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Add support for 2025 version of URCL (#267)
* Add support for 2025 URCL * Fix formatting * URCL clean up * Fix URCL * Update Spark frame spec * Rename `REVSchemaLegacy`
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,13 @@ | ||
| import Log from "../../../shared/log/Log"; | ||
| import PhotonSchema from "./PhotonSchema"; | ||
| import REVSchemas from "./REVSchema"; | ||
| import URCLSchema from "./URCLSchema"; | ||
| import URCLSchemaLegacy from "./URCLSchemaLegacy"; | ||
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|
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| /** Schemas that require custom handling because they can't be decoded using just the log data. */ | ||
| const CustomSchemas: Map<string, (log: Log, key: string, timestamp: number, value: Uint8Array) => void> = new Map(); | ||
| export default CustomSchemas; | ||
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| CustomSchemas.set("rawBytes", PhotonSchema); // PhotonVision 2023.1.2 | ||
| CustomSchemas.set("URCL", REVSchemas.parseURCLr1); | ||
| CustomSchemas.set("URCLr2_periodic", REVSchemas.parseURCLr2); | ||
| CustomSchemas.set("URCL", URCLSchemaLegacy.parseURCLr1); | ||
| CustomSchemas.set("URCLr2_periodic", URCLSchemaLegacy.parseURCLr2); | ||
| CustomSchemas.set("URCLr3_periodic", URCLSchema.parseURCLr3); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,161 @@ | ||
| import BigNumber from "bignumber.js"; | ||
| import Log from "../../../shared/log/Log"; | ||
| import { getOrDefault } from "../../../shared/log/LogUtil"; | ||
| import LoggableType from "../../../shared/log/LoggableType"; | ||
| import { parseCanFrame } from "./spark/can-spec-util"; | ||
| import { sparkFramesSpec } from "./spark/spark-frames"; | ||
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||
| type FirmwareVersion = { | ||
| major: number; | ||
| minor: number; | ||
| build: number; | ||
| }; | ||
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| const PERSISTENT_SIZE = 8; | ||
| const PERIODIC_SIZE = 14; | ||
| const PERIODIC_API_CLASS = sparkFramesSpec.periodicFrames.STATUS_0.apiClass; | ||
| const PERIODIC_FRAME_SPECS = [ | ||
| sparkFramesSpec.periodicFrames.STATUS_0, | ||
| sparkFramesSpec.periodicFrames.STATUS_1, | ||
| sparkFramesSpec.periodicFrames.STATUS_2, | ||
| sparkFramesSpec.periodicFrames.STATUS_3, | ||
| sparkFramesSpec.periodicFrames.STATUS_4, | ||
| sparkFramesSpec.periodicFrames.STATUS_5, | ||
| sparkFramesSpec.periodicFrames.STATUS_6, | ||
| sparkFramesSpec.periodicFrames.STATUS_7 | ||
| ]; | ||
| const FIRMWARE_FRAME_SPEC = sparkFramesSpec.nonPeriodicFrames.GET_FIRMWARE_VERSION; | ||
| const FIRMWARE_API = (FIRMWARE_FRAME_SPEC.apiClass << 4) | FIRMWARE_FRAME_SPEC.apiIndex; | ||
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| const DEFAULT_ALIASES = Uint8Array.of(0x7b, 0x7d); | ||
| const TEXT_DECODER = new TextDecoder("UTF-8"); | ||
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| export default class URCLSchema { | ||
| private constructor() {} | ||
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| /** | ||
| * Parses a set of frames recorded by URCL using revision 3. | ||
| */ | ||
| static parseURCLr3(log: Log, key: string, timestamp: number, value: Uint8Array) { | ||
| let devices: { [key: string]: { alias?: string; firmware?: FirmwareVersion } } = {}; | ||
| if (!key.endsWith("Raw/Periodic")) return; | ||
| const rootKey = key.slice(0, key.length - "Raw/Periodic".length); | ||
| const aliasKey = rootKey + "Raw/Aliases"; | ||
| const persistentKey = rootKey + "Raw/Persistent"; | ||
| let getName = (deviceId: string): string => { | ||
| if (devices[deviceId].alias === undefined) { | ||
| return "Spark-" + deviceId; | ||
| } else { | ||
| return devices[deviceId].alias!; | ||
| } | ||
| }; | ||
|
|
||
| // Read aliases | ||
| let aliasesRaw = getOrDefault(log, aliasKey, LoggableType.Raw, timestamp, null); | ||
| if (aliasesRaw === null) aliasesRaw = DEFAULT_ALIASES; | ||
| let aliases = JSON.parse(TEXT_DECODER.decode(aliasesRaw)); | ||
| Object.keys(aliases).forEach((idString) => { | ||
| devices[idString] = { alias: aliases[idString] }; | ||
| }); | ||
|
|
||
| // Read persistent | ||
| let persistentRaw: Uint8Array | null = getOrDefault(log, persistentKey, LoggableType.Raw, timestamp, null); | ||
| if (persistentRaw === null) return; | ||
| const persistentDataView = new DataView(persistentRaw.buffer, persistentRaw.byteOffset, persistentRaw.byteLength); | ||
