v1 finalization

.travis.yml

@@ -2,6 +2,6 @@ language: python
 python:
   - "3.6"
 before_install:
-  - pip install pydsdl
+  - pip install pydsdl>=0.7
 script:
   - ./test.py

test.py

@@ -4,16 +4,23 @@
 import time
 import string
 import pydsdl
+from functools import partial
 
 
 MAX_SERIALIZED_BIT_LENGTH = 313 * 8     # See README
 MAX_LINE_LENGTH = 120
+NAMESPACES_EXEMPTED_FROM_HEADER_COMMENT_REQUIREMENT = 'uavcan.primitive', 'uavcan.si'
 ALLOWED_CHARACTERS = set(string.digits + string.ascii_letters + string.punctuation + ' ')
 
 
-def on_print(definition, line, value):
-    print('%s:%d: %s' % (definition.file_path, line, value),
-          file=sys.stderr)
+def die_at(ty, line_index, *text):
+    prefix = '%s:%d:' % (ty.source_file_path, line_index + 1)
+    print(prefix, *text, file=sys.stderr)
+    sys.exit(1)
+
+
+def on_print(file_path, line, value):
+    print('%s:%d: %s' % (file_path, line, value), file=sys.stderr)
 
 
 def compute_max_num_frames_canfd(bit_length):
@@ -36,11 +43,11 @@ def compute_max_num_frames_canfd(bit_length):
     num_frames_to_str = lambda x: str(x) if x > 1 else ' '      # Return empty for single-frame transfers
     if isinstance(t, pydsdl.ServiceType):
         max_canfd_frames = '  '.join([
-            num_frames_to_str(compute_max_num_frames_canfd(x.bit_length_range.max))
+            num_frames_to_str(compute_max_num_frames_canfd(max(x.bit_length_set)))
             for x in (t.request_type, t.response_type)
         ])
     else:
-        max_canfd_frames = num_frames_to_str(compute_max_num_frames_canfd(t.bit_length_range.max))
+        max_canfd_frames = num_frames_to_str(compute_max_num_frames_canfd(max(t.bit_length_set)))
 
     print(str(t).ljust(58),
           str(t.fixed_port_id if t.has_fixed_port_id else '').rjust(5),
@@ -51,36 +58,53 @@ def compute_max_num_frames_canfd(bit_length):
 
 largest = None
 for t in output:
-    for index, line in enumerate(open(t.source_file_path).readlines()):
+    text = open(t.source_file_path).read()
+    for index, line in enumerate(text.split('\n')):
         line = line.strip('\r\n')
+        abort = partial(die_at, t, index)
+
+        # Check header comment
+        if index == 0 and line != '#':
+            if not any(map(lambda e: t.full_namespace.startswith(e),
+                           NAMESPACES_EXEMPTED_FROM_HEADER_COMMENT_REQUIREMENT)):
+                abort('Every data type definition must have a header comment surrounded with "#\\n",',
+                      'unless it is a member of:', NAMESPACES_EXEMPTED_FROM_HEADER_COMMENT_REQUIREMENT)
+
+        # Check trailing comment placement
+        # TODO: this test breaks on string literals containing "#"
+        if not line.startswith('#') and '#' in line and '  #' not in line:
+            abort('Trailing line comments must be separated from the preceding text with at least two spaces')
+
+        if line != '#' and '#' in line and '# ' not in line:
+            abort('The text of a comment must be separated from the comment character with a single space')
+
+        if line.endswith(' '):
+            abort('Trailing spaces are not permitted')
 
         # Check line length limit
         if len(line) > MAX_LINE_LENGTH:
-            print('%s:%d: Line is too long:' % (t.source_file_path, index + 1),
-                  len(line), '>', MAX_LINE_LENGTH, 'chars',
-                  file=sys.stderr)
-            sys.exit(1)
+            abort('Line is too long:', len(line), '>', MAX_LINE_LENGTH, 'chars')
 
         # Make sure we're not using any weird characters such as tabs or non-ASCII-printable
         for char_index, char in enumerate(line):
             if char not in ALLOWED_CHARACTERS:
-                print('%s:%d: Disallowed character' % (t.source_file_path, index + 1),
-                      repr(char), 'code', ord(char), 'at column', char_index + 1,
-                      file=sys.stderr)
-                sys.exit(1)
+                abort('Disallowed character', repr(char), 'code', ord(char), 'at column', char_index + 1)
+
+    if not text.endswith('\n') or text.endswith('\n' * 2):
+        abort('A file must contain exactly one blank line at the end')
 
     if isinstance(t, pydsdl.ServiceType):
         tt = t.request_type, t.response_type
     else:
         tt = t,
 
     for t in tt:
-        largest = largest if largest and (largest.bit_length_range.max >= t.bit_length_range.max) else t
+        largest = largest if largest and (max(largest.bit_length_set) >= max(t.bit_length_set)) else t
 
-if largest.bit_length_range.max > MAX_SERIALIZED_BIT_LENGTH:
+if max(largest.bit_length_set) > MAX_SERIALIZED_BIT_LENGTH:
     print('The largest data type', largest, 'exceeds the bit length limit of', MAX_SERIALIZED_BIT_LENGTH,
           file=sys.stderr)
     sys.exit(1)
 else:
-    print('Largest data type is', largest, 'up to', (largest.bit_length_range.max + 7) // 8, 'bytes',
+    print('Largest data type is', largest, 'up to', (max(largest.bit_length_set) + 7) // 8, 'bytes',
           file=sys.stderr)

uavcan/file/409.Write.1.0.uavcan

@@ -15,10 +15,10 @@ truncated uint40 offset
 
 Path.1.0 path
 
-uint8[<=128] data
+uint8[<=192] data   # 192 = 128 + 64; the write protocol permits usage of smaller chunks.
 
