Merge pull request #5 from RoboTeamTwente/BasestationConfig

Add basestation configuration

generator/latest_rem_version.txt

@@ -1 +1 @@
-4
+5

generator/packets.py

@@ -96,8 +96,6 @@
         ["bot15_sent", 8, None, "Packets sent to robot with ID 15"],
         ["bot15_rcvd", 8, None, "Packets received from robot with ID 15"],
     ],
-
-
     "BasestationGetStatistics" : [
         ["header",     8, None, "Header byte indicating the type of packet"]
     ],
@@ -109,5 +107,18 @@
         ["remVersion", 4, None, "Version of roboteam_embedded_messages"],
         ["id",         4, None, "Id of the robot"],
         ["message_length", 8, None, "Length of the following message"]
+    ],
+    "BasestationGetConfiguration" : [
+        ["header",     8, None, "Header byte indicating the type of packet"]
+    ],
+    "BasestationConfiguration" : [
+        ["header",     8, None, "Header byte indicating the type of packet"],
+        ["remVersion", 4, None, "Version of roboteam_embedded_messages"],
+        ["channel",    1, None, "Channel on which the basestation and robots communicate"]
+    ],
+    "BasestationSetConfiguration" : [
+        ["header",     8, None, "Header byte indicating the type of packet"],
+        ["remVersion", 4, None, "Version of roboteam_embedded_messages"],
+        ["channel",    1, None, "Channel on which the basestation and robots communicate"]
     ]
 }

include/BaseTypes.h

@@ -7,7 +7,7 @@
 #ifndef __BASETYPES_H
 #define __BASETYPES_H
 
-#define LOCAL_REM_VERSION 4
+#define LOCAL_REM_VERSION 5
 
 #define PACKET_TYPE_ROBOT_COMMAND                                    0b00001111 // 15 
 #define PACKET_SIZE_ROBOT_COMMAND                                    12
@@ -90,4 +90,13 @@
 #define PACKET_TYPE_ROBOT_LOG                                        0b10010110 // 150 
 #define PACKET_SIZE_ROBOT_LOG                                        3
 
+#define PACKET_TYPE_BASESTATION_GET_CONFIGURATION                    0b10011001 // 153 
+#define PACKET_SIZE_BASESTATION_GET_CONFIGURATION                    1
+
+#define PACKET_TYPE_BASESTATION_CONFIGURATION                        0b10100101 // 165 
+#define PACKET_SIZE_BASESTATION_CONFIGURATION                        2
+
+#define PACKET_TYPE_BASESTATION_SET_CONFIGURATION                    0b10101010 // 170 
+#define PACKET_SIZE_BASESTATION_SET_CONFIGURATION                    2
+
 #endif /*__BASETYPES_H*/

