Merge pull request #97 from nasa-jpl/dev-refactor-config-yaml

1) Refactor the fastcat_types.yaml
nasa-jpl · May 10, 2023 · 0846f74 · 0846f74
2 parents dfba432 + 066d133
commit 0846f74
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Showing 51 changed files with 1,841 additions and 738 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,7 +5,7 @@ project(fastcat
     LANGUAGES C CXX
     )
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,75 +1,57 @@
 ####### Fastcat COG Autocoding #######
-add_custom_command(
-    OUTPUT
-    ${CMAKE_BINARY_DIR}/include/fastcat/types.h
-    COMMAND
-    cog -d -D cog_yaml_file=fcgen/fastcat_types.yaml
-    -o ${CMAKE_BINARY_DIR}/include/fastcat/types.h
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/types.h.cog
-    DEPENDS
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/fastcat_types.yaml
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/types.h.cog
-    WORKING_DIRECTORY
-    ${CMAKE_CURRENT_LIST_DIR}
-    COMMENT
-    "running fcgen - types"
-    VERBATIM
-    )
 
-add_custom_command(
-    OUTPUT
-    ${CMAKE_BINARY_DIR}/fastcat/autogen/signal_handling.cc
-    COMMAND
-    cog -d -D cog_yaml_file=fcgen/fastcat_types.yaml
-    -o ${CMAKE_BINARY_DIR}/fastcat/autogen/signal_handling.cc
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/signal_handling.cc.cog
-    DEPENDS
-    ${CMAKE_BINARY_DIR}/include/fastcat/types.h
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/signal_handling.cc.cog
-    WORKING_DIRECTORY
-    ${CMAKE_CURRENT_LIST_DIR}
-    COMMENT
-    "running fcgen - signals"
-    VERBATIM
-    )
+file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/autogen)
 
-add_custom_command(
+function(run_fcgen fc_input_file fc_output_file)
+  add_custom_command(
     OUTPUT
-    ${CMAKE_BINARY_DIR}/fastcat/autogen/fastcat_devices/commander.cc
+      ${fc_output_file}
     COMMAND
-    cog -d -D cog_yaml_file=fcgen/fastcat_types.yaml
-    -o ${CMAKE_BINARY_DIR}/fastcat/autogen/fastcat_devices/commander.cc
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/commander.cc.cog
+      cog -d 
+      -D cog_yaml_file=fcgen/templates/${fc_input_file}
+      -D command_yaml=fcgen/fastcat_commands.yaml
+      -D device_yaml=fcgen/fastcat_devices.yaml
+      -D enum_yaml=fcgen/fastcat_enums.yaml
+      -D manager_yaml=fcgen/fastcat_manager_config.yaml
+      -o ${fc_output_file}
+      fcgen/templates/${fc_input_file}
     DEPENDS
-    ${CMAKE_BINARY_DIR}/include/fastcat/types.h
-    ${CMAKE_CURRENT_LIST_DIR}/fcgen/commander.cc.cog
+      fcgen/fastcat_commands.yaml
+      fcgen/fastcat_devices.yaml
+      fcgen/fastcat_enums.yaml
+      fcgen/fastcat_manager_config.yaml
+      fcgen/templates/${fc_input_file}
     WORKING_DIRECTORY
-    ${CMAKE_CURRENT_LIST_DIR}
+      ${CMAKE_CURRENT_LIST_DIR}
     COMMENT
-    "running fcgen - commander"
+      "fcgen: ${fc_input_file} -> ${fc_output_file}"
     VERBATIM
     )
+endfunction()
 
-add_custom_target(fcgen
-    DEPENDS
+run_fcgen("types.h.cog"            "${CMAKE_BINARY_DIR}/include/fastcat/types.h")
+run_fcgen("device_includes.h.cog"  "${CMAKE_BINARY_DIR}/include/fastcat/device_includes.h")
+run_fcgen("signal_handling.cc.cog" "${CMAKE_BINARY_DIR}/autogen/signal_handling.cc")
+run_fcgen("commander.cc.cog"       "${CMAKE_BINARY_DIR}/autogen/commander.cc")
+
+add_custom_target(fcgen DEPENDS
     ${CMAKE_BINARY_DIR}/include/fastcat/types.h
-    ${CMAKE_BINARY_DIR}/fastcat/autogen/signal_handling.cc
-    ${CMAKE_BINARY_DIR}/fastcat/autogen/fastcat_devices/commander.cc
+    ${CMAKE_BINARY_DIR}/include/fastcat/device_includes.h
     )
 
