.strip_prefix = "." + fdesc.package + elif self.mangle_names == nanopb_pb2.M_PACKAGE_INITIALS: + self.strip_prefix = "." + fdesc.package + self.replacement_prefix = "" + for part in fdesc.package.split("."): + self.replacement_prefix += part[0] + elif file_options.package: + self.strip_prefix = "." + fdesc.package + self.replacement_prefix = file_options.package + + if self.strip_prefix == '.': + self.strip_prefix = '' + + if self.replacement_prefix is not None: + self.base_name = Names(self.replacement_prefix.split('.')) + elif fdesc.package: + self.base_name = Names(fdesc.package.split('.')) + else: + self.base_name = Names() + + def create_name(self, names): + '''Create name for a new message / enum. + Argument can be either string or Names instance. + ''' + if str(names) not in self.name_mapping: + if self.mangle_names in (nanopb_pb2.M_NONE, nanopb_pb2.M_PACKAGE_INITIALS): + new_name = self.base_name + names + elif self.mangle_names == nanopb_pb2.M_STRIP_PACKAGE: + new_name = Names(names) + elif isinstance(names, Names): + new_name = Names(names.parts[-1]) + else: + new_name = Names(names) + + if str(new_name) in self.reverse_name_mapping: + sys.stderr.write("Warning: Duplicate name with mangle_names=%s: %s and %s map to %s\n" % + (self.mangle_names, self.reverse_name_mapping[str(new_name)], names, new_name)) + + self.name_mapping[str(names)] = new_name + self.reverse_name_mapping[str(new_name)] = self.canonical_base + names + + return self.name_mapping[str(names)] + + def mangle_field_typename(self, typename): + '''Mangle type name for a submessage / enum crossreference. + Argument is a string. + ''' + if self.mangle_names == nanopb_pb2.M_FLATTEN: + return "." + typename.split(".")[-1] + + if self.strip_prefix is not None and typename.startswith(self.strip_prefix): + if self.replacement_prefix is not None: + return "." + self.replacement_prefix + typename[len(self.strip_prefix):] + else: + return typename[len(self.strip_prefix):] + + if self.file_options.package: + return "." + self.replacement_prefix + typename + + return typename + + def unmangle(self, names): + return self.reverse_name_mapping.get(str(names), names) + +class ProtoFile: + def __init__(self, fdesc, file_options): + '''Takes a FileDescriptorProto and parses it.''' + self.fdesc = fdesc + self.file_options = file_options + self.dependencies = {} + self.math_include_required = False + self.parse() + for message in self.messages: + if message.math_include_required: + self.math_include_required = True + break + + # Some of types used in this file probably come from the file itself. + # Thus it has implicit dependency on itself. + self.add_dependency(self) + + def parse(self): + self.enums = [] + self.messages = [] + self.extensions = [] + self.manglenames = MangleNames(self.fdesc, self.file_options) + + # process source code comment locations + # ignores any locations that do not contain any comment information + self.comment_locations = { + tuple(location.path): location + for location in self.fdesc.source_code_info.location + if location.leading_comments or location.leading_detached_comments or location.trailing_comments + } + + for index, enum in enumerate(self.fdesc.enum_type): + name = self.manglenames.create_name(enum.name) + enum_options = get_nanopb_suboptions(enum, self.file_options, name) + enum_path = (ProtoElement.ENUM, index) + self.enums.append(Enum(name, enum, enum_options, enum_path, self.comment_locations)) + + for names, message, comment_path in iterate_messages(self.fdesc, self.manglenames.flatten): + name = self.manglenames.create_name(names) + message_options = get_nanopb_suboptions(message, self.file_options, name) + + if message_options.skip_message: + continue + + message = copy.deepcopy(message) + for field in message.field: + if field.type in (FieldD.TYPE_MESSAGE, FieldD.TYPE_ENUM): + field.type_name = self.manglenames.mangle_field_typename(field.type_name) + + self.messages.append(Message(name, message, message_options, comment_path, self.comment_locations)) + for index, enum in enumerate(message.enum_type): + name = self.manglenames.create_name(names + enum.name) + enum_options = get_nanopb_suboptions(enum, message_options, name) + enum_path = comment_path + (ProtoElement.NESTED_ENUM, index) + self.enums.append(Enum(name, enum, enum_options, enum_path, self.comment_locations)) + + for names, extension in iterate_extensions(self.fdesc, self.manglenames.flatten): + name = self.manglenames.create_name(names + extension.name) + field_options = get_nanopb_suboptions(extension, self.file_options, name) + + extension = copy.deepcopy(extension) + if extension.type in (FieldD.TYPE_MESSAGE, FieldD.TYPE_ENUM): + extension.type_name = self.manglenames.mangle_field_typename(extension.type_name) + + if field_options.type != nanopb_pb2.FT_IGNORE: + self.extensions.append(ExtensionField(name, extension, field_options)) + + def add_dependency(self, other): + for enum in other.enums: + self.dependencies[str(enum.names)] = enum + self.dependencies[str(other.manglenames.unmangle(enum.names))] = enum + enum.protofile = other + + for msg in other.messages: + self.dependencies[str(msg.name)] = msg + self.dependencies[str(other.manglenames.unmangle(msg.name))] = msg + msg.protofile = other + + # Fix field default values where enum short names are used. + for enum in other.enums: + if not enum.options.long_names: + for message in self.messages: + for field in message.all_fields(): + if field.default in enum.value_longnames: + idx = enum.value_longnames.index(field.default) + field.default = enum.values[idx][0] + + # Fix field data types where enums have negative values. + for enum in other.enums: + if not enum.has_negative(): + for message in self.messages: + for field in message.all_fields(): + if field.pbtype == 'ENUM' and field.ctype == enum.names: + field.pbtype = 'UENUM' + + def generate_header(self, includes, headername, options): + '''Generate content for a header file. + Generates strings, which should be concatenated and stored to file. + ''' + + yield '/* Automatically generated nanopb header */\n' + if options.notimestamp: + yield '/* Generated by %s */\n\n' % (nanopb_version) + else: + yield '/* Generated by %s at %s. */\n\n' % (nanopb_version, time.asctime()) + + if self.fdesc.package: + symbol = make_identifier(self.fdesc.package + '_' + headername) + else: + symbol = make_identifier(headername) + yield '#ifndef PB_%s_INCLUDED\n' % symbol + yield '#define PB_%s_INCLUDED\n' % symbol + if self.math_include_required: + yield '#include \n' + try: + yield options.libformat % ('pb.h') + except TypeError: + # no %s specified - use whatever was passed in as options.libformat + yield options.libformat + yield '\n' + + for incfile in self.file_options.include: + # allow including system headers + if (incfile.startswith('<')): + yield '#include %s\n' % incfile + else: + yield options.genformat % incfile + yield '\n' + + for incfile in includes: + noext = os.path.splitext(incfile)[0] + yield options.genformat % (noext + options.extension + options.header_extension) + yield '\n' + + if Globals.protoc_insertion_points: + yield '/* @@protoc_insertion_point(includes) */\n' + + yield '\n' + + yield '#if PB_PROTO_HEADER_VERSION != 40\n' + yield '#error Regenerate this file with the current version of nanopb generator.\n' + yield '#endif\n' + yield '\n' + + if self.enums: + yield '/* Enum definitions */\n' + for enum in self.enums: + yield str(enum) + '\n\n' + + if self.messages: + yield '/* Struct definitions */\n' + for msg in sort_dependencies(self.messages): + yield msg.types() + yield str(msg) + '\n' + yield '\n' + + if self.extensions: + yield '/* Extensions */\n' + for extension in self.extensions: + yield extension.extension_decl() + yield '\n' + + yield '#ifdef __cplusplus\n' + yield 'extern "C" {\n' + yield '#endif\n\n' + + if self.enums: + yield '/* Helper constants for enums */\n' + for enum in self.enums: + yield enum.auxiliary_defines() + '\n' + + for msg in self.messages: + yield msg.enumtype_defines() + '\n' + yield '\n' + + if self.messages: + yield '/* Initializer values for message structs */\n' + for msg in self.messages: + identifier = Globals.naming_style.define_name('%s_init_default' % msg.name) + yield '#define %-40s %s\n' % (identifier, msg.get_initializer(False)) + for msg in self.messages: + identifier = Globals.naming_style.define_name('%s_init_zero' % msg.name) + yield '#define %-40s %s\n' % (identifier, msg.get_initializer(True)) + yield '\n' + + yield '/* Field tags (for use in manual encoding/decoding) */\n' + for msg in sort_dependencies(self.messages): + for field in msg.fields: + yield field.tags() + for extension in self.extensions: + yield extension.tags() + yield '\n' + + yield '/* Struct field encoding specification for nanopb */\n' + for msg in self.messages: + yield msg.fields_declaration(self.dependencies) + '\n' + for msg in self.messages: + yield 'extern const pb_msgdesc_t %s_msg;\n' % Globals.naming_style.type_name(msg.name) + yield '\n' + + yield '/* Defines for backwards compatibility with code written before nanopb-0.4.0 */\n' + for msg in self.messages: + yield '#define %s &%s_msg\n' % ( + Globals.naming_style.define_name('%s_fields' % msg.name), + Globals.naming_style.type_name(msg.name)) + yield '\n' + + yield '/* Maximum encoded size of messages (where known) */\n' + messagesizes = [] + for msg in self.messages: + identifier = '%s_size' % msg.name + messagesizes.append((identifier, msg.encoded_size(self.dependencies))) + + # If we require a symbol from another file, put a preprocessor if statement + # around it to prevent compilation errors if the symbol is not actually available. + local_defines = [identifier for identifier, msize in messagesizes if msize is not None] + + # emit size_unions, if any + oneof_sizes = [] + for msg in self.messages: + for f in msg.fields: + if isinstance(f, OneOf): + msize = f.encoded_size(self.dependencies) + if msize is not None: + oneof_sizes.append(msize) + for msize in oneof_sizes: + guard = msize.get_cpp_guard(local_defines) + if guard: + yield guard + yield msize.get_declarations() + if guard: + yield '#endif\n' + + guards = {} + for identifier, msize in messagesizes: + if msize is not None: + cpp_guard = msize.get_cpp_guard(local_defines) + if cpp_guard not in guards: + guards[cpp_guard] = set() + guards[cpp_guard].add('#define %-40s %s' % ( + Globals.naming_style.define_name(identifier), msize)) + else: + yield '/* %s depends on runtime parameters */\n' % identifier + for guard, values in guards.items(): + if guard: + yield guard + for v in sorted(values): + yield v + yield '\n' + if guard: + yield '#endif\n' + yield '\n' + + if [msg for msg in self.messages if hasattr(msg,'msgid')]: + yield '/* Message IDs (where set with "msgid" option) */\n' + for msg in self.messages: + if hasattr(msg,'msgid'): + yield '#define PB_MSG_%d %s\n' % (msg.msgid, msg.name) + yield '\n' + + symbol = make_identifier(headername.split('.')[0]) + yield '#define %s_MESSAGES \\\n' % symbol + + for msg in self.messages: + m = "-1" + msize = msg.encoded_size(self.dependencies) + if msize is not None: + m = msize + if hasattr(msg,'msgid'): + yield '\tPB_MSG(%d,%s,%s) \\\n' % (msg.msgid, m, msg.name) + yield '\n' + + for msg in self.messages: + if hasattr(msg,'msgid'): + yield '#define %s_msgid %d\n' % (msg.name, msg.msgid) + yield '\n' + + # Check if there is any name mangling active + pairs = [x for x in self.manglenames.reverse_name_mapping.items() if str(x[0]) != str(x[1])] + if pairs: + yield '/* Mapping from canonical names (mangle_names or overridden package name) */\n' + for shortname, longname in pairs: + yield '#define %s %s\n' % (longname, shortname) + yield '\n' + + yield '#ifdef __cplusplus\n' + yield '} /* extern "C" */\n' + yield '#endif\n' + + if options.cpp_descriptors: + yield '\n' + yield '#ifdef __cplusplus\n' + yield '/* Message descriptors for nanopb */\n' + yield 'namespace nanopb {\n' + for msg in self.messages: + yield msg.fields_declaration_cpp_lookup() + '\n' + yield '} // namespace nanopb\n' + yield '\n' + yield '#endif /* __cplusplus */\n' + yield '\n' + + if Globals.protoc_insertion_points: + yield '/* @@protoc_insertion_point(eof) */\n' + + # End of header + yield '\n#endif\n' + + def generate_source(self, headername, options): + '''Generate content for a source file.''' + + yield '/* Automatically generated nanopb constant definitions */\n' + if options.notimestamp: + yield '/* Generated by %s */\n\n' % (nanopb_version) + else: + yield '/* Generated by %s at %s. */\n\n' % (nanopb_version, time.asctime()) + yield options.genformat % (headername) + yield '\n' + + if Globals.protoc_insertion_points: + yield '/* @@protoc_insertion_point(includes) */\n' + + yield '#if PB_PROTO_HEADER_VERSION != 40\n' + yield '#error Regenerate this file with the current version of nanopb generator.\n' + yield '#endif\n' + yield '\n' + + # Check if any messages exceed the 64 kB limit of 16-bit pb_size_t + exceeds_64kB = [] + for msg in self.messages: + size = msg.data_size(self.dependencies) + if size >= 65536: + exceeds_64kB.append(str(msg.name)) + + if exceeds_64kB: + yield '\n/* The following messages exceed 64kB in size: ' + ', '.join(exceeds_64kB) + ' */\n' + yield '\n/* The PB_FIELD_32BIT compilation option must be defined to support messages that exceed 64 kB in size. */\n' + yield '#ifndef PB_FIELD_32BIT\n' + yield '#error Enable PB_FIELD_32BIT to support messages exceeding 64kB in size: ' + ', '.join(exceeds_64kB) + '\n' + yield '#endif\n' + + # Generate the message field definitions (PB_BIND() call) + for msg in self.messages: + yield msg.fields_definition(self.dependencies) + '\n\n' + + # Generate pb_extension_type_t definitions if extensions are used in proto file + for ext in self.extensions: + yield ext.extension_def(self.dependencies) + '\n' + + # Generate enum_name function if enum_to_string option is defined + for enum in self.enums: + yield enum.enum_to_string_definition() + '\n' + + # Add checks for numeric limits + if self.messages: + largest_msg = max(self.messages, key = lambda m: m.count_required_fields()) + largest_count = largest_msg.count_required_fields() + if largest_count > 64: + yield '\n/* Check that missing required fields will be properly detected */\n' + yield '#if PB_MAX_REQUIRED_FIELDS < %d\n' % largest_count + yield '#error Properly detecting missing required fields in %s requires \\\n' % largest_msg.name + yield ' setting PB_MAX_REQUIRED_FIELDS to %d or more.