Issue #26: ecu stm32 implement parameters database

.cproject

@@ -80,7 +80,7 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.2032300559" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.1428656477" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.227955233" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F407VGTX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.227955233" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F407VGTX_FLASH_custom.ld}" valueType="string"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.296230319" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>

Core/Src/main.c

@@ -64,7 +64,7 @@ UART_HandleTypeDef huart3;
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 512 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */

KPI_Rover/Database/scripts/updateMetadataEnum.py

@@ -0,0 +1,218 @@
+#!/bin/python3
+
+from pathlib import Path
+
+lines = open(Path(__file__).parent / "../../KPIRover.c").read().split('\n')
+
+decoder_active = False
+
+params = []
+
+def log(text):
+    types = {"ERROR": True,
+             "WARN": True,
+             "INFO": True,
+             "DEBUG": True}
+
+    if len(text) == 0 or text[0] != "[":
+        print(text)
+        return
+
+    msg_type = text.split("]", 1)[0][1:]
+
+    if msg_type not in types:
+        print(f'[INTERNAL ERROR] msg_type "{msg_type}" does not exist')
+        exit(2)
+
+    if types[msg_type]:
+        print(text)
+
+def process_offset(v):
+    global params
+
+    offset = int(v)
+
+    if offset != 0:
+        log("[WARN] Offsets are overridden by the database and should be kept as 0 in the metadata")
+        return False
+
+    params[-1]["offset"] = int(v)
+
+    return True
+
+def process_type(v):
+    global params
+
+    if v not in ["INT8", "UINT8", "INT16", "UINT16", "INT32", "UINT32", "FLOAT"]:
+        log(f'[ERROR] Invalid type: "{v}"')
+        return False
+
+    params[-1]["type"] = v
+
+    return True
+
+def process_persistent(v):
+    global params
+
+    if v not in ["true", "false"]:
+        log(f"[ERROR] Invalid boolean value: {v}")
+        return False
+
+    params[-1]["persistent"] = True if v == "true" else False
+
+    if len(params) > 1:
+        if params[-1]["persistent"] and not params[-2]["persistent"]:
+            log("[ERROR] Persistent parameters must come before the non-persistent ones")
+            return False
+
+    return True
+
+def process_defaultValue(v):
+    if params[-1]["type"] == "FLOAT":
+        try:
+            params[-1]["defaultValue"] = float(v.strip("fF"))
+        except:
+            log(f"[ERROR] Invalid floating-point value: {v}")
+            return False
+    else:
+        try:
+            params[-1]["defaultValue"] = int(v)
+        except:
+            log(f"[ERROR] Invalid integer value: {v}")
+            return False
+
+    ''' unfinished and broken, no reason to fix right now
+    elif params[-1]["type"] == "INT32":
+        try:
+            params[-1]["defaultValue"] = int(v)
+
+            if params[-1]["defaultValue"] > 0x7fffffff:
+                print(f"[WARN] defaultValue overflows it's data type: {v} ({hex(params[-1]['defaultValue'])}) > 0x7fffffff")
+            elif params[-1]["defaultValue"] < -0x80000000:
+                print(f"[WARN] defaultValue overflows it's data type: {v} ({hex(params[-1]['defaultValue'] % 0x100000000)}) < -0x80000000")
+        except:
+            log(f"[ERROR] Invalid floating-point value: {v}")
+            return False
+    '''
+
+    return True
+
+for l in lines:
+    log("> " + l)
+    if 'struct ulDatabase_ParamMetadata ulDatabase_params[]' in l:
+        log("[DEBUG] Starting to read metadata")
+        decoder_active = True
+        continue
+
+    if ('}' in l) and ('{' not in l):
+        log("[DEBUG] End of metadata")
+        break
+
+    if not decoder_active:
+        continue
+
+    metadata = [i.strip() for i in l.split('}')[0].split('{')[1].split(',')]
+    name = l.split("//")[1].strip().strip(",")
+
+    params.append({'name': name})
+
+    metadata_item_pool = [
+        {
+            "name": "offset",
+            "func": process_offset
+        },
+        {
+            "name": "type",
+            "func": process_type
+        },
+        {
+            "name": "persistent",
+            "func": process_persistent
+        },
+        {
+            "name": "defaultValue",
+            "func": process_defaultValue
+        }
+    ]
+
+    for i, v in enumerate(metadata_item_pool):
+        v["position"] = i
+
+    for c, t in enumerate(metadata):
+        index = -1
+        result = False
+        value = ""
+
+        if '=' in t:
+            item, value = [i.strip() for i in t.split("=")]
+
+            try:
+                index = [i['name'] for i in metadata_item_pool].index(item)
+            except ValueError:
+                log(f'[ERROR] {i}: "{item}": no such metadata key')
+        else:
+            index = 0
+            value = t
+
+        if index != -1:
+            result = metadata_item_pool.pop(index)['func'](value)
+
+        if not result:
+            unwrapped_l = l.replace("\t", " " * 8)
+            log(f"[ERROR] > {unwrapped_l}")
+
+            arrow_offset = unwrapped_l.index("{") + 1
+            ll = unwrapped_l[arrow_offset:]
+
+            for _ in range(c):
+                arrow_offset += ll.index(",") + 1
+                ll = unwrapped_l[arrow_offset:]
+
+            while unwrapped_l[arrow_offset] == ' ':
+                arrow_offset += 1
+
+            underline_len = len(t) - 1
+
+            while unwrapped_l[arrow_offset + underline_len] == ' ':
+                underline_len -= 1
+
+            log("[ERROR] > " + " " * arrow_offset + "^" + "~" * underline_len)
+            log("[ERROR] Error detected, not continuing")
+            exit(1)
+
+log("[INFO] Result:")
+
+for i in params:
+    print("[INFO] " + i["name"])
+
+
+log("[INFO] Patching ulDatabase.h...")
+
+ulDatabase_h = open(Path(__file__).parent / "../ulDatabase.h").read().split('\n')
+while ulDatabase_h[-1] == "":
+    del ulDatabase_h[-1]
+
+enum_since = [i.startswith("enum ulDatabase_ParamId {") for i in ulDatabase_h].index(True) + 1
+enum_len = [i.startswith("};") for i in ulDatabase_h[enum_since:]].index(True)
+
+log("[DEBUG]: Removing old enum data:")
+for i, l in enumerate(ulDatabase_h):
+    if enum_since <= i < enum_since + enum_len:
+        log("[DEBUG] -" + l)
+    else:
+        log("[DEBUG]  " + l)
+
+del ulDatabase_h[enum_since:enum_since+enum_len]
+
+ulDatabase_h.insert(enum_since, "\tPARAM_COUNT")
+for i in params[::-1]:
+    ulDatabase_h.insert(enum_since, f"\t{i['name']},")
+
+log("[DEBUG] Writing new ulDatabase.h...")
+
+with open(Path(__file__).parent / "../ulDatabase.h", "w") as f:
+    for i in ulDatabase_h:
+        print(i + '\n', end = '')
+        f.write(i + '\n')
+
+log("[DEBUG] ulDatabase.h closed")