include/BasestationConfiguration.h

@@ -0,0 +1,66 @@
+// AUTOGENERATED. Run generator/main.py to regenerate
+/*
+[  0   ] [  1   ]
+11111111 -------- header
+-------- 1111---- remVersion
+-------- ----1--- channel
+*/
+
+#ifndef __BASESTATION_CONFIGURATION_H
+#define __BASESTATION_CONFIGURATION_H
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "BaseTypes.h"
+
+typedef struct _BasestationConfigurationPayload {
+    uint8_t payload[PACKET_SIZE_BASESTATION_CONFIGURATION];
+} BasestationConfigurationPayload;
+
+typedef struct _BasestationConfiguration {
+    uint32_t   header              ; // integer [0, 255]             Header byte indicating the type of packet
+    uint32_t   remVersion          ; // integer [0, 15]              Version of roboteam_embedded_messages
+    bool       channel             ; // integer [0, 1]               Channel on which the basestation and robots communicate
+} BasestationConfiguration;
+
+// ================================ GETTERS ================================
+static inline uint32_t BasestationConfiguration_get_header(BasestationConfigurationPayload *bcp){
+    return ((bcp->payload[0]));
+}
+
+static inline uint32_t BasestationConfiguration_get_remVersion(BasestationConfigurationPayload *bcp){
+    return ((bcp->payload[1] & 0b11110000) >> 4);
+}
+
+static inline bool BasestationConfiguration_get_channel(BasestationConfigurationPayload *bcp){
+    return (bcp->payload[1] & 0b00001000) > 0;
+}
+
+// ================================ SETTERS ================================
+static inline void BasestationConfiguration_set_header(BasestationConfigurationPayload *bcp, uint32_t header){
+    bcp->payload[0] = header;
+}
+
+static inline void BasestationConfiguration_set_remVersion(BasestationConfigurationPayload *bcp, uint32_t remVersion){
+    bcp->payload[1] = ((remVersion << 4) & 0b11110000) | (bcp->payload[1] & 0b00001111);
+}
+
+static inline void BasestationConfiguration_set_channel(BasestationConfigurationPayload *bcp, bool channel){
+    bcp->payload[1] = ((channel << 3) & 0b00001000) | (bcp->payload[1] & 0b11110111);
+}
+
+// ================================ ENCODE ================================
+static inline void encodeBasestationConfiguration(BasestationConfigurationPayload *bcp, BasestationConfiguration *bc){
+    BasestationConfiguration_set_header              (bcp, bc->header);
+    BasestationConfiguration_set_remVersion          (bcp, bc->remVersion);
+    BasestationConfiguration_set_channel             (bcp, bc->channel);
+}
+
+// ================================ DECODE ================================
+static inline void decodeBasestationConfiguration(BasestationConfiguration *bc, BasestationConfigurationPayload *bcp){
+    bc->header           = BasestationConfiguration_get_header(bcp);
+    bc->remVersion       = BasestationConfiguration_get_remVersion(bcp);
+    bc->channel          = BasestationConfiguration_get_channel(bcp);
+}
+
+#endif /*__BASESTATION_CONFIGURATION_H*/

include/BasestationGetConfiguration.h

@@ -0,0 +1,42 @@
+// AUTOGENERATED. Run generator/main.py to regenerate
+/*
+[  0   ]
+11111111 header
+*/
+
+#ifndef __BASESTATION_GET_CONFIGURATION_H
+#define __BASESTATION_GET_CONFIGURATION_H
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "BaseTypes.h"
+
+typedef struct _BasestationGetConfigurationPayload {
+    uint8_t payload[PACKET_SIZE_BASESTATION_GET_CONFIGURATION];
+} BasestationGetConfigurationPayload;
+
+typedef struct _BasestationGetConfiguration {
+    uint32_t   header              ; // integer [0, 255]             Header byte indicating the type of packet
+} BasestationGetConfiguration;
+
+// ================================ GETTERS ================================
+static inline uint32_t BasestationGetConfiguration_get_header(BasestationGetConfigurationPayload *bgcp){
+    return ((bgcp->payload[0]));
+}
+
+// ================================ SETTERS ================================
+static inline void BasestationGetConfiguration_set_header(BasestationGetConfigurationPayload *bgcp, uint32_t header){
+    bgcp->payload[0] = header;
+}
+
+// ================================ ENCODE ================================
+static inline void encodeBasestationGetConfiguration(BasestationGetConfigurationPayload *bgcp, BasestationGetConfiguration *bgc){
+    BasestationGetConfiguration_set_header              (bgcp, bgc->header);
+}
+
+// ================================ DECODE ================================
+static inline void decodeBasestationGetConfiguration(BasestationGetConfiguration *bgc, BasestationGetConfigurationPayload *bgcp){
+    bgc->header          = BasestationGetConfiguration_get_header(bgcp);
+}
+
+#endif /*__BASESTATION_GET_CONFIGURATION_H*/