 @assert _offset_ % 8 == {0}
-@assert _offset_.max / 8 <= 300
+@assert _offset_.max / 8 <= 313
 
 ---
 

uavcan/file/Error.1.0.uavcan

@@ -9,8 +9,8 @@ uint16 UNKNOWN_ERROR     = 65535
 uint16 NOT_FOUND         = 2
 uint16 IO_ERROR          = 5
 uint16 ACCESS_DENIED     = 13
-uint16 IS_DIRECTORY      = 21 # I.e. attempted read/write on a path that points to a directory
-uint16 INVALID_VALUE     = 22 # E.g. file name is not valid for the target file system
+uint16 IS_DIRECTORY      = 21  # I.e., attempted read/write on a path that points to a directory
+uint16 INVALID_VALUE     = 22  # E.g., file name is not valid for the target file system
 uint16 FILE_TOO_LARGE    = 27
 uint16 OUT_OF_SPACE      = 28
 uint16 NOT_SUPPORTED     = 38

uavcan/internet/udp/32750.OutgoingPacket.0.1.uavcan

@@ -94,7 +94,7 @@
 # Modem nodes are required to keep the NAT table entries alive for at least this amount of time, unless the
 # table is overflowed, in which case they are allowed to remove least recently used entries in favor of
 # newer ones. Modem nodes are required to be able to accommodate at least 100 entries in the NAT table.
-uint32 NAT_ENTRY_MIN_TTL = 86400        # [second]
+uint32 NAT_ENTRY_MIN_TTL = 24 * 60 * 60  # [second]
 
 # This field is set to an arbitrary value by the transmitting node in order to be able to match the response
 # with the locally kept context. The function of this field is virtually identical to that of UDP/IP port
@@ -105,10 +105,6 @@ uint16 session_id
 # UDP destination port number.
 uint16 destination_port
 
-# Option flags.
-bool use_masquerading   # Expect data back (i.e. instruct the modem to use the NAT table)
-void7
-
 # Domain name or IP address where the payload should be forwarded to.
 # Note that broadcast addresses are allowed here, for example, 255.255.255.255.
 # Broadcasting with masquerading enabled works the same way as unicasting with masquerading enabled: the modem
@@ -126,10 +122,17 @@ void7
 void2
 uint8[<=45] destination_address
 
+@assert _offset_ % 8 == {0}
+
+# Option flags.
+bool use_masquerading   # Expect data back (i.e., instruct the modem to use the NAT table)
+void6
+
 # Effective payload. This data will be forwarded to the remote host verbatim.
 # UDP packets that contain more than 508 bytes of payload may be dropped by some types of
 # communication equipment. Refer to RFC 791 and 2460 for an in-depth review.
 # UAVCAN further limits the maximum packet size to reduce the memory and traffic burden on the nodes.
-uint8[<256] payload
+uint8[<=261] payload
 
