Added template signals to YAMCAN

components/bms_boss/include/CANIO_componentSpecific.h

@@ -22,6 +22,7 @@
 #include "Sys.h"
 #include "IMD.h"
 #include "ENV.h"
+#include "Module.h"
 
 /******************************************************************************
  *          P R I V A T E  F U N C T I O N  P R O T O T Y P E S
@@ -48,5 +49,9 @@ CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
 #define set_nlg513MaxChargeVoltage(m,b,n,s) set(m,b,n,s, BMS_CONFIGURED_PACK_MAX_VOLTAGE)
 #define set_nlg513MaxChargeCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
 #define transmit_BMSB_brusaChargeCommand (SYS_SFT_checkChargerTimeout() == false)
+#define set_taskUsage1kHz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_1kHz_TASK));
+#define set_taskUsage100Hz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_100Hz_TASK));
+#define set_taskUsage10Hz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_10Hz_TASK));
+#define set_taskUsage1Hz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_1Hz_TASK));
 
 #include "TemporaryStubbing.h"

components/bms_boss/include/Module.h

@@ -10,6 +10,7 @@
  ******************************************************************************/
 
 // System Includes
+#include "FloatTypes.h"
 #include "stdint.h"
 
 // Other Includes
@@ -60,7 +61,8 @@ typedef struct
 } Module_taskStats_S;
 
 /******************************************************************************
- *          P R I V A T E  F U N C T I O N  P R O T O T Y P E S
+ *            P U B L I C  F U N C T I O N  P R O T O T Y P E S
  ******************************************************************************/
 
+float32_t Module_getTotalRuntimePercentage(Module_taskSpeeds_E task);
 void Module_ApplicationIdleHook(void);

components/bms_boss/src/Module.c

@@ -186,3 +186,13 @@ void Module_1Hz_TSK(void)
 void Module_ApplicationIdleHook()
 {
 }
+
+/**
+ * @brief Returns the total cpu usage of a task in percentage
+ * @param task Task to get the total runtime percentage of
+ * @returns The total runtime percentage of the task
+ */
+float32_t Module_getTotalRuntimePercentage(Module_taskSpeeds_E task)
+{
+    return stats[task].total_percentage;
+}

network/NetworkGen/NetworkGen.py

@@ -4,6 +4,7 @@
 from typing import Dict, Iterator, Tuple
 import pickle
 
+from mako import template
 from mako.lookup import TemplateLookup
 from oyaml import safe_load
 
@@ -25,6 +26,7 @@
 can_bus_defs = {}
 can_nodes = {}
 discrete_values = {}
+templates = {}
 
 # if this gets set during the build, we will fail at the end
 ERROR = False
@@ -47,6 +49,13 @@ def generate_discrete_values(data_dir: Path) -> None:
             print(e)
             ERROR = True
 
+def generate_templates(data_dir: Path) -> None:
+    """Load discrete values from signals.yaml"""
+    global ERROR
+    global templates
+
+    with open(data_dir.joinpath("signals.yaml"), "r") as fd:
+        templates["signals"] = safe_load(fd)["signals"]
 
 def generate_can_buses(data_dir: Path) -> None:
     """Generate CAN buses based on yaml files"""
@@ -132,6 +141,7 @@ def generate_can_nodes(data_dir: Path) -> None:
 def process_node(node: CanNode):
     """Process the signals and messages associated with a given CAN node"""
     global ERROR
+    global templates
 
     sig_file = SIG_FILE.format(name=node.name)
     msg_file = MESSAGE_FILE.format(name=node.name)
@@ -192,6 +202,10 @@ def process_node(node: CanNode):
 
         msg_obj.node_ref = node
         for msg_signal in msg_obj.signals:
+            sig = msg_signal.split('_')[1]
+            if definition['signals'][sig] is not None and "template" in definition["signals"][sig]:
+                sig_obj = CanSignal(msg_signal, templates["signals"][definition['signals'][sig]['template']])
+                signals[msg_signal] = sig_obj
             if msg_signal in signals:
                 if not signals[msg_signal].is_valid:
                     print(
@@ -414,6 +428,7 @@ def parse_args() -> Namespace:
 
 def parseNetwork(args, lookup):
     generate_discrete_values(args.data_dir)
+    generate_templates(args.data_dir.joinpath("data/templates"))
     generate_can_buses(args.data_dir)
     generate_can_nodes(args.data_dir)
 
