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It allowed us to generate code to parse CAN data in our telemetry system server, and also handled the code generation for our microcontrollers to pack and unpack CAN frames. Initially, this system allowed us to cover all our use cases. Msg_readable_name: 'battery voltage temperature' As such, a Message could only contain a maximum of either:

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We had considered YAML and JSON, but those would require our own checks when serializing, which we would get for free from a proto.ДЇor simplicity, our protocol only handled 1 type per Message. We chose a proto in order to validate as much of the data as possible at compile time. Our codegen project took in a proto that defined how fields in the CAN frame would be packed. Plus, it didn't really play too well with our proposed CAN protocol, which had the notion of Acknowledgements for 'Critical' Messages that were programmatically requested in firmware, which was intended to ensure that the Message was received and processed in the application code. They only recently added floating point and C code generation support (which I contributed portions of).

We had evaluated open source solutions and looked into cantools, but it was still rather immature at the time. It would also allow us to customize where the outputs were, and reuse the same data and rendering capabilities so that the project was language-agnostic. It would allow us to only invoke codegen when the dependencies changed, which could be tracked in the build system. Changes made to the Message protos were updated relatively painlessly, and adding new language support wasn't difficult, since templating languages are pretty easy to pick up. I wrote the codegen script in a few hours one weekend, and then we basically never had to touch it again. I still maintain that at the time, this was the right decision to do. This worked pretty well, and the only real pain point was integrating it into our build process for each project. This tool was simply basically a wrapper around a Python templating language, so that the output is agnostic of whatever language the generated source files are (and so we used this to generate JS, Go, and C code). # These files were then #included in a header, and copious amounts of macrosДЇor MS XII (2018), we decided that we could do better, and created a codegen tool that basically specified CAN Messages and the values types that are transmitted. # // Valid formats: BOOL, UINT8, UINT16, UINT32, UINT64, FLOAT, INT16 It was up to each person writing code to correctly reference this spreadsheet and perform the packing/unpacking on the right pieces of data. Then we had a bunch of macros that hid how CAN arbitration IDs were built for each node (by performing the proper shifting to append device IDs that were part of our protocol), and then a union that you would manually fill in for the 64-bits of data. The idea was that we would invoke the codegen tool as a build step from each project's build system when either the template or the data changed, and then it would generate output files.ДЇor MS XI (2016), we had a master Google Spreadsheet that contained every single allocated CAN Message ID, and what each bit represented. It was originally intended to only serve as a general template renderer, such that it would store the data, while templates would be stored in their respective project repositories. To provide some context, currently, the codegen-tooling repository serves as a dependency in various projects across the Midnight Sun Solar Rayce Car team, beginning from MS XII (2018).

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We were also able to obtain licenses for PCAN-Explorer, which allows us to work in a Windows GUI.Д«efore graduation, I wanted to begin a transition over in our codegen repository towards DBC files. These were a much-welcome addition to our old setup, which consisted of either the one LAWICEL CAN-USB dongle that we shared (which is generally needed, as the Tritium WaveSculptor 20 Configuration Tool requires a slcan interface), or our home-built solution that dumped CAN traffic over UART. We were lucky to get a sponsorship this term from Phytools, who generously donated various PEAK PCAN-USB dongles to our solar car team. Vector's DBC files have been reverse engineered by basically everyone, and a lot of open source tools support it, as well as paid tools (like CANoe, Kayak, PCAN-Explorer, CANApe, etc.). The open source equivalent is the KCD file used by Kayak, that essentially encodes the same information in a more verbose format. DBC files are a proprietary Vector file format that encodes information about how data is packed into a CAN frame, allowing you to pack and unpack the data.