\n' % largest_count + yield '#endif\n' + + # Add check for sizeof(double) + has_double = False + for msg in self.messages: + for field in msg.all_fields(): + if field.ctype == 'double': + has_double = True + + if has_double: + yield '\n' + yield '#ifndef PB_CONVERT_DOUBLE_FLOAT\n' + yield '/* On some platforms (such as AVR), double is really float.\n' + yield ' * To be able to encode/decode double on these platforms, you need.\n' + yield ' * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.\n' + yield ' */\n' + yield 'PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)\n' + yield '#endif\n' + + yield '\n' + + if Globals.protoc_insertion_points: + yield '/* @@protoc_insertion_point(eof) */\n' + +# --------------------------------------------------------------------------- +# Options parsing for the .proto files +# --------------------------------------------------------------------------- + +from fnmatch import fnmatchcase + +def read_options_file(infile): + '''Parse a separate options file to list: + [(namemask, options), ...] + ''' + results = [] + data = infile.read() + data = re.sub(r'/\*.*?\*/', '', data, flags = re.MULTILINE) + data = re.sub(r'//.*?$', '', data, flags = re.MULTILINE) + data = re.sub(r'#.*?$', '', data, flags = re.MULTILINE) + for i, line in enumerate(data.split('\n')): + line = line.strip() + if not line: + continue + + parts = line.split(None, 1) + + if len(parts) < 2: + sys.stderr.write("%s:%d: " % (infile.name, i + 1) + + "Option lines should have space between field name and options. " + + "Skipping line: '%s'\n" % line) + sys.exit(1) + + opts = nanopb_pb2.NanoPBOptions() + + try: + text_format.Merge(parts[1], opts) + except Exception as e: + sys.stderr.write("%s:%d: " % (infile.name, i + 1) + + "Unparsable option line: '%s'. " % line + + "Error: %s\n" % str(e)) + sys.exit(1) + results.append((parts[0], opts)) + + return results + +def get_nanopb_suboptions(subdesc, options, name): + '''Get copy of options, and merge information from subdesc.''' + new_options = nanopb_pb2.NanoPBOptions() + new_options.CopyFrom(options) + + if hasattr(subdesc, 'syntax') and subdesc.syntax == "proto3": + new_options.proto3 = True + + # Handle options defined in a separate file + dotname = '.'.join(name.parts) + for namemask, options in Globals.separate_options: + if fnmatchcase(dotname, namemask): + Globals.matched_namemasks.add(namemask) + new_options.MergeFrom(options) + + # Handle options defined in .proto + if isinstance(subdesc.options, descriptor.FieldOptions): + ext_type = nanopb_pb2.nanopb + elif isinstance(subdesc.options, descriptor.FileOptions): + ext_type = nanopb_pb2.nanopb_fileopt + elif isinstance(subdesc.options, descriptor.MessageOptions): + ext_type = nanopb_pb2.nanopb_msgopt + elif isinstance(subdesc.options, descriptor.EnumOptions): + ext_type = nanopb_pb2.nanopb_enumopt + else: + raise Exception("Unknown options type") + + if subdesc.options.HasExtension(ext_type): + ext = subdesc.options.Extensions[ext_type] + new_options.MergeFrom(ext) + + if Globals.verbose_options: + sys.stderr.write("Options for " + dotname + ": ") + sys.stderr.write(text_format.MessageToString(new_options) + "\n") + + return new_options + + +# --------------------------------------------------------------------------- +# Command line interface +# --------------------------------------------------------------------------- + +import sys +import os.path +from optparse import OptionParser + +optparser = OptionParser( + usage = "Usage: nanopb_generator.py [options] file.pb ...", + epilog = "Compile file.pb from file.proto by: 'protoc -ofile.pb file.proto'. " + + "Output will be written to file.pb.h and file.pb.c.") +optparser.add_option("--version", dest="version", action="store_true", + help="Show version info and exit") +optparser.add_option("-x", dest="exclude", metavar="FILE", action="append", default=[], + help="Exclude file from generated #include list.") +optparser.add_option("-e", "--extension", dest="extension", metavar="EXTENSION", default=".pb", + help="Set extension to use instead of '.pb' for generated files. [default: %default]") +optparser.add_option("-H", "--header-extension", dest="header_extension", metavar="EXTENSION", default=".h", + help="Set extension to use for generated header files. [default: %default]") +optparser.add_option("-S", "--source-extension", dest="source_extension", metavar="EXTENSION", default=".c", + help="Set extension to use for generated source files. [default: %default]") +optparser.add_option("-f", "--options-file", dest="options_file", metavar="FILE", default="%s.options", + help="Set name of a separate generator options file.") +optparser.add_option("-I", "--options-path", "--proto-path", dest="options_path", metavar="DIR", + action="append", default = [], + help="Search path for .options and .proto files. Also determines relative paths for output directory structure.") +optparser.add_option("--error-on-unmatched", dest="error_on_unmatched", action="store_true", default=False, + help ="Stop generation if there are unmatched fields in options file") +optparser.add_option("--no-error-on-unmatched", dest="error_on_unmatched", action="store_false", default=False, + help ="Continue generation if there are unmatched fields in options file (default)") +optparser.add_option("-D", "--output-dir", dest="output_dir", + metavar="OUTPUTDIR", default=None, + help="Output directory of .pb.h and .pb.c files") +optparser.add_option("-Q", "--generated-include-format", dest="genformat", + metavar="FORMAT", default='#include "%s"', + help="Set format string to use for including other .pb.h files. Value can be 'quote', 'bracket' or a format string. [default: %default]") +optparser.add_option("-L", "--library-include-format", dest="libformat", + metavar="FORMAT", default='#include <%s>', + help="Set format string to use for including the nanopb pb.h header. Value can be 'quote', 'bracket' or a format string. [default: %default]") +optparser.add_option("--strip-path", dest="strip_path", action="store_true", default=False, + help="Strip directory path from #included .pb.h file name") +optparser.add_option("--no-strip-path", dest="strip_path", action="store_false", + help="Opposite of --strip-path (default since 0.4.0)") +optparser.add_option("--cpp-descriptors", action="store_true", + help="Generate C++ descriptors to lookup by type (e.g. pb_field_t for a message)") +optparser.add_option("-T", "--no-timestamp", dest="notimestamp", action="store_true", default=True, + help="Don't add timestamp to .pb.h and .pb.c preambles (default since 0.4.0)") +optparser.add_option("-t", "--timestamp", dest="notimestamp", action="store_false", default=True, + help="Add timestamp to .pb.h and .pb.c preambles") +optparser.add_option("-q", "--quiet", dest="quiet", action="store_true", default=False, + help="Don't print anything except errors.") +optparser.add_option("-v", "--verbose", dest="verbose", action="store_true", default=False, + help="Print more information.") +optparser.add_option("-s", dest="settings", metavar="OPTION:VALUE", action="append", default=[], + help="Set generator option (max_size, max_count etc.).") +optparser.add_option("--protoc-opt", dest="protoc_opts", action="append", default = [], metavar="OPTION", + help="Pass an option to protoc when compiling .proto files") +optparser.add_option("--protoc-insertion-points", dest="protoc_insertion_points", action="store_true", default=False, + help="Include insertion point comments in output for use by custom protoc plugins") +optparser.add_option("-C", "--c-style", dest="c_style", action="store_true", default=False, + help="Use C naming convention.") + +def process_cmdline(args, is_plugin): + '''Process command line options. Returns list of options, filenames.''' + + options, filenames = optparser.parse_args(args) + + if options.version: + if is_plugin: + sys.stderr.write('%s\n' % (nanopb_version)) + else: + print(nanopb_version) + sys.exit(0) + + if not filenames and not is_plugin: + optparser.print_help() + sys.exit(1) + + if options.quiet: + options.verbose = False + + include_formats = {'quote': '#include "%s"', 'bracket': '#include <%s>'} + options.libformat = include_formats.get(options.libformat, options.libformat) + options.genformat = include_formats.get(options.genformat, options.genformat) + + if options.c_style: + Globals.naming_style = NamingStyleC() + + Globals.verbose_options = options.verbose + + if options.verbose: + sys.stderr.write("Nanopb version %s\n" % nanopb_version) + sys.stderr.write('Google Python protobuf library imported from %s, version %s\n' + % (google.protobuf.__file__, google.protobuf.__version__)) + + return options, filenames + + +def parse_file(filename, fdesc, options): + '''Parse a single file. Returns a ProtoFile instance.''' + toplevel_options = nanopb_pb2.NanoPBOptions() + for s in options.settings: + if ':' not in s and '=' in s: + s = s.replace('=', ':') + text_format.Merge(s, toplevel_options) + + if not fdesc: + data = open(filename, 'rb').read() + fdesc = descriptor.FileDescriptorSet.FromString(data).file[0] + + # Check if there is a separate .options file + had_abspath = False + try: + optfilename = options.options_file % os.path.splitext(filename)[0] + except TypeError: + # No %s specified, use the filename as-is + optfilename = options.options_file + had_abspath = True + + paths = ['.'] + options.options_path + for p in paths: + if os.path.isfile(os.path.join(p, optfilename)): + optfilename = os.path.join(p, optfilename) + if options.verbose: + sys.stderr.write('Reading options from ' + optfilename + '\n') + Globals.separate_options = read_options_file(open(optfilename, 'r', encoding = 'utf-8')) + break + else: + # If we are given a full filename and it does not exist, give an error. + # However, don't give error when we automatically look for .options file + # with the same name as .proto. + if options.verbose or had_abspath: + sys.stderr.write('Options file not found: ' + optfilename + '\n') + Globals.separate_options = [] + + Globals.matched_namemasks = set() + Globals.protoc_insertion_points = options.protoc_insertion_points + + # Parse the file + file_options = get_nanopb_suboptions(fdesc, toplevel_options, Names([filename])) + f = ProtoFile(fdesc, file_options) + f.optfilename = optfilename + + return f + +def process_file(filename, fdesc, options, other_files = {}): + '''Process a single file. + filename: The full path to the .proto or .pb source file, as string. + fdesc: The loaded FileDescriptorSet, or None to read from the input file. + options: Command line options as they come from OptionsParser. + + Returns a dict: + {'headername': Name of header file, + 'headerdata': Data for the .h header file, + 'sourcename': Name of the source code file, + 'sourcedata': Data for the .c source code file + } + ''' + f = parse_file(filename, fdesc, options) + + # Check the list of dependencies, and if they are available in other_files, + # add them to be considered for import resolving. Recursively add any files + # imported by the dependencies. + deps = list(f.fdesc.dependency) + while deps: + dep = deps.pop(0) + if dep in other_files: + f.add_dependency(other_files[dep]) + deps += list(other_files[dep].fdesc.dependency) + + # Decide the file names + noext = os.path.splitext(filename)[0] + headername = noext + options.extension + options.header_extension + sourcename = noext + options.extension + options.source_extension + + if options.strip_path: + headerbasename = os.path.basename(headername) + else: + headerbasename = headername + + # List of .proto files that should not be included in the C header file + # even if they are mentioned in the source .proto. + excludes = ['nanopb.proto', 'google/protobuf/descriptor.proto'] + options.exclude + list(f.file_options.exclude) + includes = [d for d in f.fdesc.dependency if d not in excludes] + + headerdata = ''.join(f.generate_header(includes, headerbasename, options)) + sourcedata = ''.join(f.generate_source(headerbasename, options)) + + # Check if there were any lines in .options that did not match a member + unmatched = [n for n,o in Globals.separate_options if n not in Globals.matched_namemasks] + if unmatched: + if options.error_on_unmatched: + raise Exception("Following patterns in " + f.optfilename + " did not match any fields: " + + ', '.join(unmatched)); + elif not options.quiet: + sys.stderr.write("Following patterns in " + f.optfilename + " did not match any fields: " + + ', '.join(unmatched) + "\n") + + if not Globals.verbose_options: + sys.stderr.write("Use protoc --nanopb-out=-v:. to see a list of the field names.