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Spiro/update board protocol - #15
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…msSubmodule into Spiro/UpdateBoardProtocol
…d in ouroboros folder for reuse if needed, copied and reworote for existing boards in aegis folder
…pvs, tcs, and heaters
Co-authored-by: Copilot <copilot@github.com>
…msSubmodule into Spiro/UpdateBoardProtocol
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Pull request overview
This PR updates the SOAR protocol definitions and generated bindings, including board/node identity updates and new command/telemetry schemas, and refreshes parts of the UART protocol task formatting/handling code.
Changes:
- Renames node identifiers in the Ouroboros
CoreProto.proto(e.g., FSB/FCB/LRB) and updates protocol task formatting. - Extends Aegis
FcbCommand.Commandwith new camera/air-brakes commands. - Adds/updates a large set of generated protobuf outputs for C++ and Python (pb2 / pyi and EmbeddedProto headers).
Reviewed changes
Copilot reviewed 16 out of 24 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| SoarProto/ProtocolTask.cpp | Protocol task formatting changes and allocator usage update. |
| SoarProto/Ouroboros/CoreProto.proto | Renames Node enum members for Ouroboros protocol. |
| SoarProto/Aegis/CommandMessage.proto | Adds new FcbCommand.Command enum values (camera/air-brakes). |
| SoarProto/Aegis/_Python/CommandMessage_pb2.pyi | Updates Python typing stubs for Aegis CommandMessage outputs. |
| SoarProto/Aegis/_Python/CommandMessage_pb2.py | Updates generated Python protobuf module for Aegis CommandMessage outputs. |
| SoarProto/Aegis/_C++/CommandMessage.hpp | Updates generated EmbeddedProto C++ header for Aegis CommandMessage outputs. |
| SoarProto/_Python/TelemetryMessage_pb2.pyi | Adds generated Python typing stubs for telemetry messages. |
| SoarProto/_Python/TelemetryMessage_pb2.py | Adds generated Python protobuf module for telemetry messages. |
| SoarProto/_Python/SensorData_pb2.pyi | Adds generated Python typing stubs for sensor data messages. |
| SoarProto/_Python/SensorData_pb2.py | Adds generated Python protobuf module for sensor data messages. |
| SoarProto/_Python/CoreProto_pb2.pyi | Adds generated Python typing stubs for core enums. |
| SoarProto/_Python/CoreProto_pb2.py | Adds generated Python protobuf module for core enums. |
| SoarProto/_Python/ControlMessage_pb2.pyi | Adds generated Python typing stubs for control messages. |
| SoarProto/_Python/ControlMessage_pb2.py | Adds generated Python protobuf module for control messages. |
| SoarProto/_Python/CommandMessages_pb2.pyi | Adds generated Python typing stubs for command wrapper messages. |
| SoarProto/_Python/CommandMessages_pb2.py | Adds generated Python protobuf module for command wrapper messages. |
| SoarProto/_Python/CommandMessage_pb2.pyi | Adds generated Python typing stubs for command messages (non-Aegis). |
| SoarProto/_Python/CommandMessage_pb2.py | Adds generated Python protobuf module for command messages (non-Aegis). |
| SoarProto/_C++/SensorData.hpp | Adds generated EmbeddedProto C++ header for SensorData. |
| SoarProto/_C++/CoreProto.h | Adds generated EmbeddedProto C++ header for core enums. |
| SoarProto/_C++/CommandMessages.hpp | Adds generated EmbeddedProto C++ header for command wrapper messages. |
| SoarProto/_C++/CommandMessage.hpp | Adds generated EmbeddedProto C++ header for command messages. |
Files not reviewed (7)
- SoarProto/Aegis/_Python/CommandMessage_pb2.py: Language not supported
- SoarProto/_Python/CommandMessage_pb2.py: Language not supported
- SoarProto/_Python/CommandMessages_pb2.py: Language not supported
- SoarProto/_Python/ControlMessage_pb2.py: Language not supported
- SoarProto/_Python/CoreProto_pb2.py: Language not supported
- SoarProto/_Python/SensorData_pb2.py: Language not supported
- SoarProto/_Python/TelemetryMessage_pb2.py: Language not supported
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| ****************************************************************************** | ||
| * File Name : ProtocolTask.cpp | ||
| * Description : The base ProtocolTask for all boards, includes a UART Rx Handling and Functions for Tx/Rx of Protocol Data | ||
