Metatransport data types

test.py

@@ -56,7 +56,6 @@ def compute_max_num_frames_canfd(bit_length):
 print('%d data types in %.1f seconds' % (len(output), elapsed_time),
       file=sys.stderr)
 
-largest = None
 for t in output:
     text = open(t.source_file_path).read()
     for index, line in enumerate(text.split('\n')):
@@ -93,18 +92,19 @@ def compute_max_num_frames_canfd(bit_length):
     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
+
+def get_max_bit_length(ty) -> int:
+    if isinstance(ty, pydsdl.ServiceType):
+        return max(map(max, (ty.request_type.bit_length_set,
+                             ty.response_type.bit_length_set)))
     else:
-        tt = t,
+        return max(ty.bit_length_set)
 
-    for t in tt:
-        largest = largest if largest and (max(largest.bit_length_set) >= max(t.bit_length_set)) else t
 
-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', (max(largest.bit_length_set) + 7) // 8, 'bytes',
-          file=sys.stderr)
+for t in output:
+    max_bit_length = get_max_bit_length(t)
+    if max_bit_length > MAX_SERIALIZED_BIT_LENGTH:
+        text = open(t.source_file_path).read()
+        if '#pragma:no-bit-length-limit' not in text.replace(' ', ''):
+            print('The data type', t, 'exceeds the bit length limit of', MAX_SERIALIZED_BIT_LENGTH, file=sys.stderr)
+            sys.exit(1)

uavcan/metatransport/can/ArbitrationID.0.1.uavcan

@@ -0,0 +1,10 @@
+#
+# CAN frame arbitration field.
+#
+
+@union
+
+BaseArbitrationID.0.1     base
+ExtendedArbitrationID.0.1 extended
+
+@assert _offset_ == {30}

uavcan/metatransport/can/BaseArbitrationID.0.1.uavcan

@@ -0,0 +1,6 @@
+#
+# 11-bit identifier.
+#
+
+truncated uint11 value
+void18

uavcan/metatransport/can/DataClassic.0.1.uavcan

@@ -0,0 +1,7 @@
+#
+# Classic data frame payload.
+#
+
+ArbitrationID.0.1 arbitration_id
+void4
+uint8[<=8] data

uavcan/metatransport/can/DataFD.0.1.uavcan

@@ -0,0 +1,7 @@
+#
+# CAN FD data frame payload.
+#
+
+ArbitrationID.0.1 arbitration_id
+void1
+uint8[<=64] data

uavcan/metatransport/can/Error.0.1.uavcan

@@ -0,0 +1,5 @@
+#
+# CAN bus error report: either an intentionally generated error frame or a disturbance.
+#
+
+void30

uavcan/metatransport/can/ExtendedArbitrationID.0.1.uavcan

@@ -0,0 +1,5 @@
+#
+# 29-bit identifier.
+#
+
+truncated uint29 value

uavcan/metatransport/can/Frame.0.1.uavcan

@@ -0,0 +1,11 @@
+#
+# CAN 2.0 or CAN FD frame representation. This is the top-level data type in its namespace.
+#
+
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+
+Manifestation.0.1 manifestation
+
+@assert _offset_ % 8 == {0}
+@assert _offset_.min == (7 + 4) * 8
+@assert _offset_.max == (7 + 4 + 1 + 64) * 8

uavcan/metatransport/can/Manifestation.0.1.uavcan

@@ -0,0 +1,14 @@
+#
+# CAN frame properties that can be manifested on the bus.
+#
+
+@union
+
+Error.0.1       error                        # CAN error (intentional or disturbance)
+DataFD.0.1      data_fd                      # Bit rate switch flag active
+DataClassic.0.1 data_classic                 # Bit rate switch flag not active
+RTR.0.1         remote_transmission_request  # Bit rate switch flag not active
+
+@assert _offset_.min == 32
+@assert _offset_.max == 32 + 8 + 64 * 8
+@assert _offset_ % 8 == {0}

uavcan/metatransport/can/RTR.0.1.uavcan

@@ -0,0 +1,5 @@
+#
+# Classic remote transmission request (not defined for CAN FD).
+#
+
+ArbitrationID.0.1 arbitration_id

uavcan/metatransport/serial/Fragment.0.1.uavcan

@@ -0,0 +1,13 @@
+#
+# A chunk of raw bytes exchanged over a serial transport. Serial links do not support framing natively.
+# The chunk may be of arbitrary size.
+#
+
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+
+uint9 CAPACITY_BYTES = 256
+void7
+uint8[<=CAPACITY_BYTES] data
+
+@assert _offset_ % 8 == {0}
+@assert _offset_.max / 8 <= 313

uavcan/metatransport/udp/Endpoint.0.1.uavcan

@@ -0,0 +1,18 @@
+#
+# A UDP/IP endpoint address specification.
+#
+
+# The IP address of the host in the network byte order (big endian).
+# IPv6 addresses are represented as-is.
+# IPv4 addresses are represented using IPv4-mapped IPv6 addresses.
+uint8[16] ip_address
+
+# MAC address of the host in the network byte order (big endian).
+uint8[6] mac_address
+
+# The UDP port number.
+uint16 port
+
+void64
+
+@assert _offset_ == {32} * 8

uavcan/metatransport/udp/Frame.0.1.uavcan

@@ -0,0 +1,23 @@
+#
+# A generic UDP/IP frame.
+# Jumboframes are supported in the interest of greater application compatibility.
+#
+# pragma: no-bit-length-limit
+#
+
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+
+void8
+@assert _offset_ % 64 == {0}
+
+Endpoint.0.1 source
+Endpoint.0.1 destination
+
+@assert _offset_ % 64 == {0}
+
+# Max jumbo frame 9 KiB, IP header min 20 B, UDP header 8 B.
+uint14 MTU = 1024 * 9 - 20 - 8
+void2
+uint8[<=MTU] data
+
+@assert _offset_ % 8 == {0}