\n") + + return {'headername': headername, 'headerdata': headerdata, + 'sourcename': sourcename, 'sourcedata': sourcedata} + +def main_cli(): + '''Main function when invoked directly from the command line.''' + + options, filenames = process_cmdline(sys.argv[1:], is_plugin = False) + + if options.output_dir and not os.path.exists(options.output_dir): + optparser.print_help() + sys.stderr.write("\noutput_dir does not exist: %s\n" % options.output_dir) + sys.exit(1) + + # Load .pb files into memory and compile any .proto files. + include_path = ['-I%s' % p for p in options.options_path] + all_fdescs = {} + out_fdescs = {} + for filename in filenames: + if filename.endswith(".proto"): + with TemporaryDirectory() as tmpdir: + tmpname = os.path.join(tmpdir, os.path.basename(filename) + ".pb") + args = ["protoc"] + include_path + args += options.protoc_opts + args += ['--include_imports', '--include_source_info', '-o' + tmpname, filename] + status = invoke_protoc(args) + if status != 0: sys.exit(status) + data = open(tmpname, 'rb').read() + else: + data = open(filename, 'rb').read() + + fdescs = descriptor.FileDescriptorSet.FromString(data).file + last_fdesc = fdescs[-1] + + for fdesc in fdescs: + all_fdescs[fdesc.name] = fdesc + + out_fdescs[last_fdesc.name] = last_fdesc + + # Process any include files first, in order to have them + # available as dependencies + other_files = {} + for fdesc in all_fdescs.values(): + other_files[fdesc.name] = parse_file(fdesc.name, fdesc, options) + + # Then generate the headers / sources + for fdesc in out_fdescs.values(): + results = process_file(fdesc.name, fdesc, options, other_files) + + base_dir = options.output_dir or '' + to_write = [ + (os.path.join(base_dir, results['headername']), results['headerdata']), + (os.path.join(base_dir, results['sourcename']), results['sourcedata']), + ] + + if not options.quiet: + paths = " and ".join([x[0] for x in to_write]) + sys.stderr.write("Writing to %s\n" % paths) + + for path, data in to_write: + dirname = os.path.dirname(path) + if dirname and not os.path.exists(dirname): + os.makedirs(dirname) + + with open(path, 'w') as f: + f.write(data) + +def main_plugin(): + '''Main function when invoked as a protoc plugin.''' + + import io, sys + if sys.platform == "win32": + import os, msvcrt + # Set stdin and stdout to binary mode + msvcrt.setmode(sys.stdin.fileno(), os.O_BINARY) + msvcrt.setmode(sys.stdout.fileno(), os.O_BINARY) + + data = io.open(sys.stdin.fileno(), "rb").read() + + request = plugin_pb2.CodeGeneratorRequest.FromString(data) + + try: + # Versions of Python prior to 2.7.3 do not support unicode + # input to shlex.split(). Try to convert to str if possible. + params = str(request.parameter) + except UnicodeEncodeError: + params = request.parameter + + if ',' not in params and ' -' in params: + # Nanopb has traditionally supported space as separator in options + args = shlex.split(params) + else: + # Protoc separates options passed to plugins by comma + # This allows also giving --nanopb_opt option multiple times. + lex = shlex.shlex(params) + lex.whitespace_split = True + lex.whitespace = ',' + lex.commenters = '' + args = list(lex) + + optparser.usage = "protoc --nanopb_out=outdir [--nanopb_opt=option] ['--nanopb_opt=option with spaces'] file.proto" + optparser.epilog = "Output will be written to file.pb.h and file.pb.c." + + if '-h' in args or '--help' in args: + # By default optparser prints help to stdout, which doesn't work for + # protoc plugins. + optparser.print_help(sys.stderr) + sys.exit(1) + + options, dummy = process_cmdline(args, is_plugin = True) + + response = plugin_pb2.CodeGeneratorResponse() + + # Google's protoc does not currently indicate the full path of proto files. + # Instead always add the main file path to the search dirs, that works for + # the common case. + import os.path + options.options_path.append(os.path.dirname(request.file_to_generate[0])) + + # Process any include files first, in order to have them + # available as dependencies + other_files = {} + for fdesc in request.proto_file: + other_files[fdesc.name] = parse_file(fdesc.name, fdesc, options) + + for filename in request.file_to_generate: + for fdesc in request.proto_file: + if fdesc.name == filename: + results = process_file(filename, fdesc, options, other_files) + + f = response.file.add() + f.name = results['headername'] + f.content = results['headerdata'] + + f = response.file.add() + f.name = results['sourcename'] + f.content = results['sourcedata'] + + if hasattr(plugin_pb2.CodeGeneratorResponse, "FEATURE_PROTO3_OPTIONAL"): + response.supported_features = plugin_pb2.CodeGeneratorResponse.FEATURE_PROTO3_OPTIONAL + + io.open(sys.stdout.fileno(), "wb").write(response.SerializeToString()) + +if __name__ == '__main__': + # Check if we are running as a plugin under protoc + if 'protoc-gen-' in sys.argv[0] or '--protoc-plugin' in sys.argv: + main_plugin() + else: + main_cli() diff --git a/MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py2 b/MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py2 new file mode 100644 index 00000000..0469461d --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/nanopb_generator.py2 @@ -0,0 +1,13 @@ +#!/usr/bin/env python2 +# This file is a wrapper around nanopb_generator.py in case you want to run +# it with Python 2 instead of default Python 3. This only exists for backwards +# compatibility, do not use for new projects. + +from nanopb_generator import * + +if __name__ == '__main__': + # Check if we are running as a plugin under protoc + if 'protoc-gen-' in sys.argv[0] or '--protoc-plugin' in sys.argv: + main_plugin() + else: + main_cli() diff --git a/MIDAS/src/hilsim/nanopb_generator/platformio_generator.py b/MIDAS/src/hilsim/nanopb_generator/platformio_generator.py new file mode 100644 index 00000000..1c3eeebc --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/platformio_generator.py @@ -0,0 +1,157 @@ +import os +import hashlib +import pathlib +import shlex +import subprocess + +import SCons.Action +from platformio import fs + +Import("env") + +# We don't use `env.Execute` because it does not handle spaces in path +# See https://github.com/nanopb/nanopb/pull/834 +# So, we resolve the path to the executable and then use `subprocess.run` +python_exe = env.subst("$PYTHONEXE") + +try: + import protobuf +except ImportError: + print("[nanopb] Installing Protocol Buffers dependencies"); + + # We need to specify protobuf version. In other case got next (on Ubuntu 20.04): + # Requirement already satisfied: protobuf in /usr/lib/python3/dist-packages (3.6.1) + subprocess.run([python_exe, '-m', 'pip', 'install', "protobuf>=3.19.1"]) + +try: + import grpc_tools.protoc +except ImportError: + print("[nanopb] Installing gRPC dependencies"); + subprocess.run([python_exe, '-m', 'pip', 'install', "grpcio-tools>=1.43.0"]) + + +nanopb_root = os.path.join(os.getcwd(), '..') + +project_dir = env.subst("$PROJECT_DIR") +build_dir = env.subst("$BUILD_DIR") + +generated_src_dir = os.path.join(build_dir, 'nanopb', 'generated-src') +generated_build_dir = os.path.join(build_dir, 'nanopb', 'generated-build') +md5_dir = os.path.join(build_dir, 'nanopb', 'md5') + +nanopb_protos = env.GetProjectOption("custom_nanopb_protos", "") +nanopb_plugin_options = env.GetProjectOption("custom_nanopb_options", "") + +if not nanopb_protos: + print("[nanopb] No generation needed.") +else: + if isinstance(nanopb_plugin_options, (list, tuple)): + nanopb_plugin_options = " ".join(nanopb_plugin_options) + + nanopb_plugin_options = shlex.split(nanopb_plugin_options) + + protos_files = fs.match_src_files(project_dir, nanopb_protos) + if not len(protos_files): + print("[nanopb] ERROR: No files matched pattern:") + print(f"custom_nanopb_protos: {nanopb_protos}") + exit(1) + + nanopb_generator = os.path.join(nanopb_root, 'generator', 'nanopb_generator.py') + + nanopb_options = [] + nanopb_options.extend(["--output-dir", generated_src_dir]) + for opt in nanopb_plugin_options: + nanopb_options.append(opt) + + try: + os.makedirs(generated_src_dir) + except FileExistsError: + pass + + try: + os.makedirs(md5_dir) + except FileExistsError: + pass + + # Collect include dirs based on + proto_include_dirs = set() + for proto_file in protos_files: + proto_file_abs = os.path.join(project_dir, proto_file) + proto_dir = os.path.dirname(proto_file_abs) + proto_include_dirs.add(proto_dir) + + for proto_include_dir in proto_include_dirs: + nanopb_options.extend(["--proto-path", proto_include_dir]) + + for proto_file in protos_files: + proto_file_abs = os.path.join(project_dir, proto_file) + + proto_file_path_abs = os.path.dirname(proto_file_abs) + proto_file_basename = os.path.basename(proto_file_abs) + proto_file_without_ext = os.path.splitext(proto_file_basename)[0] + + proto_file_md5_abs = os.path.join(md5_dir, proto_file_basename + '.md5') + proto_file_current_md5 = hashlib.md5(pathlib.Path(proto_file_abs).read_bytes()).hexdigest() + + options_file = proto_file_without_ext + ".options" + options_file_abs = os.path.join(proto_file_path_abs, options_file) + options_file_md5_abs = None + options_file_current_md5 = None + if pathlib.Path(options_file_abs).exists(): + options_file_md5_abs = os.path.join(md5_dir, options_file + '.md5') + options_file_current_md5 = hashlib.md5(pathlib.Path(options_file_abs).read_bytes()).hexdigest() + else: + options_file = None + + header_file = proto_file_without_ext + ".pb.h" + source_file = proto_file_without_ext + ".pb.c" + + header_file_abs = os.path.join(generated_src_dir, source_file) + source_file_abs = os.path.join(generated_src_dir, header_file) + + need_generate = False + + # Check proto file md5 + try: + last_md5 = pathlib.Path(proto_file_md5_abs).read_text() + if last_md5 != proto_file_current_md5: + need_generate = True + except FileNotFoundError: + need_generate = True + + if options_file: + # Check options file md5 + try: + last_md5 = pathlib.Path(options_file_md5_abs).read_text() + if last_md5 != options_file_current_md5: + need_generate = True + except FileNotFoundError: + need_generate = True + + options_info = f"{options_file}" if options_file else "no options" + + if not need_generate: + print(f"[nanopb] Skipping '{proto_file}' ({options_info})") + else: + print(f"[nanopb] Processing '{proto_file}' ({options_info})") + cmd = [python_exe, nanopb_generator] + nanopb_options + [proto_file_basename] + action = SCons.Action.CommandAction(cmd) + result = env.Execute(action) + if result != 0: + print(f"[nanopb] ERROR: ({result}) processing cmd: '{cmd}'") + exit(1) + pathlib.Path(proto_file_md5_abs).write_text(proto_file_current_md5) + if options_file: + pathlib.Path(options_file_md5_abs).write_text(options_file_current_md5) + + # + # Add generated includes and sources to build environment + # + env.Append(CPPPATH=[generated_src_dir]) + + # Fix for ESP32 ESP-IDF https://github.com/nanopb/nanopb/issues/734#issuecomment-1001544447 + global_env = DefaultEnvironment() + already_called_env_name = "_PROTOBUF_GENERATOR_ALREADY_CALLED_" + env['PIOENV'].replace("-", "_") + if not global_env.get(already_called_env_name, False): + env.BuildSources(generated_build_dir, generated_src_dir) + global_env[already_called_env_name] = True diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/Makefile b/MIDAS/src/hilsim/nanopb_generator/proto/Makefile new file mode 100644 index 00000000..a93d88ff --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/proto/Makefile @@ -0,0 +1,10 @@ +PROTOC?=../protoc + +all: nanopb_pb2.py + +%_pb2.py: %.proto + $(PROTOC) --python_out=. $< + +.PHONY: clean +clean: + rm nanopb_pb2.py diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/__init__.py b/MIDAS/src/hilsim/nanopb_generator/proto/__init__.py new file mode 100644 index 00000000..cfab9103 --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/proto/__init__.py @@ -0,0 +1,128 @@ +'''This file dynamically builds the proto definitions for Python.''' +from __future__ import absolute_import + +import os +import os.path +import sys +import tempfile +import shutil +import traceback +import pkg_resources +from ._utils import has_grpcio_protoc, invoke_protoc, print_versions + +# Compatibility layer to make TemporaryDirectory() available on Python 2. +try: + from tempfile import TemporaryDirectory +except ImportError: + class TemporaryDirectory: + '''TemporaryDirectory fallback for Python 2''' + def __init__(self, prefix = 'tmp', dir = None): + self.prefix = prefix + self.dir = dir + + def __enter__(self): + self.dir = tempfile.mkdtemp(prefix = self.prefix, dir = self.dir) + return self.dir + + def __exit__(self, *args): + shutil.rmtree(self.dir) + +def build_nanopb_proto(protosrc, dirname): + '''Try to build a .proto file for python-protobuf. + Returns True if successful. + ''' + + cmd = [ + "protoc", + "--python_out={}".format(dirname), + protosrc, + "-I={}".format(dirname), + ] + + if has_grpcio_protoc(): + # grpcio-tools has an extra CLI argument + # from grpc.tools.protoc __main__ invocation. + _builtin_proto_include = pkg_resources.resource_filename('grpc_tools', '_proto') + cmd.append("-I={}".format(_builtin_proto_include)) + + try: + invoke_protoc(argv=cmd) + except: + sys.stderr.write("Failed to build nanopb_pb2.py: " + ' '.join(cmd) + "\n") + sys.stderr.write(traceback.format_exc() + "\n") + return False + + return True + +def load_nanopb_pb2(): + # To work, the generator needs python-protobuf built version of nanopb.proto. + # There are three methods to provide this: + # + # 1) Load a previously generated generator/proto/nanopb_pb2.py + # 2) Use protoc to build it and store it permanently generator/proto/nanopb_pb2.py + # 3) Use protoc to build it, but store only temporarily in system-wide temp folder + # + # By default these are tried in numeric order. + # If NANOPB_PB2_TEMP_DIR environment variable is defined, the 2) is skipped. + # If the value of the $NANOPB_PB2_TEMP_DIR exists as a directory, it is used instead + # of system temp folder. + + build_error = None + proto_ok = False + tmpdir = os.getenv("NANOPB_PB2_TEMP_DIR") + temporary_only = (tmpdir is not None) + dirname = os.path.dirname(__file__) + protosrc = os.path.join(dirname, "nanopb.proto") + protodst = os.path.join(dirname, "nanopb_pb2.py") + proto_ok = False + + if tmpdir is not None and not os.path.isdir(tmpdir): + tmpdir = None # Use system-wide temp dir + + if os.path.isfile(protosrc): + src_date = os.path.getmtime(protosrc) + if not os.path.isfile(protodst) or os.path.getmtime(protodst) < src_date: + # Outdated, rebuild + proto_ok = False + else: + try: + from . import nanopb_pb2 as nanopb_pb2_mod + proto_ok = True + except Exception as e: + sys.stderr.write("Failed to import nanopb_pb2.py: " + str(e) + "\n" + "Will automatically attempt to rebuild this.