| for (let position = 0; position < persistentRaw.length; position += PERSISTENT_SIZE) { | ||
| let messageId = persistentDataView.getUint16(position, true); | ||
| let messageValue = persistentRaw.slice(position + 2, position + 8); | ||
| let deviceId = messageId & 0x3f; | ||
| if (!(deviceId in devices)) { | ||
| devices[deviceId] = {}; | ||
| } | ||
| if (((messageId >> 6) & 0x3ff) === FIRMWARE_API) { | ||
| // Firmware frame | ||
| let fullMessageValue = new Uint8Array(8); | ||
| fullMessageValue.set(messageValue, 0); | ||
| let firmwareValues = parseCanFrame(FIRMWARE_FRAME_SPEC, { data: fullMessageValue }); | ||
| devices[deviceId].firmware = { | ||
| major: Number(firmwareValues.MAJOR), | ||
| minor: Number(firmwareValues.MINOR), | ||
| build: Number(firmwareValues.FIX) | ||
| }; | ||
| } | ||
| } | ||
|
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||
| // Write firmware versions to log | ||
| Object.keys(devices).forEach((deviceId) => { | ||
| if (devices[deviceId].firmware === undefined) { | ||
| return; | ||
| } | ||
| let firmwareString = | ||
| devices[deviceId].firmware?.major.toString() + | ||
| "." + | ||
| devices[deviceId].firmware?.minor.toString() + | ||
| "." + | ||
| devices[deviceId].firmware?.build.toString(); | ||
| let firmwareKey = rootKey + getName(deviceId) + "/Firmware"; | ||
| log.putString(firmwareKey, timestamp, firmwareString); | ||
| log.createBlankField(rootKey + getName(deviceId), LoggableType.Empty); | ||
| log.setGeneratedParent(rootKey + getName(deviceId)); | ||
| }); | ||
|
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||
| // Read periodic frames | ||
| const periodicDataView = new DataView(value.buffer, value.byteOffset, value.byteLength); | ||
| for (let position = 0; position < value.length; position += PERIODIC_SIZE) { | ||
| let messageTimestamp = Number(periodicDataView.getUint32(position, true)) / 1e3; | ||
| let messageId = periodicDataView.getUint16(position + 4, true); | ||
| let messageValue = value.slice(position + 6, position + 14); | ||
| let deviceId = messageId & 0x3f; | ||
| if (!(deviceId in devices) || devices[deviceId].firmware === undefined || devices[deviceId].firmware.major < 25) { | ||
| continue; | ||
| } | ||
|
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||
| if (((messageId >> 10) & 0x3f) === PERIODIC_API_CLASS) { | ||
| // Periodic frame | ||
| let frameIndex = (messageId >> 6) & 0xf; | ||
| let deviceKey = rootKey + getName(deviceId.toString()); | ||
| let frameKey = deviceKey + "/PeriodicFrame/" + frameIndex.toFixed(); | ||
| log.putRaw(frameKey, messageTimestamp, messageValue); | ||
| if (frameIndex >= 0 && frameIndex < PERIODIC_FRAME_SPECS.length) { | ||
| let frameSpec = PERIODIC_FRAME_SPECS[frameIndex]; | ||
| let frameValues = parseCanFrame(frameSpec, { data: messageValue }) as { [key: string]: BigNumber | boolean }; | ||
| Object.entries(frameValues).forEach(([signalKey, signalValue]) => { | ||
| if (!(signalKey in frameSpec.signals)) return; | ||
| let signalSpec = (frameSpec.signals as { [key: string]: any })[signalKey]; | ||
| if (signalSpec.name.includes("Reserved")) return; | ||
| let signalGroup = ""; | ||
| if (signalSpec.name.includes("Fault")) { | ||
| signalGroup = "Fault"; | ||
| } else if (signalSpec.name.includes("Warning")) { | ||
| signalGroup = "Warning"; | ||
| } | ||
| let signalLogKey = | ||
| deviceKey + | ||
| "/" + | ||
| (signalGroup.length === 0 ? "" : signalGroup + "/") + | ||
| (signalSpec.name as string).replaceAll(" ", ""); | ||
| switch (signalSpec.type as string) { | ||
| case "int": | ||
| case "uint": | ||
| case "float": | ||
| log.putNumber(signalLogKey, messageTimestamp, Number(signalValue)); | ||
| break; | ||
| case "boolean": | ||
| log.putBoolean(signalLogKey, messageTimestamp, signalValue as boolean); | ||
| break; | ||
| } | ||
| if ("description" in signalSpec) { | ||
| log.setMetadataString(signalLogKey, JSON.stringify({ description: signalSpec.description })); | ||
| } | ||
| if (signalSpec.name === "Applied Output") { | ||
| const voltage = getOrDefault(log, deviceKey + "/Voltage", LoggableType.Number, timestamp, 0); | ||
| if (voltage > 0) { | ||
| log.putNumber(deviceKey + "/AppliedOutputVoltage", timestamp, Number(signalValue) * voltage); | ||
| } | ||
| } | ||
| }); | ||
| } | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| These files are provided by REV and should not be modified, except to remove the dependency on @rev-robotics/can-bridge. |
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