include/BasestationSetConfiguration.h

@@ -0,0 +1,66 @@
+// AUTOGENERATED. Run generator/main.py to regenerate
+/*
+[  0   ] [  1   ]
+11111111 -------- header
+-------- 1111---- remVersion
+-------- ----1--- channel
+*/
+
+#ifndef __BASESTATION_SET_CONFIGURATION_H
+#define __BASESTATION_SET_CONFIGURATION_H
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "BaseTypes.h"
+
+typedef struct _BasestationSetConfigurationPayload {
+    uint8_t payload[PACKET_SIZE_BASESTATION_SET_CONFIGURATION];
+} BasestationSetConfigurationPayload;
+
+typedef struct _BasestationSetConfiguration {
+    uint32_t   header              ; // integer [0, 255]             Header byte indicating the type of packet
+    uint32_t   remVersion          ; // integer [0, 15]              Version of roboteam_embedded_messages
+    bool       channel             ; // integer [0, 1]               Channel on which the basestation and robots communicate
+} BasestationSetConfiguration;
+
+// ================================ GETTERS ================================
+static inline uint32_t BasestationSetConfiguration_get_header(BasestationSetConfigurationPayload *bscp){
+    return ((bscp->payload[0]));
+}
+
+static inline uint32_t BasestationSetConfiguration_get_remVersion(BasestationSetConfigurationPayload *bscp){
+    return ((bscp->payload[1] & 0b11110000) >> 4);
+}
+
+static inline bool BasestationSetConfiguration_get_channel(BasestationSetConfigurationPayload *bscp){
+    return (bscp->payload[1] & 0b00001000) > 0;
+}
+
+// ================================ SETTERS ================================
+static inline void BasestationSetConfiguration_set_header(BasestationSetConfigurationPayload *bscp, uint32_t header){
+    bscp->payload[0] = header;
+}
+
+static inline void BasestationSetConfiguration_set_remVersion(BasestationSetConfigurationPayload *bscp, uint32_t remVersion){
+    bscp->payload[1] = ((remVersion << 4) & 0b11110000) | (bscp->payload[1] & 0b00001111);
+}
+
+static inline void BasestationSetConfiguration_set_channel(BasestationSetConfigurationPayload *bscp, bool channel){
+    bscp->payload[1] = ((channel << 3) & 0b00001000) | (bscp->payload[1] & 0b11110111);
+}
+
+// ================================ ENCODE ================================
+static inline void encodeBasestationSetConfiguration(BasestationSetConfigurationPayload *bscp, BasestationSetConfiguration *bsc){
+    BasestationSetConfiguration_set_header              (bscp, bsc->header);
+    BasestationSetConfiguration_set_remVersion          (bscp, bsc->remVersion);
+    BasestationSetConfiguration_set_channel             (bscp, bsc->channel);
+}
+
+// ================================ DECODE ================================
+static inline void decodeBasestationSetConfiguration(BasestationSetConfiguration *bsc, BasestationSetConfigurationPayload *bscp){
+    bsc->header          = BasestationSetConfiguration_get_header(bscp);
+    bsc->remVersion      = BasestationSetConfiguration_get_remVersion(bscp);
+    bsc->channel         = BasestationSetConfiguration_get_channel(bscp);
+}
+
+#endif /*__BASESTATION_SET_CONFIGURATION_H*/

proto/BasestationConfiguration.proto

@@ -0,0 +1,17 @@
+// AUTOGENERATED. Run generator/main.py to regenerate
+/*
+[  0   ] [  1   ]
+11111111 -------- header
+-------- 1111---- remVersion
+-------- ----1--- channel
+*/
+
+syntax="proto3";
+
+package proto;
+
+message BasestationConfiguration {
+    uint32 header = 1;        // integer [0, 255]             Header byte indicating the type of packet
+    uint32 remVersion = 2;    // integer [0, 15]              Version of roboteam_embedded_messages
+    bool channel = 3;         // integer [0, 1]               Channel on which the basestation and robots communicate
+}

proto/BasestationGetConfiguration.proto

@@ -0,0 +1,13 @@
+// AUTOGENERATED. Run generator/main.py to regenerate
+/*
+[  0   ]
+11111111 header
+*/
+
+syntax="proto3";
+
+package proto;
+
+message BasestationGetConfiguration {
+    uint32 header = 1;        // integer [0, 255]             Header byte indicating the type of packet
+}