\n" + "Verify that python-protobuf and protoc versions match.\n") + print_versions() + + # Try to rebuild into generator/proto directory + if not proto_ok and not temporary_only: + proto_ok = build_nanopb_proto(protosrc, dirname) + + try: + from . import nanopb_pb2 as nanopb_pb2_mod + except: + sys.stderr.write("Failed to import generator/proto/nanopb_pb2.py:\n") + sys.stderr.write(traceback.format_exc() + "\n") + + # Try to rebuild into temporary directory + if not proto_ok: + with TemporaryDirectory(prefix = 'nanopb-', dir = tmpdir) as protodir: + proto_ok = build_nanopb_proto(protosrc, protodir) + + if protodir not in sys.path: + sys.path.insert(0, protodir) + + try: + import nanopb_pb2 as nanopb_pb2_mod + except: + sys.stderr.write("Failed to import %s/nanopb_pb2.py:\n" % protodir) + sys.stderr.write(traceback.format_exc() + "\n") + + # If everything fails + if not proto_ok: + sys.stderr.write("\n\nGenerating nanopb_pb2.py failed.\n") + sys.stderr.write("Make sure that a protoc generator is available and matches python-protobuf version.\n") + print_versions() + sys.exit(1) + + return nanopb_pb2_mod diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/__pycache__/__init__.cpython-39.pyc b/MIDAS/src/hilsim/nanopb_generator/proto/__pycache__/__init__.cpython-39.pyc deleted file mode 100644 index 09585bf27a7c4edc7771b386aca501b743f43f67..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 3350 zcmZ`*&2QY+5r2>5a=Fy*>cgsC*hb63NSjR~Syq9fHPSS3`~e@V2$2#ugb;$_<4Tmc zqnvyOW3tjyVv&HoIPimXR&y3_*c&8eZoXtI4_xSP7S~P zCCiKrCK|$h$^0d;Ae!ixg}K8ztBh4YOQ642$4E_M;>Z zG^eO+CD}=S9M7lizDzO|oW!yq?qIgE8xxaI4j(2mj#Ms(5uJ1SF){fFU-2HAnE4#m zHUx)NU9#6p?pwkZb!b`>j%c8_wZ;pwjvq$vUOmF=Li7DFI=-Zzw^^F1*WZfhxcNh4 z1K%h3iX}8-K4t+M8)zZM4tveFUK^#|m$2E3(iDk=A*>=!yK({KvWez3lWlb0cR#tm z_jv)`_wN1r-fuSd9_G=Y7iX&2+uYdv)lPJn=jq2gS=-6G>g!O()pW0r(cWQ_ z7D;a}3$whx9~{J4EJK)UPg{B~2#7~r=adm$;ryX7 z{iT(@iGgBAQ2PiYnh&&1cNm5I?DM?1SBnJ76Bs*z0UdEuH0~~H~*K#bq8fn3>N)O!` zsjKhpFBkwfj45393?>m~H9D{+hT^A8-dD!dr1&{ACg#|fTAIQ<12r(Gt!iUK*sm}K z;(SnHjk1sGQ-|bgyY6~;K8w{r0)}?wAoh~3R}7*kE{g6Tt@bJM09ny!ac!+) z5aa{(yFX1vwY8_{N|*2`P>8Iev?~|_>d=j!jDGq!gu99hp=Pnw-`_+S-S@udUdi3Z zyPalfL&9FDB$>Eu^^Xq%85j9LLYQ)SJ`6|~y57{dhF16QlG8cSpWNM9piERn8|+-zw8gARZ&BlZ1miTgV?W6I2`wZ#ni&^ zJI*EzIQ4s~dDNP=g`*b7jnm8SyL5_F`kcXKLHXxK=2ra%+;`0X#*2qzlUlVrhEAu( zgd-_mIt?eiKMRrS1Xl-z9;=n%6)07L);vqKDw?oE>y`11oVc2|OT5P}7su}PDinY4)aTI7!h33RmaW`l(CA+qx`^P= zoRg+T;mmBbbfJM*)?;lW)tp`jWFX|n4#Ik6>#=`r>*K9Yw;u%C4>p6{N6)r{hfhBn zH7n<`b?#R0c#;UCFE_QV^j)eO>NmDNzs2rgk}7Obe}1_?sjgJMh;*)h*g}OlvY1fhjI;qQ~Dw#LvHHOw3ZYA zq0&wYo!uS$&{GLej>!$$Z#;St#eFIl<+LX)XJzA~j z#k#%^ZBR=6a+Mlw!8=4@2UN}!Iw9#aQ`uP?cHyb6%O8;;E6dY~m$bgf6wU`#dGaB7 Ytj-S>ZyFBtx_DPj(yYl>Th6Wj0k*g0vKq6AW9I_P_bAqDQWF} zs3hgbLMjS4=(X)Xu#f#gz3|#o&%Nc;A$R3RkV98kE;*dx3}?P?6gHb4g6B8q1$*Ek z^tWDId!OE!}D$j5L3Mn52G_0S5UHk?%} zzVM?Fi}r*c5Bwn?M{(Yfd7cP=%yXGXehfRAkYSQA%C(#4&tA2Ox~6plquDJr)#6q< z&bfTbdCuEddFL8`B3=W_cl60x|FvLT^dEio=p{L7XK1M6h`o;qLn}W%R6)13#8NJB)=C z4~_Xm#M#gnM?$i+b5`ZKeklCVA3))E!f3B@_?QpHnz7X(g?zZbHdlZ0-4-BaKaWBg z=h;Jl5OX2HBTM~s0<#_F-!IE?-yCo$`I;j-`8{~WZ5W1-_#dxBVlkv0(!wFRe~_Ov zX7M}H+0p<5RB|Z}VmSgplJ1JahX!Zm;J_)$TTkG+QJ#)BK7sYW@S@@~9p)aZz|mb# zAm&7Dz+|plSe>md*Muq|&uy40r?hCdloO7}ETf9#LfPX`j#Qn-JPT8%>fw$s5;q72 zal(SYK#l7gDyK| z(IC#EWI`GLNXL2uhV7>D5zIGqRxc!^dFk#~VN+-;)NEnTTEZ>j7oO$JU1^QU=()jjfq_T72yLfI@Nf)MM zw{bC|O70nX^IRX|+0gO)j*qUt7t!MXi--b@+l}W2I>o224aq*#S_eE&eTBW^ZmCm( z!#CoRl)griXNp@abUORcI)Pioy=NgHi~2J6DU*z+n*Nn_rL*Q2S6&>+QJ(pg#4kRs z+!%4k=zs*P_AkR9NIw%)g=ItftOl% zdKj^>?itDwlB+AjJRc^k{8xeaRJ}S{x$}_KVh~iqAZS}9J26vEY5IN>XpMQC$+?B- zf@^UX280QA;J@HDX^^Y9g}a2n>IPoMckorr+n}L<#hQuW#^u_E-_p{04*xVz8mR3&I2 zJh=Vp{xLPFqj{8U+m7W~6U*2hFQ!xKY)>pgl{Zit;X%wtgt`+)w>`^&QF%4Owq+R% zaxdp&%fLkQw6W$=fHLESZV<{GN>PV#&HXAZ2&iCcre%*6KJnJ}%(7+%eaJ_U!o!tI zVDZ6^8C2|oOaGu}d%9)1l8CZ%?Im{gS5%H|$97VZgb+gvYR0R1XPH-Ef9O={`Dj;=qq+VOe z2pN_+!=^T;uABthY(42Y3o6|~MO&L(P=Z|;Pdqurm8q#_xK!Fg`A|#E#au>F-ECBG zFLWD2L|2D1F5-0gK+ z(hjODBXN529hJZshcTJ&ssT7v_YqOkU%bRj?#;z>PDt$2NW$>s)i?TVS58homT@jBZYh1);LMo!H4q0MM5Ku(bpj zZ5S)6EH|lvifm2T`kFe94vx3^{JTofQbGGbO9k{@CDmsg&+8^tQQoy2505Xgr_JO$ zJfnca3Mv9!`9@$~y1P7jv>Ecy42O-AlY_?L7rQ#jUAKu;LXk!h1z1efR*Z!P{a(AP zwob*QR0MAo57dU*J{05OuzlR^owmfpa@aj-cUxj=w}~=g*RnXPzJ-ahC<)`IVphtb z6i9ndL@^ZiYvOh&K6xxY-yI_HCU@W%3E2ao)=;?v8J)KKxDN|#9Je5E$g_iwP8zD( z>O!8INa`%LxZQ25?Z(MKOzgH$X;p7V0x6G{GzhW;PV7NE$QPsVocOhTE13N{&il~k5MrU1MS74+Ee(4MGOg(KQ1&PL6=2K3bK*&&&*K40j&PxRmZ4 zu&;xVZVi(#x~y8o^#i?X*%1)TLI>BE@Y$e+52M9~=s-nwDf(;Jz0T$utVBWA(;Uw) zM>a?4U!Dj<& z>V2a*G#HLtXEHk14OgF!LK@D3?<~t1@j5PHsGVY8`q|It7Fihd8QVu!fmbqC2%bbX TQAm{HX&9AaD3*o?z4iP9vsWgQ diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/_utils.py b/MIDAS/src/hilsim/nanopb_generator/proto/_utils.py new file mode 100644 index 00000000..f9c8c94f --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/proto/_utils.py @@ -0,0 +1,67 @@ +import sys +import subprocess +import os.path + +def has_grpcio_protoc(): + # type: () -> bool + """ checks if grpcio-tools protoc is installed""" + + try: + import grpc_tools.protoc + except ImportError: + return False + return True + + +def invoke_protoc(argv): + # type: (list) -> typing.Any + """ + Invoke protoc. + + This routine will use grpcio-provided protoc if it exists, + using system-installed protoc as a fallback. + + Args: + argv: protoc CLI invocation, first item must be 'protoc' + """ + + # Add current directory to include path if nothing else is specified + if not [x for x in argv if x.startswith('-I')]: + argv.append("-I.") + + # Add default protoc include paths + nanopb_include = os.path.dirname(os.path.abspath(__file__)) + argv.append('-I' + nanopb_include) + + if has_grpcio_protoc(): + import grpc_tools.protoc as protoc + import pkg_resources + proto_include = pkg_resources.resource_filename('grpc_tools', '_proto') + argv.append('-I' + proto_include) + + return protoc.main(argv) + else: + return subprocess.call(argv) + +def print_versions(): + try: + if has_grpcio_protoc(): + import grpc_tools.protoc + sys.stderr.write("Using grpcio-tools protoc from " + grpc_tools.protoc.__file__ + "\n") + else: + sys.stderr.write("Using protoc from system path\n") + + invoke_protoc(['protoc', '--version']) + except Exception as e: + sys.stderr.write("Failed to determine protoc version: " + str(e) + "\n") + + try: + import google.protobuf + sys.stderr.write("Python version " + sys.version + "\n") + sys.stderr.write("Using python-protobuf from " + google.protobuf.__file__ + "\n") + sys.stderr.write("Python-protobuf version: " + google.protobuf.__version__ + "\n") + except Exception as e: + sys.stderr.write("Failed to determine python-protobuf version: " + str(e) + "\n") + +if __name__ == '__main__': + print_versions() diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/google/protobuf/descriptor.proto b/MIDAS/src/hilsim/nanopb_generator/proto/google/protobuf/descriptor.proto new file mode 100644 index 00000000..8697a50d --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/proto/google/protobuf/descriptor.proto @@ -0,0 +1,872 @@ +// Protocol Buffers - Google's data interchange format +// Copyright 2008 Google Inc. All rights reserved. +// https://developers.google.com/protocol-buffers/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are +// met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above +// copyright notice, this list of conditions and the following disclaimer +// in the documentation and/or other materials provided with the +// distribution. +// * Neither the name of Google Inc. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +// Author: kenton@google.com (Kenton Varda) +// Based on original Protocol Buffers design by +// Sanjay Ghemawat, Jeff Dean, and others. +// +// The messages in this file describe the definitions found in .proto files. +// A valid .proto file can be translated directly to a FileDescriptorProto +// without any other information (e.g. without reading its imports). + + +syntax = "proto2"; + +package google.protobuf; +option go_package = "github.com/golang/protobuf/protoc-gen-go/descriptor;descriptor"; +option java_package = "com.google.protobuf"; +option java_outer_classname = "DescriptorProtos"; +option csharp_namespace = "Google.Protobuf.Reflection"; +option objc_class_prefix = "GPB"; +option cc_enable_arenas = true; + +// descriptor.proto must be optimized for speed because reflection-based +// algorithms don't work during bootstrapping. +option optimize_for = SPEED; + +// The protocol compiler can output a FileDescriptorSet containing the .proto +// files it parses. +message FileDescriptorSet { + repeated FileDescriptorProto file = 1; +} + +// Describes a complete .proto file. +message FileDescriptorProto { + optional string name = 1; // file name, relative to root of source tree + optional string package = 2; // e.g. "foo", "foo.bar", etc. + + // Names of files imported by this file. + repeated string dependency = 3; + // Indexes of the public imported files in the dependency list above. + repeated int32 public_dependency = 10; + // Indexes of the weak imported files in the dependency list. + // For Google-internal migration only. Do not use. + repeated int32 weak_dependency = 11; + + // All top-level definitions in this file. + repeated DescriptorProto message_type = 4; + repeated EnumDescriptorProto enum_type = 5; + repeated ServiceDescriptorProto service = 6; + repeated FieldDescriptorProto extension = 7; + + optional FileOptions options = 8; + + // This field contains optional information about the original source code. + // You may safely remove this entire field without harming runtime + // functionality of the descriptors -- the information is needed only by + // development tools. + optional SourceCodeInfo source_code_info = 9; + + // The syntax of the proto file. + // The supported values are "proto2" and "proto3". + optional string syntax = 12; +} + +// Describes a message type. +message DescriptorProto { + optional string name = 1; + + repeated FieldDescriptorProto field = 2; + repeated FieldDescriptorProto extension = 6; + + repeated DescriptorProto nested_type = 3; + repeated EnumDescriptorProto enum_type = 4; + + message ExtensionRange { + optional int32 start = 1; + optional int32 end = 2; + + optional ExtensionRangeOptions options = 3; + } + repeated ExtensionRange extension_range = 5; + + repeated OneofDescriptorProto oneof_decl = 8; + + optional MessageOptions options = 7; + + // Range of reserved tag numbers. Reserved tag numbers may not be used by + // fields or extension ranges in the same message. Reserved ranges may + // not overlap. + message ReservedRange { + optional int32 start = 1; // Inclusive. + optional int32 end = 2; // Exclusive. + } + repeated ReservedRange reserved_range = 9; + // Reserved field names, which may not be used by fields in the same message. + // A given name may only be reserved once. + repeated string reserved_name = 10; +} + +message ExtensionRangeOptions { + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + +// Describes a field within a message. +message FieldDescriptorProto { + enum Type { + // 0 is reserved for errors. + // Order is weird for historical reasons. + TYPE_DOUBLE = 1; + TYPE_FLOAT = 2; + // Not ZigZag encoded. Negative numbers take 10 bytes. Use TYPE_SINT64 if + // negative values are likely. + TYPE_INT64 = 3; + TYPE_UINT64 = 4; + // Not ZigZag encoded. Negative numbers take 10 bytes. Use TYPE_SINT32 if + // negative values are likely. + TYPE_INT32 = 5; + TYPE_FIXED64 = 6; + TYPE_FIXED32 = 7; + TYPE_BOOL = 8; + TYPE_STRING = 9; + // Tag-delimited aggregate. + // Group type is deprecated and not supported in proto3. However, Proto3 + // implementations should still be able to parse the group wire format and + // treat group fields as unknown fields. + TYPE_GROUP = 10; + TYPE_MESSAGE = 11; // Length-delimited aggregate. + + // New in version 2. + TYPE_BYTES = 12; + TYPE_UINT32 = 13; + TYPE_ENUM = 14; + TYPE_SFIXED32 = 15; + TYPE_SFIXED64 = 16; + TYPE_SINT32 = 17; // Uses ZigZag encoding. + TYPE_SINT64 = 18; // Uses ZigZag encoding. + }; + + enum Label { + // 0 is reserved for errors + LABEL_OPTIONAL = 1; + LABEL_REQUIRED = 2; + LABEL_REPEATED = 3; + }; + + optional string name = 1; + optional int32 number = 3; + optional Label label = 4; + + // If type_name is set, this need not be set. If both this and type_name + // are set, this must be one of TYPE_ENUM, TYPE_MESSAGE or TYPE_GROUP. + optional Type type = 5; + + // For message and enum types, this is the name of the type. If the name + // starts with a '.', it is fully-qualified. Otherwise, C++-like scoping + // rules are used to find the type (i.e. first the nested types within this + // message are searched, then within the parent, on up to the root + // namespace). + optional string type_name = 6; + + // For extensions, this is the name of the type being extended. It is + // resolved in the same manner as type_name. + optional string extendee = 2; + + // For numeric types, contains the original text representation of the value. + // For booleans, "true" or "false". + // For strings, contains the default text contents (not escaped in any way). + // For bytes, contains the C escaped value. All bytes >= 128 are escaped. + // TODO(kenton): Base-64 encode? + optional string default_value = 7; + + // If set, gives the index of a oneof in the containing type's oneof_decl + // list. This field is a member of that oneof. + optional int32 oneof_index = 9; + + // JSON name of this field. The value is set by protocol compiler. If the + // user has set a "json_name" option on this field, that option's value + // will be used. Otherwise, it's deduced from the field's name by converting + // it to camelCase. + optional string json_name = 10; + + optional FieldOptions options = 8; +} + +// Describes a oneof. +message OneofDescriptorProto { + optional string name = 1; + optional OneofOptions options = 2; +} + +// Describes an enum type. +message EnumDescriptorProto { + optional string name = 1; + + repeated EnumValueDescriptorProto value = 2; + + optional