-# Build a library regardless of BUILD_TESTS flag
 add_library(fastcat STATIC
+    ${CMAKE_BINARY_DIR}/autogen/signal_handling.cc
+    ${CMAKE_BINARY_DIR}/autogen/commander.cc
     trap.c
     device_base.cc
     manager.cc
     yaml_parser.cc
-    ${CMAKE_BINARY_DIR}/fastcat/autogen/signal_handling.cc
     transform_utils.cc
-
     jsd/jsd_device_base.cc
+
+    # JSD Devices 
     jsd/actuator.cc
     jsd/actuator_fsm_helpers.cc
-
     jsd/ati_fts.cc
     jsd/egd.cc
     jsd/el3208.cc
@@ -82,10 +64,9 @@ add_library(fastcat STATIC
     jsd/el3318.cc
     jsd/gold_actuator.cc
     jsd/ild1900.cc
-    jsd/jed0101.cc
-    jsd/jed0200.cc
     jsd/platinum_actuator.cc
 
+    # Offline Devices
     jsd/ati_fts_offline.cc
     jsd/egd_offline.cc
     jsd/el2124_offline.cc
@@ -98,11 +79,9 @@ add_library(fastcat STATIC
     jsd/el3318_offline.cc
     jsd/ild1900_offline.cc
     jsd/gold_actuator_offline.cc
-    jsd/jed0101_offline.cc
-    jsd/jed0200_offline.cc
     jsd/platinum_actuator_offline.cc
 
-    ${CMAKE_BINARY_DIR}/fastcat/autogen/fastcat_devices/commander.cc
+    # Fastcat Devices
     fastcat_devices/signal_generator.cc
     fastcat_devices/function.cc
     fastcat_devices/conditional.cc

diff --git a/src/fastcat_devices/conditional.cc b/src/fastcat_devices/conditional.cc
@@ -9,10 +9,10 @@
 #include "fastcat/yaml_parser.h"
 #include "jsd/jsd_print.h"
 
-fastcat::ConditionalType fastcat::ConditionalTypeFromString(
+fastcat::ConditionalOperatorType fastcat::ConditionalTypeFromString(
     std::string cond_type)
 {
-  ConditionalType type;
+  ConditionalOperatorType type;
 
   if (cond_type.compare("<") == 0) {
     type = LT;
@@ -28,7 +28,7 @@ fastcat::ConditionalType fastcat::ConditionalTypeFromString(
     type = NE;
 
   } else {
-    type = BAD_CONDITIONAL_TYPE;
+    type = BAD_CONDITIONAL_OPERATOR_TYPE;
     ERROR("%s is not a known ConditionalType", cond_type.c_str());
   }
 
@@ -38,7 +38,7 @@ fastcat::ConditionalType fastcat::ConditionalTypeFromString(
 fastcat::Conditional::Conditional()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = CONDITIONAL_STATE;
+  state_->type = CONDITIONAL_DEVICE;
 }
 
 bool fastcat::Conditional::ConfigFromYaml(YAML::Node node)
@@ -53,7 +53,7 @@ bool fastcat::Conditional::ConfigFromYaml(YAML::Node node)
   }
 
   conditional_type_ = ConditionalTypeFromString(conditional_type_string_);
-  if (conditional_type_ == BAD_CONDITIONAL_TYPE) {
+  if (conditional_type_ == BAD_CONDITIONAL_OPERATOR_TYPE) {
     return false;
   }
 

diff --git a/src/fastcat_devices/conditional.h b/src/fastcat_devices/conditional.h
@@ -10,17 +10,8 @@
 
 namespace fastcat
 {
-enum ConditionalType {
-  LT,  // <
-  LE,  // <=
-  GT,  // >
-  GE,  // >=
-  EQ,  // ==, limited use for double types
-  NE,  // !=, limited use for double types
-  BAD_CONDITIONAL_TYPE
-};
 
-ConditionalType ConditionalTypeFromString(std::string cond_type);
+ConditionalOperatorType ConditionalTypeFromString(std::string cond_type);
 
 class Conditional : public DeviceBase
 {
@@ -30,9 +21,9 @@ class Conditional : public DeviceBase
   bool Read() override;
 
  protected:
-  std::string          conditional_type_string_;
-  enum ConditionalType conditional_type_;
-  double               compare_rhs_value_{0};
+  std::string             conditional_type_string_;
+  ConditionalOperatorType conditional_type_;
+  double                  compare_rhs_value_{0};
 };
 
 }  // namespace fastcat

diff --git a/src/fastcat_devices/faulter.cc b/src/fastcat_devices/faulter.cc
@@ -12,7 +12,7 @@
 fastcat::Faulter::Faulter()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = FAULTER_STATE;
+  state_->type = FAULTER_DEVICE;
 }
 
 bool fastcat::Faulter::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/filter.cc b/src/fastcat_devices/filter.cc
@@ -98,7 +98,7 @@ fastcat::FilterType fastcat::FilterTypeFromString(std::string str)
 fastcat::Filter::Filter()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = FILTER_STATE;
+  state_->type = FILTER_DEVICE;
 }
 
 bool fastcat::Filter::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/filter.h b/src/fastcat_devices/filter.h
@@ -35,8 +35,6 @@ class DigitalABFilter
   std::vector<double> B_;
 };
 
-enum FilterType { MOVING_AVERAGE, DIGITAL_AB, BAD_FILTER_TYPE };
-
 FilterType FilterTypeFromString(std::string str);
 
 class Filter : public DeviceBase

diff --git a/src/fastcat_devices/fts.cc b/src/fastcat_devices/fts.cc
@@ -12,7 +12,7 @@
 fastcat::Fts::Fts()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = FTS_STATE;
+  state_->type = FTS_DEVICE;
 }
 
 bool fastcat::Fts::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/function.cc b/src/fastcat_devices/function.cc
@@ -12,7 +12,7 @@
 fastcat::Function::Function()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = FUNCTION_STATE;
+  state_->type = FUNCTION_DEVICE;
 }
 
 fastcat::FunctionType fastcat::FunctionTypeFromString(

diff --git a/src/fastcat_devices/function.h b/src/fastcat_devices/function.h
@@ -10,15 +10,6 @@
 
 namespace fastcat
 {
-enum FunctionType {
-  POLYNOMIAL,
-  SUMMATION,
-  MULTIPLICATION,
-  POWER,
-  EXPONENTIAL,
-  SIGMOID,
-  BAD_FUNCTION_TYPE
-};
 FunctionType FunctionTypeFromString(const std::string&);
 
 typedef struct {

diff --git a/src/fastcat_devices/linear_interpolation.cc b/src/fastcat_devices/linear_interpolation.cc
@@ -14,7 +14,7 @@
 fastcat::LinearInterpolation::LinearInterpolation()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = LINEAR_INTERPOLATION_STATE;
+  state_->type = LINEAR_INTERPOLATION_DEVICE;
 }
 
 bool fastcat::LinearInterpolation::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/pid.cc b/src/fastcat_devices/pid.cc
@@ -12,7 +12,7 @@
 fastcat::Pid::Pid()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = PID_STATE;
+  state_->type = PID_DEVICE;
 }
 
 bool fastcat::Pid::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/saturation.cc b/src/fastcat_devices/saturation.cc
@@ -12,7 +12,7 @@
 fastcat::Saturation::Saturation()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = SATURATION_STATE;
+  state_->type = SATURATION_DEVICE;
 }
 
 bool fastcat::Saturation::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/schmitt_trigger.cc b/src/fastcat_devices/schmitt_trigger.cc
@@ -12,7 +12,7 @@
 fastcat::SchmittTrigger::SchmittTrigger()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = SCHMITT_TRIGGER_STATE;
+  state_->type = SCHMITT_TRIGGER_DEVICE;
 }
 
 bool fastcat::SchmittTrigger::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/signal_generator.cc b/src/fastcat_devices/signal_generator.cc
@@ -30,7 +30,7 @@ fastcat::SignalGenerator::SignalGenerator()
   MSG_DEBUG("Constructed SignalGenerator");
 
   state_       = std::make_shared<DeviceState>();
-  state_->type = SIGNAL_GENERATOR_STATE;
+  state_->type = SIGNAL_GENERATOR_DEVICE;
 }
 
 bool fastcat::SignalGenerator::ConfigFromYaml(YAML::Node node)

diff --git a/src/fastcat_devices/signal_generator.h b/src/fastcat_devices/signal_generator.h
@@ -12,14 +12,6 @@
 
 namespace fastcat
 {
-enum SignalGeneratorType {
-  SINE_WAVE,
-  SAW_TOOTH,
-  GAUSSIAN_RANDOM,
-  UNIFORM_RANDOM,
-  BAD_SIGNAL_GENERATOR_TYPE
-};
-
 SignalGeneratorType SignalGeneratorTypeFromString(const std::string&);
 
 typedef struct {
@@ -60,7 +52,7 @@ class SignalGenerator : public DeviceBase
 
  protected:
   std::string                signal_generator_type_string_;
-  enum SignalGeneratorType   signal_generator_type_;
+  SignalGeneratorType        signal_generator_type_;
   double                     start_time_ = 0;
   std::default_random_engine generator_;
 

diff --git a/src/fastcat_devices/virtual_fts.cc b/src/fastcat_devices/virtual_fts.cc
@@ -12,7 +12,7 @@
 fastcat::VirtualFts::VirtualFts()
 {
   state_       = std::make_shared<DeviceState>();
-  state_->type = FTS_STATE;
+  state_->type = FTS_DEVICE;
 }
 
 bool fastcat::VirtualFts::ConfigFromYaml(YAML::Node node)

diff --git a/src/fcgen/README.md b/src/fcgen/README.md