@@ -434,6 +449,7 @@ def main():
     global can_nodes
     global can_bus_defs
     global discrete_values
+    global templates
 
     # parse arguments
     args = parse_args()
@@ -449,11 +465,13 @@ def main():
             pickle.dump(can_nodes, open(args.cache_dir.joinpath("CachedNodes.pickle"), "wb"))
             pickle.dump(can_bus_defs, open(args.cache_dir.joinpath("CachedBusDefs.pickle"), "wb"))
             pickle.dump(discrete_values, open(args.cache_dir.joinpath("CachedDiscreteValues.pickle"), "wb"))
+            pickle.dump(templates, open(args.cache_dir.joinpath("CachedTemplates.pickle"), "wb"))
     elif args.cache_dir:
         try:
             can_nodes = pickle.load(open(args.cache_dir.joinpath("CachedNodes.pickle"), "rb"))
             can_bus_defs = pickle.load(open(args.cache_dir.joinpath("CachedBusDefs.pickle"), "rb"))
             discrete_values = pickle.load(open(args.cache_dir.joinpath("CachedDiscreteValues.pickle"), "rb"))
+            templates = pickle.load(open(args.cache_dir.joinpath("CachedTemplates.pickle"), "rb"))
         except Exception as e:
             print(f"Could not retreive cache files. Try building the network again...")
             ERROR = True

network/NetworkGen/classes/Can.py

@@ -116,7 +116,6 @@ def __init__(
         self.continuous = Continuous(
             get_if_exists(signal_def, "continuous", bool, Continuous.discrete)
         )
-        self.cycle_time_ms = get_if_exists(signal_def, "cycleTimeMs", int, None)
         self.description = get_if_exists(signal_def, "description", str, None)
         self.discrete_values = getattr(
             self.DISC, get_if_exists(signal_def, "discreteValues", str, ""), None
@@ -163,7 +162,6 @@ def __repr__(self):
         return (
             f"\nCAN Signal: {self.name}, "
             f"Description: {self.description}, "
-            f"cycleTimeMs: {self.cycle_time_ms}, "
             f"bitWidth: {self.native_representation.bit_width or 'TBD'}, "
             f"offset: {self.offset}, "
             f"scale: {self.scale}, "
@@ -322,7 +320,7 @@ class CanMessage(CanObject):
 
     def __init__(self, node: "CanNode", name: str, msg_def: dict):
         self.name = name
-        self.cycle_time_ms = 0
+        self.cycle_time_ms = get_if_exists(msg_def, "cycleTimeMs", int, None)
         self.description = get_if_exists(msg_def, "description", str, "")
         self.node_name = self.name.split("_")[0]
         self.id = get_if_exists(msg_def, "id", int, None)
@@ -349,6 +347,10 @@ def __init__(self, node: "CanNode", name: str, msg_def: dict):
         else:
             self.source_buses = node.on_buses
 
+        if self.cycle_time_ms is None and not self.unscheduled:
+            raise Exception(
+                    f"Message '{self.name}' has no specified cycle time"
+            )
         # Assigned later
         self.node_ref = None
         self.is_valid = False
@@ -358,7 +360,10 @@ def __repr__(self):
 
     def add_signal(self, msg_signal: dict, signal_obj: CanSignal):
         """Add the given signal to this message"""
-        signal_obj.start_bit = msg_signal["startBit"] if msg_signal else 0
+        try:
+            signal_obj.start_bit = msg_signal["startBit"]
+        except Exception:
+            signal_obj.start_bit =  0
         if signal_obj.validation_role == ValidationRole.checksum:
             self.checksum_sig = signal_obj
         if signal_obj.validation_role == ValidationRole.counter:
@@ -376,12 +381,10 @@ def validate_msg(self):
         # this works because dictionaries are ordered now
         first_signal_loc = list(self.signal_objs.values())[0].start_bit
         bit_count = first_signal_loc
-        self.cycle_time_ms = list(self.signal_objs.values())[0].cycle_time_ms
 
         sig_objs = self.signal_objs.values()
         first = True
         for signal in sig_objs:
-            self.cycle_time_ms = min(self.cycle_time_ms, signal.cycle_time_ms)
             if first:
                 signal.start_bit = bit_count
                 bit_count += signal.native_representation.bit_width
@@ -420,12 +423,11 @@ def validate_msg(self):
             return
 