EnumOptions options = 3; + + // Range of reserved numeric values. Reserved values may not be used by + // entries in the same enum. Reserved ranges may not overlap. + // + // Note that this is distinct from DescriptorProto.ReservedRange in that it + // is inclusive such that it can appropriately represent the entire int32 + // domain. + message EnumReservedRange { + optional int32 start = 1; // Inclusive. + optional int32 end = 2; // Inclusive. + } + + // Range of reserved numeric values. Reserved numeric values may not be used + // by enum values in the same enum declaration. Reserved ranges may not + // overlap. + repeated EnumReservedRange reserved_range = 4; + + // Reserved enum value names, which may not be reused. A given name may only + // be reserved once. + repeated string reserved_name = 5; +} + +// Describes a value within an enum. +message EnumValueDescriptorProto { + optional string name = 1; + optional int32 number = 2; + + optional EnumValueOptions options = 3; +} + +// Describes a service. +message ServiceDescriptorProto { + optional string name = 1; + repeated MethodDescriptorProto method = 2; + + optional ServiceOptions options = 3; +} + +// Describes a method of a service. +message MethodDescriptorProto { + optional string name = 1; + + // Input and output type names. These are resolved in the same way as + // FieldDescriptorProto.type_name, but must refer to a message type. + optional string input_type = 2; + optional string output_type = 3; + + optional MethodOptions options = 4; + + // Identifies if client streams multiple client messages + optional bool client_streaming = 5 [default=false]; + // Identifies if server streams multiple server messages + optional bool server_streaming = 6 [default=false]; +} + + +// =================================================================== +// Options + +// Each of the definitions above may have "options" attached. These are +// just annotations which may cause code to be generated slightly differently +// or may contain hints for code that manipulates protocol messages. +// +// Clients may define custom options as extensions of the *Options messages. +// These extensions may not yet be known at parsing time, so the parser cannot +// store the values in them. Instead it stores them in a field in the *Options +// message called uninterpreted_option. This field must have the same name +// across all *Options messages. We then use this field to populate the +// extensions when we build a descriptor, at which point all protos have been +// parsed and so all extensions are known. +// +// Extension numbers for custom options may be chosen as follows: +// * For options which will only be used within a single application or +// organization, or for experimental options, use field numbers 50000 +// through 99999. It is up to you to ensure that you do not use the +// same number for multiple options. +// * For options which will be published and used publicly by multiple +// independent entities, e-mail protobuf-global-extension-registry@google.com +// to reserve extension numbers. Simply provide your project name (e.g. +// Objective-C plugin) and your project website (if available) -- there's no +// need to explain how you intend to use them. Usually you only need one +// extension number. You can declare multiple options with only one extension +// number by putting them in a sub-message. See the Custom Options section of +// the docs for examples: +// https://developers.google.com/protocol-buffers/docs/proto#options +// If this turns out to be popular, a web service will be set up +// to automatically assign option numbers. + + +message FileOptions { + + // Sets the Java package where classes generated from this .proto will be + // placed. By default, the proto package is used, but this is often + // inappropriate because proto packages do not normally start with backwards + // domain names. + optional string java_package = 1; + + + // If set, all the classes from the .proto file are wrapped in a single + // outer class with the given name. This applies to both Proto1 + // (equivalent to the old "--one_java_file" option) and Proto2 (where + // a .proto always translates to a single class, but you may want to + // explicitly choose the class name). + optional string java_outer_classname = 8; + + // If set true, then the Java code generator will generate a separate .java + // file for each top-level message, enum, and service defined in the .proto + // file. Thus, these types will *not* be nested inside the outer class + // named by java_outer_classname. However, the outer class will still be + // generated to contain the file's getDescriptor() method as well as any + // top-level extensions defined in the file. + optional bool java_multiple_files = 10 [default=false]; + + // This option does nothing. + optional bool java_generate_equals_and_hash = 20 [deprecated=true]; + + // If set true, then the Java2 code generator will generate code that + // throws an exception whenever an attempt is made to assign a non-UTF-8 + // byte sequence to a string field. + // Message reflection will do the same. + // However, an extension field still accepts non-UTF-8 byte sequences. + // This option has no effect on when used with the lite runtime. + optional bool java_string_check_utf8 = 27 [default=false]; + + + // Generated classes can be optimized for speed or code size. + enum OptimizeMode { + SPEED = 1; // Generate complete code for parsing, serialization, + // etc. + CODE_SIZE = 2; // Use ReflectionOps to implement these methods. + LITE_RUNTIME = 3; // Generate code using MessageLite and the lite runtime. + } + optional OptimizeMode optimize_for = 9 [default=SPEED]; + + // Sets the Go package where structs generated from this .proto will be + // placed. If omitted, the Go package will be derived from the following: + // - The basename of the package import path, if provided. + // - Otherwise, the package statement in the .proto file, if present. + // - Otherwise, the basename of the .proto file, without extension. + optional string go_package = 11; + + + + // Should generic services be generated in each language? "Generic" services + // are not specific to any particular RPC system. They are generated by the + // main code generators in each language (without additional plugins). + // Generic services were the only kind of service generation supported by + // early versions of google.protobuf. + // + // Generic services are now considered deprecated in favor of using plugins + // that generate code specific to your particular RPC system. Therefore, + // these default to false. Old code which depends on generic services should + // explicitly set them to true. + optional bool cc_generic_services = 16 [default=false]; + optional bool java_generic_services = 17 [default=false]; + optional bool py_generic_services = 18 [default=false]; + optional bool php_generic_services = 42 [default=false]; + + // Is this file deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for everything in the file, or it will be completely ignored; in the very + // least, this is a formalization for deprecating files. + optional bool deprecated = 23 [default=false]; + + // Enables the use of arenas for the proto messages in this file. This applies + // only to generated classes for C++. + optional bool cc_enable_arenas = 31 [default=false]; + + + // Sets the objective c class prefix which is prepended to all objective c + // generated classes from this .proto. There is no default. + optional string objc_class_prefix = 36; + + // Namespace for generated classes; defaults to the package. + optional string csharp_namespace = 37; + + // By default Swift generators will take the proto package and CamelCase it + // replacing '.' with underscore and use that to prefix the types/symbols + // defined. When this options is provided, they will use this value instead + // to prefix the types/symbols defined. + optional string swift_prefix = 39; + + // Sets the php class prefix which is prepended to all php generated classes + // from this .proto. Default is empty. + optional string php_class_prefix = 40; + + // Use this option to change the namespace of php generated classes. Default + // is empty. When this option is empty, the package name will be used for + // determining the namespace. + optional string php_namespace = 41; + + // The parser stores options it doesn't recognize here. + // See the documentation for the "Options" section above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. + // See the documentation for the "Options" section above. + extensions 1000 to max; + + reserved 38; +} + +message MessageOptions { + // Set true to use the old proto1 MessageSet wire format for extensions. + // This is provided for backwards-compatibility with the MessageSet wire + // format. You should not use this for any other reason: It's less + // efficient, has fewer features, and is more complicated. + // + // The message must be defined exactly as follows: + // message Foo { + // option message_set_wire_format = true; + // extensions 4 to max; + // } + // Note that the message cannot have any defined fields; MessageSets only + // have extensions. + // + // All extensions of your type must be singular messages; e.g. they cannot + // be int32s, enums, or repeated messages. + // + // Because this is an option, the above two restrictions are not enforced by + // the protocol compiler. + optional bool message_set_wire_format = 1 [default=false]; + + // Disables the generation of the standard "descriptor()" accessor, which can + // conflict with a field of the same name. This is meant to make migration + // from proto1 easier; new code should avoid fields named "descriptor". + optional bool no_standard_descriptor_accessor = 2 [default=false]; + + // Is this message deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for the message, or it will be completely ignored; in the very least, + // this is a formalization for deprecating messages. + optional bool deprecated = 3 [default=false]; + + // Whether the message is an automatically generated map entry type for the + // maps field. + // + // For maps fields: + // map map_field = 1; + // The parsed descriptor looks like: + // message MapFieldEntry { + // option map_entry = true; + // optional KeyType key = 1; + // optional ValueType value = 2; + // } + // repeated MapFieldEntry map_field = 1; + // + // Implementations may choose not to generate the map_entry=true message, but + // use a native map in the target language to hold the keys and values. + // The reflection APIs in such implementions still need to work as + // if the field is a repeated message field. + // + // NOTE: Do not set the option in .proto files. Always use the maps syntax + // instead. The option should only be implicitly set by the proto compiler + // parser. + optional bool map_entry = 7; + + reserved 8; // javalite_serializable + reserved 9; // javanano_as_lite + + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + +message FieldOptions { + // The ctype option instructs the C++ code generator to use a different + // representation of the field than it normally would. See the specific + // options below. This option is not yet implemented in the open source + // release -- sorry, we'll try to include it in a future version! + optional CType ctype = 1 [default = STRING]; + enum CType { + // Default mode. + STRING = 0; + + CORD = 1; + + STRING_PIECE = 2; + } + // The packed option can be enabled for repeated primitive fields to enable + // a more efficient representation on the wire. Rather than repeatedly + // writing the tag and type for each element, the entire array is encoded as + // a single length-delimited blob. In proto3, only explicit setting it to + // false will avoid using packed encoding. + optional bool packed = 2; + + // The jstype option determines the JavaScript type used for values of the + // field. The option is permitted only for 64 bit integral and fixed types + // (int64, uint64, sint64, fixed64, sfixed64). A field with jstype JS_STRING + // is represented as JavaScript string, which avoids loss of precision that + // can happen when a large value is converted to a floating point JavaScript. + // Specifying JS_NUMBER for the jstype causes the generated JavaScript code to + // use the JavaScript "number" type. The behavior of the default option + // JS_NORMAL is implementation dependent. + // + // This option is an enum to permit additional types to be added, e.g. + // goog.math.Integer. + optional JSType jstype = 6 [default = JS_NORMAL]; + enum JSType { + // Use the default type. + JS_NORMAL = 0; + + // Use JavaScript strings. + JS_STRING = 1; + + // Use JavaScript numbers. + JS_NUMBER = 2; + } + + // Should this field be parsed lazily? Lazy applies only to message-type + // fields. It means that when the outer message is initially parsed, the + // inner message's contents will not be parsed but instead stored in encoded + // form. The inner message will actually be parsed when it is first accessed. + // + // This is only a hint. Implementations are free to choose whether to use + // eager or lazy parsing regardless of the value of this option. However, + // setting this option true suggests that the protocol author believes that + // using lazy parsing on this field is worth the additional bookkeeping + // overhead typically needed to implement it. + // + // This option does not affect the public interface of any generated code; + // all method signatures remain the same. Furthermore, thread-safety of the + // interface is not affected by this option; const methods remain safe to + // call from multiple threads concurrently, while non-const methods continue + // to require exclusive access. + // + // + // Note that implementations may choose not to check required fields within + // a lazy sub-message. That is, calling IsInitialized() on the outer message + // may return true even if the inner message has missing required fields. + // This is necessary because otherwise the inner message would have to be + // parsed in order to perform the check, defeating the purpose of lazy + // parsing. An implementation which chooses not to check required fields + // must be consistent about it. That is, for any particular sub-message, the + // implementation must either *always* check its required fields, or *never* + // check its required fields, regardless of whether or not the message has + // been parsed. + optional bool lazy = 5 [default=false]; + + // Is this field deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for accessors, or it will be completely ignored; in the very least, this + // is a formalization for deprecating fields. + optional bool deprecated = 3 [default=false]; + + // For Google-internal migration only. Do not use. + optional bool weak = 10 [default=false]; + + + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; + + reserved 4; // removed jtype +} + +message OneofOptions { + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + +message EnumOptions { + + // Set this option to true to allow mapping different tag names to the same + // value. + optional bool allow_alias = 2; + + // Is this enum deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for the enum, or it will be completely ignored; in the very least, this + // is a formalization for deprecating enums. + optional bool deprecated = 3 [default=false]; + + reserved 5; // javanano_as_lite + + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + +message EnumValueOptions { + // Is this enum value deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for the enum value, or it will be completely ignored; in the very least, + // this is a formalization for deprecating enum values. + optional bool deprecated = 1 [default=false]; + + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + +message ServiceOptions { + + // Note: Field numbers 1 through 32 are reserved for Google's internal RPC + // framework. We apologize for hoarding these numbers to ourselves, but + // we were already using them long before we decided to release Protocol + // Buffers. + + // Is this service deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for the service, or it will be completely ignored; in the very least, + // this is a formalization for deprecating services. + optional bool deprecated = 33 [default=false]; + + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + +message MethodOptions { + + // Note: Field numbers 1 through 32 are reserved for Google's internal RPC + // framework. We apologize for hoarding these numbers to ourselves, but + // we were already using them long before we decided to release Protocol + // Buffers. + + // Is this method deprecated? + // Depending on the target platform, this can emit Deprecated annotations + // for the method, or it will be completely ignored; in the very least, + // this is a formalization for deprecating methods. + optional bool deprecated = 33 [default=false]; + + // Is this method side-effect-free (or safe in HTTP parlance), or idempotent, + // or neither? HTTP based RPC implementation may choose GET verb for safe + // methods, and PUT verb for idempotent methods instead of the default POST. + enum IdempotencyLevel { + IDEMPOTENCY_UNKNOWN = 0; + NO_SIDE_EFFECTS = 1; // implies idempotent + IDEMPOTENT = 2; // idempotent, but may have side effects + } + optional IdempotencyLevel idempotency_level = + 34 [default=IDEMPOTENCY_UNKNOWN]; + + // The parser stores options it doesn't recognize here. See above. + repeated UninterpretedOption uninterpreted_option = 999; + + // Clients can define custom options in extensions of this message. See above. + extensions 1000 to max; +} + + +// A message representing a option the parser does not recognize. This only +// appears in options protos created by the compiler::Parser class. +// DescriptorPool resolves these when building Descriptor objects. Therefore, +// options protos in descriptor objects (e.g. returned by Descriptor::options(), +// or produced by Descriptor::CopyTo()) will never have UninterpretedOptions +// in them. +message UninterpretedOption { + // The name of the uninterpreted option. Each string represents a segment in + // a dot-separated name. is_extension is true iff a segment represents an + // extension (denoted with parentheses in options specs in .proto files). + // E.g.,{ ["foo", false], ["bar.baz", true], ["qux", false] } represents + // "foo.(bar.baz).qux". + message NamePart { + required string name_part = 1; + required bool is_extension = 2; + } + repeated NamePart name = 2; + + // The value of the uninterpreted option, in whatever type the tokenizer + // identified it as during parsing. Exactly one of these should be set. + optional string identifier_value = 3; + optional uint64 positive_int_value = 4; + optional int64 negative_int_value = 5; + optional double double_value = 6; + optional bytes string_value = 7; + optional string aggregate_value = 8; +} + +// =================================================================== +// Optional source code info + +// Encapsulates information about the original source file from which a +// FileDescriptorProto was generated. +message SourceCodeInfo { + // A Location identifies a piece of source code in a .proto file which + // corresponds to a particular definition. This information is intended + // to be useful to IDEs, code indexers, documentation generators, and similar + // tools. + // + // For example, say we have a file like: + // message Foo { + // optional string foo = 1; + // } + // Let's look at just the field definition: + // optional string foo = 1; + // ^ ^^ ^^ ^ ^^^ + // a bc de f ghi + // We have the following locations: + // span path represents + // [a,i) [ 4, 0, 2, 0 ] The whole field definition. + // [a,b) [ 4, 0, 2, 0, 4 ] The label (optional). + // [c,d) [ 4, 0, 2, 0, 5 ] The type (string). + // [e,f) [ 4, 0, 2, 0, 1 ] The name (foo). + // [g,h) [ 4, 0, 2, 0, 3 ] The number (1). + // + // Notes: + // - A location may refer to a repeated field itself (i.e. not to any + // particular index within it). This is used whenever a set of elements are + // logically enclosed in a single code segment. For example, an entire + // extend block (possibly containing multiple extension definitions) will + // have an outer location whose path refers to the "extensions" repeated + // field without an index. + // - Multiple locations may have the same path. This happens when a single + // logical declaration is spread out across multiple places. The most + // obvious example is the "extend" block again -- there may be multiple + // extend blocks in the same scope, each of which will have the same path. + // - A location's span is not always a subset of its parent's span. For + // example, the "extendee" of an extension declaration appears at the + // beginning of the "extend" block and is shared by all extensions within + // the block. + // - Just because a location's span is a subset of some other location's span + // does not mean that it is a descendent. For example, a "group" defines + // both a type and a field in a single declaration. Thus, the locations + // corresponding to the type and field and their components will overlap. + // - Code which tries to interpret locations should probably be designed to + // ignore those that it doesn't understand, as more types of locations could + // be recorded in the future. + repeated Location location = 1; + message Location { + // Identifies which part of the FileDescriptorProto was defined at this + // location. + // + // Each element is a field number or an index. They form a path from + // the root FileDescriptorProto to the place where the definition. For + // example, this path: + // [ 4, 3, 2, 7, 1 ] + // refers to: + // file.message_type(3) // 4, 3 + // .field(7) // 2, 7 + // .name() // 1 + // This is because FileDescriptorProto.message_type has field number 4: + // repeated DescriptorProto message_type = 4; + // and DescriptorProto.field has field number 2: + // repeated FieldDescriptorProto field = 2; + // and FieldDescriptorProto.name has field number 1: + // optional string name = 1; + // + // Thus, the above path gives the location of a field name. If we removed + // the last element: + // [ 4, 3, 2, 7 ] + // this path refers to the whole field declaration (from the beginning + // of the label to the terminating semicolon). + repeated int32 path = 1 [packed=true]; + + // Always has exactly three or four elements: start line, start column, + // end line (optional, otherwise assumed same as start line), end column. + // These are packed into a single field for efficiency. Note that line + // and column numbers are zero-based -- typically you will want to add + // 1 to each before displaying to a user. + repeated int32 span = 2 [packed=true]; + + // If this SourceCodeInfo represents a complete declaration, these are any + // comments appearing before and after the declaration which appear to be + // attached to the declaration. + // + // A series of line comments appearing on consecutive lines, with no other + // tokens appearing on those lines, will be treated as a single comment. + // + // leading_detached_comments will keep paragraphs of comments that appear + // before (but not connected to) the current element. Each paragraph, + // separated by empty lines, will be one comment element in the repeated + // field. + // + // Only the comment content is provided; comment markers (e.g. //) are + // stripped out. For block comments, leading whitespace and an asterisk + // will be stripped from the beginning of each line other than the first. + // Newlines are included in the output. + // + // Examples: + // + // optional int32 foo = 1; // Comment attached to foo. + // // Comment attached to bar. + // optional int32 bar = 2; + // + // optional string baz = 3; + // // Comment attached to baz. + // // Another line attached to baz. + // + // // Comment attached to qux. + // // + // // Another line attached to qux. + // optional double qux = 4; + // + // // Detached comment for corge. This is not leading or trailing comments + // // to qux or corge because there are blank lines separating it from + // // both. + // + // // Detached comment for corge paragraph 2. + // + // optional string corge = 5; + // /* Block comment attached + // * to corge. Leading asterisks + // * will be removed. */ + // /* Block comment attached to + // * grault. */ + // optional int32 grault = 6; + // + // // ignored detached comments. + optional string leading_comments = 3; + optional string trailing_comments = 4; + repeated string leading_detached_comments = 6; + } +} + +// Describes the relationship between generated code and its original source +// file. A GeneratedCodeInfo message is associated with only one generated +// source file, but may contain references to different source .proto files. +message GeneratedCodeInfo { + // An Annotation connects some span of text in generated code to an element + // of its generating .proto file. + repeated Annotation annotation = 1; + message Annotation { + // Identifies the element in the original source .proto file. This field + // is formatted the same as SourceCodeInfo.Location.path. + repeated int32 path = 1 [packed=true]; + + // Identifies the filesystem path to the original source .proto. + optional string source_file = 2; + + // Identifies the starting offset in bytes in the generated code + // that relates to the identified object. + optional int32 begin = 3; + + // Identifies the ending offset in bytes in the generated code that + // relates to the identified offset. The end offset should be one past + // the last relevant byte (so the length of the text = end - begin). + optional int32 end = 4; + } +} diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/nanopb.proto b/MIDAS/src/hilsim/nanopb_generator/proto/nanopb.proto new file mode 100644 index 00000000..5e36eaa8 --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/proto/nanopb.proto @@ -0,0 +1,185 @@ +// Custom options for defining: +// - Maximum size of string/bytes +// - Maximum number of elements in array +// +// These are used by nanopb to generate statically allocable structures +// for memory-limited environments. + +syntax = "proto2"; +import "google/protobuf/descriptor.proto"; + +option java_package = "fi.kapsi.koti.jpa.nanopb"; + +enum FieldType { + FT_DEFAULT = 0; // Automatically decide field type, generate static field if possible. + FT_CALLBACK = 1; // Always generate a callback field. + FT_POINTER = 4; // Always generate a dynamically allocated field. + FT_STATIC = 2; // Generate a static field or raise an exception if not possible. + FT_IGNORE = 3; // Ignore the field completely. + FT_INLINE = 5; // Legacy option, use the separate 'fixed_length' option instead +} + +enum IntSize { + IS_DEFAULT = 0; // Default, 32/64bit based on type in .proto + IS_8 = 8; + IS_16 = 16; + IS_32 = 32; + IS_64 = 64; +} + +enum TypenameMangling { + M_NONE = 0; // Default, no typename mangling + M_STRIP_PACKAGE = 1; // Strip current package name + M_FLATTEN = 2; // Only use last path component + M_PACKAGE_INITIALS = 3; // Replace the package name by the initials +} + +enum DescriptorSize { + DS_AUTO = 0; // Select minimal size based on field type + DS_1 = 1; // 1 word; up to 15 byte fields, no arrays + DS_2 = 2; // 2 words; up to 4095 byte fields, 4095 entry arrays + DS_4 = 4; // 4 words; up to 2^32-1 byte fields, 2^16-1 entry arrays + DS_8 = 8; // 8 words; up to 2^32-1 entry arrays +} + +// This is the inner options message, which basically defines options for +// a field. When it is used in message or file scope, it applies to all +// fields. +message NanoPBOptions { + // Allocated size for 'bytes' and 'string' fields. + // For string fields, this should include the space for null terminator. + optional int32 