proto/BasestationSetConfiguration.proto

@@ -0,0 +1,17 @@
+// AUTOGENERATED. Run generator/main.py to regenerate
+/*
+[  0   ] [  1   ]
+11111111 -------- header
+-------- 1111---- remVersion
+-------- ----1--- channel
+*/
+
+syntax="proto3";
+
+package proto;
+
+message BasestationSetConfiguration {
+    uint32 header = 1;        // integer [0, 255]             Header byte indicating the type of packet
+    uint32 remVersion = 2;    // integer [0, 15]              Version of roboteam_embedded_messages
+    bool channel = 3;         // integer [0, 1]               Channel on which the basestation and robots communicate
+}

python/BaseTypes.py

@@ -4,7 +4,7 @@
 # 0b00000000 : The null-terminator, used to signal the end of strings / arrays / etc.
 # 0b00001010 : The byte for newline, used for line termination.
 
-LOCAL_REM_VERSION = 4
+LOCAL_REM_VERSION = 5
 
 PACKET_TYPE_ROBOT_COMMAND                                    = 0b00001111 # 15 
 PACKET_SIZE_ROBOT_COMMAND                                    = 12
@@ -87,3 +87,12 @@
 PACKET_TYPE_ROBOT_LOG                                        = 0b10010110 # 150 
 PACKET_SIZE_ROBOT_LOG                                        = 3
 
+PACKET_TYPE_BASESTATION_GET_CONFIGURATION                    = 0b10011001 # 153 
+PACKET_SIZE_BASESTATION_GET_CONFIGURATION                    = 1
+
+PACKET_TYPE_BASESTATION_CONFIGURATION                        = 0b10100101 # 165 
+PACKET_SIZE_BASESTATION_CONFIGURATION                        = 2
+
+PACKET_TYPE_BASESTATION_SET_CONFIGURATION                    = 0b10101010 # 170 
+PACKET_SIZE_BASESTATION_SET_CONFIGURATION                    = 2
+

python/BasestationConfiguration.py

@@ -0,0 +1,67 @@
+# AUTOGENERATED. Run generator/main.py to regenerate
+"""
+[  0   ] [  1   ]
+11111111 -------- header
+-------- 1111---- remVersion
+-------- ----1--- channel
+"""
+
+import numpy as np
+from . import BaseTypes
+
+
+
+class BasestationConfiguration:
+    header = 0                # integer [0, 255]             Header byte indicating the type of packet
+    remVersion = 0            # integer [0, 15]              Version of roboteam_embedded_messages
+    channel = 0               # integer [0, 1]               Channel on which the basestation and robots communicate
+
+
+
+# ================================ GETTERS ================================
+    @staticmethod
+    def get_header(payload):
+        return ((payload[0]));
+
+    @staticmethod
+    def get_remVersion(payload):
+        return ((payload[1] & 0b11110000) >> 4);
+
+    @staticmethod
+    def get_channel(payload):
+        return (payload[1] & 0b00001000) > 0;
+
+# ================================ SETTERS ================================
+    @staticmethod
+    def set_header(payload, header):
+        payload[0] = header;
+
+    @staticmethod
+    def set_remVersion(payload, remVersion):
+        payload[1] = ((remVersion << 4) & 0b11110000) | (payload[1] & 0b00001111);
+
+    @staticmethod
+    def set_channel(payload, channel):
+        payload[1] = ((channel << 3) & 0b00001000) | (payload[1] & 0b11110111);
+
+# ================================ ENCODE ================================
+    def encode(self):
+        payload = np.zeros(BaseTypes.PACKET_SIZE_BASESTATION_CONFIGURATION, dtype=np.uint8)
+        BasestationConfiguration.set_header              (payload, self.header)
+        BasestationConfiguration.set_remVersion          (payload, self.remVersion)
+        BasestationConfiguration.set_channel             (payload, self.channel)
+        return payload
+
+
+# ================================ DECODE ================================
+    def decode(self, payload):
+        self.header           = BasestationConfiguration.get_header(payload)
+        self.remVersion       = BasestationConfiguration.get_remVersion(payload)
+        self.channel          = BasestationConfiguration.get_channel(payload)
+
+
+    def print_bit_string(self):
+        payload = self.encode()
+        for i in range(len(payload)):
+            print(format(payload[i], '08b'), end=" ")
+        print()