 @assert _offset_ % 8 == {0}
+@assert _offset_.max / 8 == 313

uavcan/pnp/32741.NodeIDAllocationData.0.1.uavcan

@@ -122,9 +122,11 @@
 # The allocatee-allocator exchange logic differs between allocators and allocatees. For allocators, the logic is
 # trivial: upon reception of a request, the allocator performs an allocation and sends a response back. If the
 # allocation could not be performed for any reason (e.g., the allocation table is full, or there was a failure),
-# no response is sent back (i.e., the request is simply ignored). The allocator that could not complete an allocation
-# for any reason is recommended to emit a diagnostic message with a human-readable description of the problem.
-# For allocatees, the logic is described below.
+# no response is sent back (i.e., the request is simply ignored); the recommended strategy for the allocatee is to
+# continue sending new allocation requests until a response is granted or a higher-level system (e.g., a maintenance
+# technician or some automation) intervenes to rectify the problem (e.g., by purging the allocation table).
+# The allocator that could not complete an allocation for any reason is recommended to emit a diagnostic message
+# with a human-readable description of the problem. For allocatees, the logic is described below.
 #
 # This message is used for PnP node-ID allocation on all transports where the maximum transmission unit size is
 # sufficiently large. For low-MTU transports such as CAN 2.0 there is a dedicated message definition that takes into
@@ -160,7 +162,7 @@
 #   Rule B. On expiration of the Request Timer (started as per rules A, B, or C):
 #     1. Request Timer restarts with a random interval of Trequest (chosen anew).
 #     2. The allocatee broadcasts an allocation request message, where the fields are populated as follows:
-#        node_id   - the preferred node-ID, or 125 if the allocatee doesn't have any specific preference.
+#        node_id   - the preferred node-ID, or the highest valid value if the allocatee doesn't have any preference.
 #        unique_id - the 128-bit unique-ID of the allocatee, same value that is reported via uavcan.node.GetInfo.
 #
 #   Rule C. On any allocation message, even if other rules also match:
@@ -180,18 +182,18 @@
 # If the message transfer is anonymous (i.e., allocation request), this is the preferred ID.
 # If the message transfer is non-anonymous (i.e., allocation response), this is the allocated ID.
 #
-# If the allocatee does not have any preference, it should request the highest possible node-ID, which is 125,
-# because 126 and 127 are reserved for network maintenance tools. Requesting 126 and 127 is not prohibited,
+# If the allocatee does not have any preference, it should request the highest possible node-ID. Keep in mind that
+# the two highest node ID values are reserved for network maintenance tools; requesting those is not prohibited,
 # but the allocator is recommended to avoid granting these node-ID, using nearest available lower value instead.
 # The allocator will traverse the allocation table starting from the preferred node-ID upward,
 # until a free node-ID is found (or the first ID reserved for network maintenance tools is reached).
 # If a free node-ID could not be found, the allocator will restart the search from the preferred node-ID
 # downward, until a free node-ID is found. In pseudocode:
 #
-#   uint8_t findFreeNodeID(const uint8_t preferred)     // Returns >127 on failure (valid node-ID range from 0 to 127)
+#   uint16_t findFreeNodeID(const uint16_t preferred)   // Returns 0xFFFF on failure
 #   {
 #       uint8_t candidate = preferred;
-#       while (candidate <= 125)
+#       while (candidate <= MAX_VALID_NODE_ID)          // MAX_VALID_NODE_ID is transport-dependent
 #       {
 #           if (!isOccupied(candidate)) { return candidate; }
 #           candidate++;
@@ -202,7 +204,7 @@
 #           if (!isOccupied(candidate)) { return candidate; }
 #           candidate--;
 #       }
-#       return isOccupied(0) ? 255 : 0;
+#       return isOccupied(0) ? 0xFFFF : 0;
 #   }
 uavcan.node.ID.1.0 node_id
 

uavcan/primitive/Empty.1.0.uavcan

@@ -0,0 +1 @@
+

uavcan/register/384.Access.0.1.uavcan → uavcan/register/384.Access.1.0.uavcan

@@ -75,13 +75,13 @@
 
 # The name of the accessed register. Must not be empty.
 # Use the List service to obtain the list of registers on the node.
-Name.0.1 name
+Name.1.0 name
 
 @assert _offset_ % 8 == {0}
 
 # Value to be written. Empty if no write is required.
 void4
-Value.0.1 value
+Value.1.0 value
 
 @assert _offset_.min % 8 == 0
 @assert _offset_.max % 8 == 0
@@ -120,7 +120,7 @@ void2
 # Empty value means that the register does not exist (in this case the flags should be cleared/ignored).
 # By comparing the returned value against the write request the caller can determine whether the register
 # was written successfully, unless write was not requested.
-Value.0.1 value
+Value.1.0 value
 
 @assert _offset_.min % 8 == 0
 @assert _offset_.max % 8 == 0

uavcan/register/385.List.0.1.uavcan → uavcan/register/385.List.1.0.uavcan

@@ -8,6 +8,6 @@ uint16 index
 ---
 
 # Empty name in response means that the index is out of bounds, i.e., discovery is finished.
-Name.0.1 name
+Name.1.0 name
 
 @assert _offset_ % 8 == {0}

uavcan/si/sample/acceleration/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 meter_per_second_per_second

uavcan/si/sample/acceleration/Vector3.1.0.uavcan

@@ -0,0 +1,3 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32[3] meter_per_second_per_second
+@assert _offset_ % 8 == {0}

uavcan/si/sample/angle/Quaternion.1.0.uavcan

@@ -0,0 +1,3 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32[4] wxyz
+@assert _offset_ % 8 == {0}

uavcan/si/sample/angle/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 radian

uavcan/si/sample/angular_velocity/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 radian_per_second

uavcan/si/sample/angular_velocity/Vector3.1.0.uavcan

@@ -0,0 +1,3 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32[3] radian_per_second
+@assert _offset_ % 8 == {0}

uavcan/si/sample/duration/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 second

uavcan/si/sample/duration/WideScalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float64 second

uavcan/si/sample/electric_charge/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 coulomb

uavcan/si/sample/electric_current/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 ampere

uavcan/si/sample/energy/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 joule

uavcan/si/sample/length/Scalar.1.0.uavcan

@@ -0,0 +1,2 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32 meter

uavcan/si/sample/length/Vector3.1.0.uavcan

@@ -0,0 +1,3 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float32[3] meter
+@assert _offset_ % 8 == {0}

uavcan/si/sample/length/WideVector3.1.0.uavcan

@@ -0,0 +1,3 @@
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+float64[3] meter
+@assert _offset_ % 8 == {0}