max_size = 1; + + // Maximum length for 'string' fields. Setting this is equivalent + // to setting max_size to a value of length+1. + optional int32 max_length = 14; + + // Allocated number of entries in arrays ('repeated' fields) + optional int32 max_count = 2; + + // Size of integer fields. Can save some memory if you don't need + // full 32 bits for the value. + optional IntSize int_size = 7 [default = IS_DEFAULT]; + + // Force type of field (callback or static allocation) + optional FieldType type = 3 [default = FT_DEFAULT]; + + // Use long names for enums, i.e. EnumName_EnumValue. + optional bool long_names = 4 [default = true]; + + // Add 'packed' attribute to generated structs. + // Note: this cannot be used on CPUs that break on unaligned + // accesses to variables. + optional bool packed_struct = 5 [default = false]; + + // Add 'packed' attribute to generated enums. + optional bool packed_enum = 10 [default = false]; + + // Skip this message + optional bool skip_message = 6 [default = false]; + + // Generate oneof fields as normal optional fields instead of union. + optional bool no_unions = 8 [default = false]; + + // integer type tag for a message + optional uint32 msgid = 9; + + // decode oneof as anonymous union + optional bool anonymous_oneof = 11 [default = false]; + + // Proto3 singular field does not generate a "has_" flag + optional bool proto3 = 12 [default = false]; + + // Force proto3 messages to have no "has_" flag. + // This was default behavior until nanopb-0.4.0. + optional bool proto3_singular_msgs = 21 [default = false]; + + // Generate an enum->string mapping function (can take up lots of space). + optional bool enum_to_string = 13 [default = false]; + + // Generate bytes arrays with fixed length + optional bool fixed_length = 15 [default = false]; + + // Generate repeated field with fixed count + optional bool fixed_count = 16 [default = false]; + + // Generate message-level callback that is called before decoding submessages. + // This can be used to set callback fields for submsgs inside oneofs. + optional bool submsg_callback = 22 [default = false]; + + // Shorten or remove package names from type names. + // This option applies only on the file level. + optional TypenameMangling mangle_names = 17 [default = M_NONE]; + + // Data type for storage associated with callback fields. + optional string callback_datatype = 18 [default = "pb_callback_t"]; + + // Callback function used for encoding and decoding. + // Prior to nanopb-0.4.0, the callback was specified in per-field pb_callback_t + // structure. This is still supported, but does not work inside e.g. oneof or pointer + // fields. Instead, a new method allows specifying a per-message callback that + // will be called for all callback fields in a message type. + optional string callback_function = 19 [default = "pb_default_field_callback"]; + + // Select the size of field descriptors. This option has to be defined + // for the whole message, not per-field. Usually automatic selection is + // ok, but if it results in compilation errors you can increase the field + // size here. + optional DescriptorSize descriptorsize = 20 [default = DS_AUTO]; + + // Set default value for has_ fields. + optional bool default_has = 23 [default = false]; + + // Extra files to include in generated `.pb.h` + repeated string include = 24; + + // Automatic includes to exclude from generated `.pb.h` + // Same as nanopb_generator.py command line flag -x. + repeated string exclude = 26; + + // Package name that applies only for nanopb. + optional string package = 25; + + // Override type of the field in generated C code. Only to be used with related field types + optional google.protobuf.FieldDescriptorProto.Type type_override = 27; + + // Due to historical reasons, nanopb orders fields in structs by their tag number + // instead of the order in .proto. Set this to false to keep the .proto order. + // The default value will probably change to false in nanopb-0.5.0. + optional bool sort_by_tag = 28 [default = true]; + + // Set the FT_DEFAULT field conversion strategy. + // A field that can become a static member of a c struct (e.g. int, bool, etc) + // will be a a static field. + // Fields with dynamic length are converted to either a pointer or a callback. + optional FieldType fallback_type = 29 [default = FT_CALLBACK]; +} + +// Extensions to protoc 'Descriptor' type in order to define options +// inside a .proto file. +// +// Protocol Buffers extension number registry +// -------------------------------- +// Project: Nanopb +// Contact: Petteri Aimonen +// Web site: http://kapsi.fi/~jpa/nanopb +// Extensions: 1010 (all types) +// -------------------------------- + +extend google.protobuf.FileOptions { + optional NanoPBOptions nanopb_fileopt = 1010; +} + +extend google.protobuf.MessageOptions { + optional NanoPBOptions nanopb_msgopt = 1010; +} + +extend google.protobuf.EnumOptions { + optional NanoPBOptions nanopb_enumopt = 1010; +} + +extend google.protobuf.FieldOptions { + optional NanoPBOptions nanopb = 1010; +} + + diff --git a/MIDAS/src/hilsim/nanopb_generator/proto/nanopb_pb2.py b/MIDAS/src/hilsim/nanopb_generator/proto/nanopb_pb2.py new file mode 100644 index 00000000..51193fdc --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/proto/nanopb_pb2.py @@ -0,0 +1,35 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: nanopb.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from google.protobuf import descriptor_pb2 as google_dot_protobuf_dot_descriptor__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0cnanopb.proto\x1a google/protobuf/descriptor.proto\"\xa4\x07\n\rNanoPBOptions\x12\x10\n\x08max_size\x18\x01 \x01(\x05\x12\x12\n\nmax_length\x18\x0e \x01(\x05\x12\x11\n\tmax_count\x18\x02 \x01(\x05\x12&\n\x08int_size\x18\x07 \x01(\x0e\x32\x08.IntSize:\nIS_DEFAULT\x12$\n\x04type\x18\x03 \x01(\x0e\x32\n.FieldType:\nFT_DEFAULT\x12\x18\n\nlong_names\x18\x04 \x01(\x08:\x04true\x12\x1c\n\rpacked_struct\x18\x05 \x01(\x08:\x05\x66\x61lse\x12\x1a\n\x0bpacked_enum\x18\n \x01(\x08:\x05\x66\x61lse\x12\x1b\n\x0cskip_message\x18\x06 \x01(\x08:\x05\x66\x61lse\x12\x18\n\tno_unions\x18\x08 \x01(\x08:\x05\x66\x61lse\x12\r\n\x05msgid\x18\t \x01(\r\x12\x1e\n\x0f\x61nonymous_oneof\x18\x0b \x01(\x08:\x05\x66\x61lse\x12\x15\n\x06proto3\x18\x0c \x01(\x08:\x05\x66\x61lse\x12#\n\x14proto3_singular_msgs\x18\x15 \x01(\x08:\x05\x66\x61lse\x12\x1d\n\x0e\x65num_to_string\x18\r \x01(\x08:\x05\x66\x61lse\x12\x1b\n\x0c\x66ixed_length\x18\x0f \x01(\x08:\x05\x66\x61lse\x12\x1a\n\x0b\x66ixed_count\x18\x10 \x01(\x08:\x05\x66\x61lse\x12\x1e\n\x0fsubmsg_callback\x18\x16 \x01(\x08:\x05\x66\x61lse\x12/\n\x0cmangle_names\x18\x11 \x01(\x0e\x32\x11.TypenameMangling:\x06M_NONE\x12(\n\x11\x63\x61llback_datatype\x18\x12 \x01(\t:\rpb_callback_t\x12\x34\n\x11\x63\x61llback_function\x18\x13 \x01(\t:\x19pb_default_field_callback\x12\x30\n\x0e\x64\x65scriptorsize\x18\x14 \x01(\x0e\x32\x0f.DescriptorSize:\x07\x44S_AUTO\x12\x1a\n\x0b\x64\x65\x66\x61ult_has\x18\x17 \x01(\x08:\x05\x66\x61lse\x12\x0f\n\x07include\x18\x18 \x03(\t\x12\x0f\n\x07\x65xclude\x18\x1a \x03(\t\x12\x0f\n\x07package\x18\x19 \x01(\t\x12\x41\n\rtype_override\x18\x1b \x01(\x0e\x32*.google.protobuf.FieldDescriptorProto.Type\x12\x19\n\x0bsort_by_tag\x18\x1c \x01(\x08:\x04true\x12.\n\rfallback_type\x18\x1d \x01(\x0e\x32\n.FieldType:\x0b\x46T_CALLBACK*i\n\tFieldType\x12\x0e\n\nFT_DEFAULT\x10\x00\x12\x0f\n\x0b\x46T_CALLBACK\x10\x01\x12\x0e\n\nFT_POINTER\x10\x04\x12\r\n\tFT_STATIC\x10\x02\x12\r\n\tFT_IGNORE\x10\x03\x12\r\n\tFT_INLINE\x10\x05*D\n\x07IntSize\x12\x0e\n\nIS_DEFAULT\x10\x00\x12\x08\n\x04IS_8\x10\x08\x12\t\n\x05IS_16\x10\x10\x12\t\n\x05IS_32\x10 \x12\t\n\x05IS_64\x10@*Z\n\x10TypenameMangling\x12\n\n\x06M_NONE\x10\x00\x12\x13\n\x0fM_STRIP_PACKAGE\x10\x01\x12\r\n\tM_FLATTEN\x10\x02\x12\x16\n\x12M_PACKAGE_INITIALS\x10\x03*E\n\x0e\x44\x65scriptorSize\x12\x0b\n\x07\x44S_AUTO\x10\x00\x12\x08\n\x04\x44S_1\x10\x01\x12\x08\n\x04\x44S_2\x10\x02\x12\x08\n\x04\x44S_4\x10\x04\x12\x08\n\x04\x44S_8\x10\x08:E\n\x0enanopb_fileopt\x12\x1c.google.protobuf.FileOptions\x18\xf2\x07 \x01(\x0b\x32\x0e.NanoPBOptions:G\n\rnanopb_msgopt\x12\x1f.google.protobuf.MessageOptions\x18\xf2\x07 \x01(\x0b\x32\x0e.NanoPBOptions:E\n\x0enanopb_enumopt\x12\x1c.google.protobuf.EnumOptions\x18\xf2\x07 \x01(\x0b\x32\x0e.NanoPBOptions:>\n\x06nanopb\x12\x1d.google.protobuf.FieldOptions\x18\xf2\x07 \x01(\x0b\x32\x0e.NanoPBOptionsB\x1a\n\x18\x66i.kapsi.koti.jpa.nanopb') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'nanopb_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + DESCRIPTOR._serialized_options = b'\n\030fi.kapsi.koti.jpa.nanopb' + _globals['_FIELDTYPE']._serialized_start=985 + _globals['_FIELDTYPE']._serialized_end=1090 + _globals['_INTSIZE']._serialized_start=1092 + _globals['_INTSIZE']._serialized_end=1160 + _globals['_TYPENAMEMANGLING']._serialized_start=1162 + _globals['_TYPENAMEMANGLING']._serialized_end=1252 + _globals['_DESCRIPTORSIZE']._serialized_start=1254 + _globals['_DESCRIPTORSIZE']._serialized_end=1323 + _globals['_NANOPBOPTIONS']._serialized_start=51 + _globals['_NANOPBOPTIONS']._serialized_end=983 +# @@protoc_insertion_point(module_scope) diff --git a/MIDAS/src/hilsim/nanopb_generator/protoc b/MIDAS/src/hilsim/nanopb_generator/protoc new file mode 100644 index 00000000..c259702f --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/protoc @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +# This file acts as a drop-in replacement of binary protoc.exe. +# It will use either Python-based protoc from grpcio-tools package, +# or if it is not available, protoc.exe from path if found. + +import sys +import os +import os.path + +# Depending on how this script is run, we may or may not have PEP366 package name +# available for relative imports. +if not __package__: + from proto._utils import invoke_protoc +else: + from .proto._utils import invoke_protoc + +if __name__ == '__main__': + # Get path of the directory where this script is stored. + if getattr(sys, 'frozen', False): + mypath = os.path.dirname(sys.executable) # For pyInstaller + else: + mypath = os.path.dirname(__file__) + + # Avoid recursive calls to self + env_paths = os.environ["PATH"].split(os.pathsep) + if mypath in env_paths: + env_paths.remove(mypath) + os.environ["PATH"] = os.pathsep.join(env_paths) + + # Add argument for finding the nanopb generator when using --nanopb_out= + # argument to protoc. + if os.path.isfile(os.path.join(mypath, "protoc-gen-nanopb.exe")): + protoc_gen_nanopb = os.path.join(mypath, "protoc-gen-nanopb.exe") + elif os.name == 'nt': + protoc_gen_nanopb = os.path.join(mypath, "protoc-gen-nanopb.bat") + else: + protoc_gen_nanopb = os.path.join(mypath, "protoc-gen-nanopb") + + args = sys.argv[1:] + + if os.path.isfile(protoc_gen_nanopb): + args = ['--plugin=protoc-gen-nanopb=%s' % protoc_gen_nanopb] + args + + status = invoke_protoc(['protoc'] + args) + sys.exit(status) diff --git a/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb b/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb new file mode 100644 index 00000000..20a36c79 --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb @@ -0,0 +1,11 @@ +#!/usr/bin/env python3 +# This file is used to invoke nanopb_generator.py as a plugin +# to protoc on Linux and other *nix-style systems. +# Use it like this: +# protoc --plugin=protoc-gen-nanopb=..../protoc-gen-nanopb --nanopb_out=dir foo.proto + +from nanopb_generator import * + +if __name__ == '__main__': + # Assume we are running as a plugin under protoc. + main_plugin() diff --git a/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb-py2 b/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb-py2 new file mode 100644 index 00000000..e6427094 --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb-py2 @@ -0,0 +1,16 @@ +#!/bin/sh + +# This file is used to invoke nanopb_generator.py2 as a plugin +# to protoc on Linux and other *nix-style systems. +# +# The difference from protoc-gen-nanopb is that this executes with Python 2. +# +# Use it like this: +# protoc --plugin=protoc-gen-nanopb=..../protoc-gen-nanopb-py2 --nanopb_out=dir foo.proto +# +# Note that if you use the binary package of nanopb, the protoc +# path is already set up properly and there is no need to give +# --plugin= on the command line. + +MYPATH=$(dirname "$0") +exec "$MYPATH/nanopb_generator.py2" --protoc-plugin diff --git a/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb.bat b/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb.bat new file mode 100644 index 00000000..fa5bdd2b --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/protoc-gen-nanopb.bat @@ -0,0 +1,12 @@ +@echo off +:: This file is used to invoke nanopb_generator.py as a plugin +:: to protoc on Windows. +:: Use it like this: +:: protoc --plugin=protoc-gen-nanopb=..../protoc-gen-nanopb.bat --nanopb_out=dir foo.proto +:: +:: Note that if you use the binary package of nanopb, the protoc +:: path is already set up properly and there is no need to give +:: --plugin= on the command line. + +set mydir=%~dp0 +python "%mydir%\nanopb_generator.py" --protoc-plugin %* diff --git a/MIDAS/src/hilsim/nanopb_generator/protoc.bat b/MIDAS/src/hilsim/nanopb_generator/protoc.bat new file mode 100644 index 00000000..2538c94a --- /dev/null +++ b/MIDAS/src/hilsim/nanopb_generator/protoc.bat @@ -0,0 +1,9 @@ +@echo off +:: This file acts as a drop-in replacement of binary protoc.exe. +:: It will use either Python-based protoc from grpcio-tools package, +:: or if it is not available, protoc.exe from path if found. + +setLocal enableDelayedExpansion +set mydir=%~dp0 +python "%mydir%\protoc" %* +exit /b %ERRORLEVEL% diff --git a/MIDAS/src/hilsim/rocketstate.pb.c b/MIDAS/src/hilsim/rocketstate.pb.c new file mode 100644 index 00000000..600e436b --- /dev/null +++ b/MIDAS/src/hilsim/rocketstate.pb.c @@ -0,0 +1,12 @@ +/* Automatically generated nanopb constant definitions */ +/* Generated by nanopb-0.4.7 */ + +#include "rocketstate.pb.h" +#if PB_PROTO_HEADER_VERSION != 40 +#error Regenerate this file with the current version of nanopb generator. +#endif + +PB_BIND(RocketState, RocketState, AUTO) + + + diff --git a/MIDAS/src/hilsim/rocketstate.pb.h b/MIDAS/src/hilsim/rocketstate.pb.h new file mode 100644 index 00000000..de76fd90 --- /dev/null +++ b/MIDAS/src/hilsim/rocketstate.pb.h @@ -0,0 +1,48 @@ +/* Automatically generated nanopb header */ +/* Generated by nanopb-0.4.7 */ + +#ifndef PB_ROCKETSTATE_PB_H_INCLUDED +#define PB_ROCKETSTATE_PB_H_INCLUDED +#include + +#if PB_PROTO_HEADER_VERSION != 40 +#error Regenerate this file with the current version of nanopb generator. +#endif + +/* Struct definitions */ +typedef struct _RocketState { + /* Get the state of the rocket */ + int32_t rocket_state; +} RocketState; + + +#ifdef __cplusplus +extern "C" { +#endif + +/* Initializer values for message structs */ +#define RocketState_init_default {0} +#define RocketState_init_zero {0} + +/* Field tags (for use in manual encoding/decoding) */ +#define RocketState_rocket_state_tag 1 + +/* Struct field encoding specification for nanopb */ +#define RocketState_FIELDLIST(X, a) \ +X(a, STATIC, REQUIRED, INT32, rocket_state, 1) +#define RocketState_CALLBACK NULL +#define RocketState_DEFAULT NULL + +extern const pb_msgdesc_t RocketState_msg; + +/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ +#define RocketState_fields &RocketState_msg + +/* Maximum encoded size of messages (where known) */ +#define RocketState_size 11 + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif diff --git a/MIDAS/src/hilsim/rocketstate.proto b/MIDAS/src/hilsim/rocketstate.proto new file mode 100644 index 00000000..284540a3 --- /dev/null +++ b/MIDAS/src/hilsim/rocketstate.proto @@ -0,0 +1,5 @@ + +message RocketState { + // Get the state of the rocket + required int32 rocket_state = 1; +} diff --git a/MIDAS/src/hilsim/rocketstate_pb2.py b/MIDAS/src/hilsim/rocketstate_pb2.py new file mode 100644 index 00000000..3ca496c6 --- /dev/null +++ b/MIDAS/src/hilsim/rocketstate_pb2.py @@ -0,0 +1,25 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: rocketstate.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +from google.protobuf.internal import builder as _builder +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x11rocketstate.proto\"#\n\x0bRocketState\x12\x14\n\x0crocket_state\x18\x01 \x02(\x05') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'rocketstate_pb2', _globals) +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None + _globals['_ROCKETSTATE']._serialized_start=21 + _globals['_ROCKETSTATE']._serialized_end=56 +# @@protoc_insertion_point(module_scope) diff --git a/MIDAS/src/hilsim/sensors.h b/MIDAS/src/hilsim/sensors.h new file mode 100644 index 00000000..0e84c9ed --- /dev/null +++ b/MIDAS/src/hilsim/sensors.h @@ -0,0 +1,88 @@ +#pragma once + +#include "errors.h" +#include "sensor_data.h" +#include "hardware/pins.h" + +/** + * @struct LowG interface + */ +struct LowGSensor { + ErrorCode init(); + LowGData read(); +}; + +/** + * @struct HighG interface + */ +struct HighGSensor { + ErrorCode init(); + HighGData read(); +}; + +/** + * @struct Magnetometer interface + */ +struct MagnetometerSensor { + ErrorCode init(); + Magnetometer read(); +}; + +/** + * @struct Barometer interface + */ +struct BarometerSensor { + ErrorCode init(); + Barometer read(); +}; + +/** + * @struct LowGLSM interface + */ +struct LowGLSMSensor { + ErrorCode init(); + LowGLSM read(); +}; + +/** + * @struct Continuity interface + */ +struct ContinuitySensor { + ErrorCode init(); + Continuity read(); +}; + +/** + * @struct Voltage interface + */ +struct VoltageSensor { + ErrorCode init(); + Voltage read(); +}; + +/** + * @struct BNO interface + */ +struct OrientationSensor { + Orientation initial_orientation; + uint8_t initial_flag; + ErrorCode init(); + Orientation read(); +}; + +/** + * @struct GPS interface + */ +struct GPSSensor { + ErrorCode init(); + GPS read(); + bool is_leap = false; +}; + +/** + * @struct Pyro interface + */ +struct Pyro { + ErrorCode init(); + PyroState tick(FSMState fsm_state, Orientation orientation); +}; diff --git a/MIDAS/src/hilsim/sensors/Barometer.cpp b/MIDAS/src/hilsim/sensors/Barometer.cpp new file mode 100644 index 00000000..28631093 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/Barometer.cpp @@ -0,0 +1,16 @@ +#include "sensors.h" +#include "../global_packet.h" +/** + * Initializes barometer, returns NoError +*/ +ErrorCode BarometerSensor::init() { + return ErrorCode::NoError; +} + +/** + * Reads the pressure and temperature from the MS5611 + * @return a barometer data packet for the thread to send to the data logger +*/ +Barometer BarometerSensor::read() { + return Barometer{global_packet.barometer_temperature,global_packet.barometer_pressure,global_packet.barometer_altitude}; +} \ No newline at end of file diff --git a/MIDAS/src/hilsim/sensors/Continuity.cpp b/MIDAS/src/hilsim/sensors/Continuity.cpp new file mode 100644 index 00000000..f18d0ab4 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/Continuity.cpp @@ -0,0 +1,10 @@ +#include "sensors.h" +#include "../global_packet.h" + +ErrorCode ContinuitySensor::init() { + return ErrorCode::NoError; +} + +Continuity ContinuitySensor::read() { + return Continuity{}; +} diff --git a/MIDAS/src/hilsim/sensors/GPSSensor.cpp b/MIDAS/src/hilsim/sensors/GPSSensor.cpp new file mode 100644 index 00000000..d5c17af5 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/GPSSensor.cpp @@ -0,0 +1,10 @@ +#include "sensors.h" +#include "../global_packet.h" + +ErrorCode GPSSensor::init() { + return ErrorCode::NoError; +} + +GPS GPSSensor::read() { + return GPS{0, 0, 0.f, 0.f, 0, 0}; +} diff --git a/MIDAS/src/hilsim/sensors/HighG.cpp b/MIDAS/src/hilsim/sensors/HighG.cpp new file mode 100644 index 00000000..3b0ac9c4 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/HighG.cpp @@ -0,0 +1,17 @@ +#include "sensors.h" +#include "../global_packet.h" + +/** + * Initializes the high G data sensor, returns ErrorCode::CANNOT_INIT_KX134_CS if cannot initialize +*/ +ErrorCode HighGSensor::init() { + return ErrorCode::NoError; +} + +/** + * Reads and returns the data from the sensor + * @return a HighGData packet with current acceleration in all three axies +*/ +HighGData HighGSensor::read() { + return HighGData{global_packet.imu_high_ax,global_packet.imu_high_ay,global_packet.imu_high_az}; +} \ No newline at end of file diff --git a/MIDAS/src/hilsim/sensors/LowG.cpp b/MIDAS/src/hilsim/sensors/LowG.cpp new file mode 100644 index 00000000..1e027464 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/LowG.cpp @@ -0,0 +1,12 @@ +#include "sensors.h" +#include "../global_packet.h" + +ErrorCode LowGSensor::init() +{ + return ErrorCode::NoError; +} + +LowGData LowGSensor::read() +{ + return LowGData{global_packet.imu_low_ax,global_packet.imu_low_ay,global_packet.imu_low_az}; +} \ No newline at end of file diff --git a/MIDAS/src/hilsim/sensors/LowGLSM.cpp b/MIDAS/src/hilsim/sensors/LowGLSM.cpp new file mode 100644 index 00000000..157374db --- /dev/null +++ b/MIDAS/src/hilsim/sensors/LowGLSM.cpp @@ -0,0 +1,13 @@ +#include "sensors.h" +#include "../global_packet.h" + +ErrorCode LowGLSMSensor::init() { + return ErrorCode::NoError; +} + +LowGLSM LowGLSMSensor::read() { + return LowGLSM{ + global_packet.imu_low_lsm_ax,global_packet.imu_low_lsm_ay,global_packet.imu_low_lsm_az, + global_packet.imu_low_lsm_gx,global_packet.imu_low_lsm_gy,global_packet.imu_low_lsm_gz, + }; +} \ No newline at end of file diff --git a/MIDAS/src/hilsim/sensors/Magnetometer.cpp b/MIDAS/src/hilsim/sensors/Magnetometer.cpp new file mode 100644 index 00000000..6c26fccf --- /dev/null +++ b/MIDAS/src/hilsim/sensors/Magnetometer.cpp @@ -0,0 +1,10 @@ +#include "sensors.h" +#include "../global_packet.h" + +ErrorCode MagnetometerSensor::init() { + return ErrorCode::NoError; +} + +Magnetometer MagnetometerSensor::read() { + return Magnetometer{global_packet.mag_x,global_packet.mag_y,global_packet.mag_z}; +} \ No newline at end of file diff --git a/MIDAS/src/hilsim/sensors/Orientation.cpp b/MIDAS/src/hilsim/sensors/Orientation.cpp new file mode 100644 index 00000000..1ca3b029 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/Orientation.cpp @@ -0,0 +1,31 @@ +#include "sensors.h" +#include "../global_packet.h" +// #include sensor library + +// global static instance of the sensor + + +ErrorCode OrientationSensor::init() { + // do whatever steps to initialize the sensor + // if it errors, return the relevant error code + return ErrorCode::NoError; +} + +Orientation OrientationSensor::read() { + // read from aforementioned global instance of sensor + Velocity ang_vel = Velocity{ + .vx = global_packet.ornt_rollv, + .vy = global_packet.ornt_pitchv, + .vz = global_packet.ornt_yawv}; + Acceleration ang_accel = Acceleration{global_packet.ornt_rolla,global_packet.ornt_pitcha,global_packet.ornt_yawa}; + Magnetometer mag = Magnetometer{global_packet.ornt_mx,global_packet.ornt_my,global_packet.ornt_mz}; + Acceleration lin_accel = Acceleration{global_packet.ornt_ax,global_packet.ornt_ay,global_packet.ornt_az}; + + return Orientation{ + false, global_packet.ornt_yaw,global_packet.ornt_pitch,global_packet.ornt_rollv, + ang_vel, ang_accel, lin_accel, + global_packet.ornt_gx,global_packet.ornt_gy,global_packet.ornt_gz, + mag, + global_packet.ornt_temp, global_packet.barometer_pressure + }; +} diff --git a/MIDAS/src/hilsim/sensors/Pyro.cpp b/MIDAS/src/hilsim/sensors/Pyro.cpp new file mode 100644 index 00000000..1134df08 --- /dev/null +++ b/MIDAS/src/hilsim/sensors/Pyro.cpp @@ -0,0 +1,11 @@ +#include "sensors.h" +#include "../global_packet.h" + +ErrorCode Pyro::init() { + return ErrorCode::NoError; +} + +PyroState Pyro::tick(FSMState fsm_state, Orientation orientation) { + return PyroState(); + //tick +} // No new line for rhbog >:( \ No newline at end of file diff --git a/MIDAS/src/hilsim/sensors/Voltage.cpp b/MIDAS/src/hilsim/sensors/Voltage.cpp new file mode 100644 index 00000000..ccb3ce7b --- /dev/null +++ b/MIDAS/src/hilsim/sensors/Voltage.cpp @@ -0,0 +1,16 @@ +#include "sensors.h" + +/** + * "Initializes" the voltage sensor. Since it reads directly from a pin without a library, there is no specific initialization. +*/ +ErrorCode VoltageSensor::init() { + return ErrorCode::NoError; +} + +/** + * Reads the value of the given analog pin and converts it to a battery voltage with the assumption that the voltage sensor is plugged into that pin + * \return The scaled voltage given by the voltage sensor +*/ +Voltage VoltageSensor::read() { + return Voltage{}; +} diff --git a/MIDAS/src/hilsim/sensors/sensors.h b/MIDAS/src/hilsim/sensors/sensors.h new file mode 100644 index 00000000..174f4e5d --- /dev/null +++ b/MIDAS/src/hilsim/sensors/sensors.h @@ -0,0 +1,54 @@ +#pragma once + +#include "errors.h" +#include "sensor_data.h" + +struct LowGSensor { + ErrorCode init(); + LowGData read(); +}; + +struct HighGSensor { + ErrorCode init(); + HighGData read(); +}; + +struct MagnetometerSensor { + ErrorCode init(); + Magnetometer read(); +}; + +struct BarometerSensor { + ErrorCode init(); + Barometer read(); +}; + +struct LowGLSMSensor { + ErrorCode init(); + LowGLSM read(); +}; + +struct ContinuitySensor { + ErrorCode init(); + Continuity read(); +}; + +struct VoltageSensor { + ErrorCode init(); + Voltage read(); +}; + +struct OrientationSensor { + ErrorCode init(); + Orientation read(); +}; + +struct GPSSensor { + ErrorCode init(); + GPS read(); +}; + +struct Pyro { + ErrorCode init(); + PyroState tick(FSMState fsm_state, Orientation orientation); +}; diff --git a/MIDAS/src/hilsim/telemetry_backend.cpp b/MIDAS/src/hilsim/telemetry_backend.cpp new file mode 100644 index 00000000..85968042 --- /dev/null +++ b/MIDAS/src/hilsim/telemetry_backend.cpp @@ -0,0 +1,18 @@ +#include "telemetry_backend.h" + + +TelemetryBackend::TelemetryBackend(const char* file_name) { + output_file.open(file_name, std::ios::out | std::ios::binary | std::ios::trunc); +} + +ErrorCode __attribute__((warn_unused_result)) TelemetryBackend::init() { + return ErrorCode::NoError; +} + +int8_t TelemetryBackend::getRecentRssi() { + return 1; +} + +void TelemetryBackend::setFrequency(float frequency) { + (void) frequency; +} \ No newline at end of file diff --git a/MIDAS/src/hilsim/telemetry_backend.h b/MIDAS/src/hilsim/telemetry_backend.h new file mode 100644 index 00000000..9540a427 --- /dev/null +++ b/MIDAS/src/hilsim/telemetry_backend.h @@ -0,0 +1,30 @@ +#pragma once + +#include + +#include "errors.h" +#include "hal.h" + + +class TelemetryBackend { +public: + TelemetryBackend() = default; + explicit TelemetryBackend(const char* file_name); + ErrorCode __attribute__((warn_unused_result)) init(); + + int8_t getRecentRssi(); + void setFrequency(float frequency); + + template + void send(const T& data) { + output_file.write((const char*) &data, sizeof(T)); + } + + template + bool read(T* write) { + return false; + } + +private: + std::ofstream output_file; +}; \ No newline at end of file diff --git a/MIDAS/src/systems.cpp b/MIDAS/src/systems.cpp index 36bff5b8..4dd3b864 100644 --- a/MIDAS/src/systems.cpp +++ b/MIDAS/src/systems.cpp @@ -185,7 +185,6 @@ ErrorCode init_systems(RocketSystems& systems) { gpioDigitalWrite(LED_ORANGE, LOW); return NoError; } - #undef INIT_SYSTEM diff --git a/MIDAS/src/systems.h b/MIDAS/src/systems.h index 301add67..03e11f02 100644 --- a/MIDAS/src/systems.h +++ b/MIDAS/src/systems.h @@ -14,6 +14,8 @@ #if defined(SILSIM) #include "silsim/emulated_sensors.h" #elif defined(HILSIM) +#include "TCAL9539.h" +#include "hilsim/sensors.h" #else #include "hardware/sensors.h" #endif diff --git a/MIDAS/src/telemetry.h b/MIDAS/src/telemetry.h index 932d5424..853697cf 100644 --- a/MIDAS/src/telemetry.h +++ b/MIDAS/src/telemetry.h @@ -8,6 +8,7 @@ #if defined(SILSIM) #include "silsim/emulated_telemetry.h" #elif defined(HILSIM) +#include "hilsim/telemetry_backend.h" #else #include "hardware/telemetry_backend.h" #endif