| * Should be derived from for a Board Specific Protocol Task that implements the pure virtual functions. | ||
| ****************************************************************************** |
| { | ||
| // Verify the checksum is correct, send a NACK and don't process if incorrect | ||
| if (!Utils::IsCrc16Correct(decodedDataPtr, cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES, *((uint16_t*)&decodedDataPtr[cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES]))) { | ||
| if (!Utils::IsCrc16Correct(decodedDataPtr, cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES, *((uint16_t *)&decodedDataPtr[cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES]))) |
| memcpy(&(arr[1]), data, size); | ||
| uint16_t chkSum = Utils::GetCRC16(arr, size + 1); | ||
| *((uint16_t*)&arr[preCobsSize - PROTOCOL_CHECKSUM_BYTES]) = chkSum; | ||
| *((uint16_t*)&arr[preCobsSize - PROTOCOL_CHECKSUM_BYTES]) = chkSum; |
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| //CAMERA COMMANDS | ||
| RSC_CAMERA_SWITCH = 25; | ||
| RSC_CAM1_ENABLE = 26; | ||
| RSC_CAM1_DISABLE = 27; | ||
| RSC_CAM2_ENABLE = 28; | ||
| RSC_CAM2_DISABLE = 29; | ||
| RSC_CAM3_ENABLE = 30; | ||
| RSC_CAM3_DISABLE = 31; | ||
| RSC_AIR_BRAKES_ENABLE = 32; | ||
| RSC_AIR_BRAKES_DISABLE = 33; | ||
| //-- TECHNICAL -- | ||
| RSC_NONE = 25; // Invalid command, must be last | ||
| RSC_NONE = 34; // Invalid command, must be last | ||
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| enum Node { | ||
| NODE_INVALID = 0; | ||
| NODE_UNKNOWN = 1; // This can happen if the node is not yet known at this stage, eg. COBS decode failed | ||
| NODE_ANY = 2; | ||
| NODE_RCU = 3; | ||
| NODE_DMB = 4; | ||
| NODE_FSB = 3; | ||
| NODE_FCB = 4; | ||
| NODE_PBB = 5; | ||
| NODE_SOB = 6; | ||
| NODE_LRB = 6; | ||
| } |
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| class CommandMessage(_message.Message): | ||
| __slots__ = ("source", "target", "source_sequence_num", "dmb_command", "pbb_command", "rcu_command", "sob_command") | ||
| SOURCE_FIELD_NUMBER: _ClassVar[int] | ||
| TARGET_FIELD_NUMBER: _ClassVar[int] | ||
| SOURCE_SEQUENCE_NUM_FIELD_NUMBER: _ClassVar[int] | ||
| DMB_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| __slots__ = ["fcb_command", "pbb_command", "fsb_command", "lrb_command", "source", "source_sequence_num", "target"] | ||
| FCB_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| PBB_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| RCU_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| SOB_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| source: _CoreProto_pb2.Node | ||
| target: _CoreProto_pb2.Node | ||
| source_sequence_num: int | ||
| dmb_command: DmbCommand | ||
| FSB_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| LRB_COMMAND_FIELD_NUMBER: _ClassVar[int] | ||
| SOURCE_FIELD_NUMBER: _ClassVar[int] | ||
| SOURCE_SEQUENCE_NUM_FIELD_NUMBER: _ClassVar[int] | ||
| TARGET_FIELD_NUMBER: _ClassVar[int] | ||
| fcb_command: FcbCommand | ||
| pbb_command: PbbCommand | ||
| rcu_command: RcuCommand | ||
| sob_command: SobCommand | ||
| def __init__(self, source: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., target: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., source_sequence_num: _Optional[int] = ..., dmb_command: _Optional[_Union[DmbCommand, _Mapping]] = ..., pbb_command: _Optional[_Union[PbbCommand, _Mapping]] = ..., rcu_command: _Optional[_Union[RcuCommand, _Mapping]] = ..., sob_command: _Optional[_Union[SobCommand, _Mapping]] = ...) -> None: ... | ||
| fsb_command: FsbCommand | ||
| lrb_command: LrbCommand | ||
| source: _CoreProto_pb2.Node | ||
| source_sequence_num: int | ||
| target: _CoreProto_pb2.Node | ||
| def __init__(self, source: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., target: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., source_sequence_num: _Optional[int] = ..., fcb_command: _Optional[_Union[FcbCommand, _Mapping]] = ..., pbb_command: _Optional[_Union[PbbCommand, _Mapping]] = ..., fsb_command: _Optional[_Union[FsbCommand, _Mapping]] = ..., lrb_command: _Optional[_Union[LrbCommand, _Mapping]] = ...) -> None: ... |
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