KPI_Rover/Database/ulDatabase.c

@@ -403,6 +403,18 @@ bool ulDatabase_reset(uint16_t id)
 	return true;
 }
 
+uint8_t *ulDatabase_freeze(void)
+{
+	DB_LOCK();
+
+	return db.dataArray;
+}
+
+void ulDatabase_unfreeze(void)
+{
+	DB_FREE();
+}
+
 struct ulDatabase_ParamMetadata *ulDatabase_getMetadata(uint16_t id)
 {
 	if (!ulDatabase_validateId(id))

KPI_Rover/Database/ulDatabase.h

@@ -17,12 +17,12 @@ enum ulDatabase_ParamType {
 };
 
 enum ulDatabase_ParamId {
+	ENCODER_CONTROL_PERIOD_MS,
+	ENCODER_TICKS_PER_REVOLUTION,
 	MOTOR_FL_RPM,
 	MOTOR_FR_RPM,
 	MOTOR_RL_RPM,
 	MOTOR_RR_RPM,
-	ENCODER_CONTROL_PERIOD_MS,
-	ENCODER_TICKS_PER_REVOLUTION,
 	PARAM_COUNT
 };
 
@@ -56,5 +56,7 @@ bool ulDatabase_getInt32(uint16_t id, int32_t *value);
 bool ulDatabase_setFloat(uint16_t id, float value);
 bool ulDatabase_getFloat(uint16_t id, float *value);
 bool ulDatabase_reset(uint16_t id);
+uint8_t *ulDatabase_freeze(void);
+void ulDatabase_unfreeze(void);
 struct ulDatabase_ParamMetadata *ulDatabase_getMetadata(uint16_t id);
 bool ulDatabase_validateId(uint16_t id);