         if self.length_bytes is None:
-            print(f"Message {self.name} is missing a lengthBytes")
-            valid = False
+            self.length_bytes = ceil(bit_count / 8)
         else:
             if ceil(bit_count / 8) > self.length_bytes:
                 print(
-                    f"Message {self.name} has lengthBytes greater than the sum "
+                    f"Message {self.name} has lengthBytes less than the sum "
                     "of the bitWidths of each of its signals"
                 )
                 valid = False

network/definition/data/components/bmsb/bmsb-message.yaml

@@ -1,6 +1,7 @@
 messages:
   criticalData:
     description: BMS Boss Critical Data
+    cycleTimeMs: 10
     id: 0x99
     lengthBytes: 8
     sourceBuses: veh
@@ -12,6 +13,7 @@ messages:
 
   information:
     description: BMS Boss Information
+    cycleTimeMs: 100
     id: 0x98
     lengthBytes: 3
     sourceBuses: veh
@@ -21,6 +23,7 @@ messages:
 
   brusaChargeCommand:
     description: Brusa Charge Command
+    cycleTimeMs: 100
     id: 0x618
     lengthBytes: 7
     sourceBuses: veh
@@ -38,3 +41,18 @@ messages:
     sourceBuses: veh
     signals:
       udsPayload:
+
+  rtosTaskInfo:
+    description: BMSB rtos task information
+    cycleTimeMs: 1000
+    id: 0x550
+    sourceBuses: veh
+    signals:
+      taskUsage1kHz:
+        template: percentage
+      taskUsage100Hz:
+        template: percentage
+      taskUsage10Hz:
+        template: percentage
+      taskUsage1Hz:
+        template: percentage

network/definition/data/components/bmsb/bmsb-signals.yaml

@@ -1,12 +1,10 @@
 signals:
   nlg513ControlByte:
-    cycleTimeMs: 10
     description: Brusa NLG513 Control Byte
     nativeRepresentation:
       bitWidth: 8
 
   nlg513MaxMainsCurrent:
-    cycleTimeMs: 10
     unit: 'A'
     description: Brusa NLG513 Max Mains Current During Charging
     nativeRepresentation:
@@ -19,7 +17,6 @@ signals:
     continuous: true
 
   nlg513MaxChargeVoltage:
-    cycleTimeMs: 10
     unit: 'V'
     description: Brusa NLG513 Max Battery Voltage During Charging
     nativeRepresentation:
@@ -32,7 +29,6 @@ signals:
     continuous: true
 
   nlg513MaxChargeCurrent:
-    cycleTimeMs: 10
     unit: 'A'
     description: Brusa NLG513 Max Battery Voltage During Charging
     nativeRepresentation:
@@ -45,14 +41,12 @@ signals:
     continuous: true
 
   criticalDataCounter:
-    cycleTimeMs: 10
     description: BMS Boss Critical Message Counter
     nativeRepresentation:
       bitWidth: 8
     validationRole: counter
 
   packChargeLimit:
-    cycleTimeMs: 10
     unit: 'A'
     description: BMS Boss Pack Charge Limit
     nativeRepresentation:
@@ -64,7 +58,6 @@ signals:
     continuous: true
 
   packDischargeLimit:
-    cycleTimeMs: 10
     unit: 'A'
     description: BMS Boss Pack Disharge Limit
     nativeRepresentation:
@@ -76,7 +69,6 @@ signals:
     continuous: true
 
   packVoltage:
-    cycleTimeMs: 10
     unit: 'V'
     description: BMS Boss Pack Voltage
     nativeRepresentation:
@@ -88,7 +80,6 @@ signals:
     continuous: true
 
   packCurrent:
-    cycleTimeMs: 100
     unit: 'A'
     description: BMS Boss Pack Current
     nativeRepresentation:
@@ -99,12 +90,10 @@ signals:
     continuous: true
 
   packContactorState:
-    cycleTimeMs: 100
     description: Pack Contactor Status
     discreteValues: prechargeContactorState
 
   udsPayload:
-    cycleTimeMs: 10
     unit: ''
     description: UDS payload data
     nativeRepresentation: