# load in the json file import json import os def load_json_file(file_path): if not os.path.exists(file_path): raise FileNotFoundError(f"File {file_path} does not exist.") with open(file_path, 'r') as file: return json.load(file) # save the json file def save_json_file(file_path, data): with open(file_path, 'w') as file: json.dump(data, file, indent=4) def camel_to_snake(input: str) -> str: out = "" for i, c in enumerate(input): if c.isupper() and i > 0: out += "_" + c.lower() else: out += c.lower() return out def convert_io_type(ioType: str) -> str: """ Convert the input/output type from the input format to the output format. """ if ioType == "U8": return "uint8" elif ioType == "U16": return "uint16" elif ioType == "U32": return "uint32" elif ioType == "I8": return "int8" elif ioType == "I16": return "int16" elif ioType == "I32": return "int32" elif ioType == "F32": return "float" elif ioType == "F64": return "double" elif ioType == "Bool": return "bool" else: raise ValueError(f"Unknown IO type: {ioType}") def convert_node(nodeType: str, data: dict, id: str) -> dict: """ Convert a node from the input format to the output format. """ outNode = {} pinData = { "in": {}, "out": {} } key = "" if nodeType == "Constant": outNode["type"] = "constant" outNode["config"] = { "value": data["value"], "type": convert_io_type(data["itype"]) } key = data['node_name'] pinData["out"]["0"] = "output" elif nodeType == "ApiInput": outNode["type"] = "api_input" outNode["config"] = { "type": convert_io_type(data["itype"]) } if "min" in data: outNode["config"]["min"] = data["min"] if "max" in data: outNode["config"]["max"] = data["max"] if "default" in data: outNode["config"]["default"] = data["default"] if "timeout" in data: outNode["config"]["timeout"] = data["timeout"] key = data['node_name'] pinData["out"]["0"] = "output" elif nodeType == "ApiOutput": outNode["type"] = "api_output" outNode["config"] = { "type": convert_io_type(data["otype"]) } key = data['node_name'] pinData["in"]["0"] = "input" elif nodeType == "PIController": outNode["type"] = "pi_controller" outNode["config"] = { "Kp" : data["p"], "Ki" : data["i"], "i_limit" : data["i_limit"], "output_min" : data["output_min"], "output_max" : data["output_max"], } key = data['node_name'] pinData["in"]["0"] = "input" pinData["out"]["0"] = "output" elif nodeType == "VelEstimator": outNode["type"] = "vel_estimator" outNode["config"] = { "alpha": data["filter_alpha"] } key = f"vel_estimator_{id}" pinData["in"]["0"] = "input" pinData["out"]["0"] = "output" elif nodeType == "LogicGate": outNode["type"] = "logic_gate" # get the first item in the “gType” dict gateType, inCount = next(iter(data["gType"])) gateType = gateType.lower() inCount = int(inCount) outNode["config"] = { "gate_type": gateType, "input_count": inCount } key = f"logic_gate_{id}" for i in range(inCount): pinData["in"][str(i)] = f"input_{i}" pinData["out"]["0"] = "output" elif nodeType == "Comparator": outNode["type"] = "comparator" compType = camel_to_snake(data["comparison"]) outNode["config"] = { "type": convert_io_type(data["itype"]), "comparator_type": compType, } key = f"comparator_{id}" pinData["in"]["0"] = "input_0" pinData["in"]["1"] = "input_1" pinData["out"]["0"] = "output" elif nodeType == "MathOperation": outNode["type"] = "math_operation" outNode["config"] = { "type": convert_io_type(data["itype"]), } key = f"math_operation_{id}" if "Nary" in data["operator"]: outNode["config"]["op_type"] = "nary" inCount = int(data["operator"]["Nary"][1]) op = data["operator"]["Nary"][0].lower() outNode["config"]["op"] = op outNode["config"]["input_count"] = inCount for i in range(inCount): pinData["in"][str(i)] = f"input_{i}" elif "BinaryOperation" in data["operator"]: outNode["config"]["op_type"] = "binary" op = data["operator"]["BinaryOperation"].lower() outNode["config"]["op"] = op pinData["in"]["0"] = "input_0" pinData["in"]["1"] = "input_1" elif "UnaryOperation" in data["operator"]: outNode["config"]["op_type"] = "unary" op = data["operator"]["UnaryOperation"].lower() outNode["config"]["op"] = op pinData["in"]["0"] = "input_0" pinData["out"]["0"] = "output" elif nodeType == "Multiplexer": outNode["type"] = "multiplexer" bits = int(data["input_bits"]) outNode["config"] = { "input_bits": bits, "type": convert_io_type(data["itype"]), } key = f"multiplexer_{id}" for i in range(bits): pinData["in"][str(i)] = f"select_bit_{i}" for i in range(2**bits): pinData["in"][str(i + bits)] = f"input_{i}" pinData["out"]["0"] = "output" elif nodeType == "BitwiseSplit": outNode["type"] = "bitwise_split" bits = 0 if data["num_bits"] <= 8: itype = "U8" bits = 8 elif data["num_bits"] <= 16: itype = "U16" bits = 16 elif data["num_bits"] <= 32: itype = "U32" bits = 32 else: raise ValueError(f"Unknown bitwise split data type: {data['itype']}") outNode["config"] = { "type": convert_io_type(itype), } key = f"bitwise_split_{id}" pinData["in"]["0"] = "input" for i in range(bits): pinData["out"][str(i)] = f"output_bit_{i}" elif nodeType == "BitwiseJoin": outNode["type"] = "bitwise_join" bits = 0 if data["num_bits"] <= 8: itype = "U8" bits = 8 elif data["num_bits"] <= 16: itype = "U16" bits = 16 elif data["num_bits"] <= 32: itype = "U32" bits = 32 else: raise ValueError(f"Unknown bitwise join data type: {data['itype']}") outNode["config"] = { "type": convert_io_type(itype), } key = f"bitwise_join_{id}" pinData["out"]["0"] = "output" for i in range(bits): pinData["in"][str(i)] = f"input_bit_{i}" elif nodeType == "EdgeDelay": outNode["type"] = "edge_delay" outNode["config"] = { "rising_edge": data["rising_edge"], "falling_edge": data["falling_edge"], "cycles": data["delay_cycles"] } key = f"edge_delay_{id}" pinData["in"]["0"] = "input" pinData["out"]["0"] = "output" elif nodeType == "CycleDelay": outNode["type"] = "cycle_delay" outNode["config"] = { "cycles": data["cycles"], "type": convert_io_type(data["itype"]) } key = f"cycle_delay_{id}" pinData["in"]["0"] = "input" pinData["out"]["0"] = "output" elif nodeType == "Converter": outNode["type"] = "converter" outNode["config"] = { "input_type": convert_io_type(data["input_type"]), "output_type": convert_io_type(data["output_type"]), "direct_mode": data["direct_mode"], "input_min": data["input_min"], "input_max": data["input_max"], "output_min": data["output_min"], "output_max": data["output_max"], "invert": data["invert"] } key = f"converter_{id}" pinData["in"]["0"] = "input" pinData["out"]["0"] = "output" elif nodeType == "SerialDevice": outNode["type"] = "em_serial_device" pinData["in"]["0"] = "em_device" outNode["config"] = { "enabled": data["enabled"], "comm": { "device_address": data["addr"], "timeout_tries": data["timeout"], }, "device": { "device_descriptor": data["descriptor"], "cyclic_write_regs": [], "cyclic_read_regs": [], "async_write_regs": [], "async_read_regs": [], "set": [] } } key = data['node_name'] # pin data is unknown for raw serial devices # it depends on the connected serial read/write nodes elif nodeType == "SerialRead": if "AsyncReg" in data["dev"]: outNode["async_read_regs"] = { "name": data["name"], "update_rate_cycles": data["dev"]["AsyncReg"]["update_cycles"] } else: outNode["cyclic_read_regs"] = { "name": data["name"], "cyclic_index": data["dev"]["CyclicReg"]["cyclic_index"], "sync_with_node": data["dev"]["CyclicReg"]["sync_node"] } elif nodeType == "SerialWrite": if "AsyncReg" in data["dev"]: outNode["async_write_regs"] = { "name": data["name"], "update_rate_cycles": data["dev"]["AsyncReg"]["update_cycles"] } else: outNode["cyclic_write_regs"] = { "name": data["name"], "cyclic_index": data["dev"]["CyclicReg"]["cyclic_index"], "sync_with_node": data["dev"]["CyclicReg"]["sync_node"] } elif nodeType == "GetGlobalVariable": outNode["type"] = "get_global_variable" pinData["out"]["0"] = "output" outNode["config"] = { "variables": { "output": data['name'] } } key = f"get_global_variable_{id}" elif nodeType == "SetGlobalVariable": outNode["type"] = "set_global_variable" pinData["in"]["0"] = "input" outNode["config"] = { "variables": { "input": data['name'] } } key = f"set_global_variable_{id}" else: raise ValueError(f"Unknown node type: {nodeType}") return (key, outNode), pinData if __name__ == "__main__": inConfig = load_json_file("controller-firmware/python/src/sandbox/test_config.json") outConfig = {} outConfig["info"] = inConfig["info"] # info section is the same outConfig["networks"] = {} # networks will be filled later pinData = {} # create user global variables outConfig["user_node_vars"] = {} for var in inConfig["set_node_vars"]: outConfig["user_node_vars"][var["name"]] = { "type": convert_io_type(var["type"]) } # set global variables outConfig["node_var_values"] = {} # not supported yet for network in inConfig["networks"]: newNetwork = {} serialDeviceConfigs = { "writes": {}, "reads": {} } # copy the network info newNetwork["enable"] = network["enabled"] newNetwork["type"] = network["net_type"].lower() newNetwork["timeout_usec"] = network["timeout"] newNetwork["update_cycle_trigger_count"] = network["update_cycle_trigger_count"] newNetwork["execution_order"] = network["execution_index"] # copy the nodes nodes = {} for nodeID, node in network["nodes"]["nodes"].items(): nodeData = node["value"] # get the first key and its node data nodetype, first_entry = next(iter(nodeData.items())) nodeData = nodeData[nodetype] (key, outNode), p = convert_node(nodetype, nodeData, nodeID) if nodetype == "SerialWrite" or nodetype == "SerialRead": # these are not actual nodes, but simplify the serial device config # they need to be added to the serial device config afterwards if nodetype == "SerialWrite": if nodeID in serialDeviceConfigs["writes"]: raise ValueError(f"Serial write node {nodeID} already exists") serialDeviceConfigs["writes"][nodeID] = outNode elif nodetype == "SerialRead": if nodeID in serialDeviceConfigs["reads"]: raise ValueError(f"Serial read node {nodeID} already exists") serialDeviceConfigs["reads"][nodeID] = outNode continue if key in nodes: raise ValueError(f"Node {key} already exists in network {network['name']}") nodes[key] = outNode p["name"] = key p["type"] = nodetype pinData[nodeID] = p # add the serial device configs removeKeys = [] for i, wire in enumerate(network["nodes"]["wires"]): src = str(wire["out_pin"]["node"]) dst = str(wire["in_pin"]["node"]) if src in serialDeviceConfigs["writes"]: # write node leading to a serial device deviceName = pinData[dst]["name"] write = serialDeviceConfigs["writes"][src] serialDeviceConfigs["writes"][src]["device_name"] = deviceName for k, v in write.items(): if k == "device_name": continue nodes[deviceName]["config"]["device"][k].append(v) removeKeys.append(i) elif dst in serialDeviceConfigs["reads"]: # read node leading from a serial device deviceName = pinData[src]["name"] read = serialDeviceConfigs["reads"][dst] serialDeviceConfigs["reads"][dst]["device_name"] = deviceName for k, v in read.items(): if k == "device_name": continue nodes[deviceName]["config"]["device"][k].append(v) removeKeys.append(i) # remove the wires that were used for serial read/write nodes for i in sorted(removeKeys, reverse=True): network["nodes"]["wires"].pop(i) # make the remaining valid connections connections = {} for i, wire in enumerate(network["nodes"]["wires"]): src = str(wire["out_pin"]["node"]) dst = str(wire["in_pin"]["node"]) src_node = None dst_node = None src_pin = None dst_pin = None if src in serialDeviceConfigs["reads"]: src_node = serialDeviceConfigs["reads"][src]["device_name"] # use the serial device name src_pin = "" dst_pin = pinData[dst]["in"].get(str(wire["in_pin"]["input"]), None) if dst in serialDeviceConfigs["writes"]: dst_node = serialDeviceConfigs["writes"][dst]["device_name"] # use the serial device name dst_pin = "" src_pin = pinData[src]["out"].get(str(wire["out_pin"]["output"]), None) if src_node is None: src_node = pinData[src]["name"] if dst_node is None: dst_node = pinData[dst]["name"] if src_pin is None and dst_pin is None: src_pin = pinData[src]["out"].get(str(wire["out_pin"]["output"]), None) dst_pin = pinData[dst]["in"].get(str(wire["in_pin"]["input"]), None) if src_pin is None or dst_pin is None: raise ValueError(f"Invalid pin connection from {src} to {dst}") connections[i] = { "src_node": src_node, "src_port": src_pin, "dst_node": dst_node, "dst_port": dst_pin } newNetwork["connections"] = connections newNetwork["nodes"] = nodes # add the network to the output config if(outConfig["networks"].get(network["name"]) is not None): raise ValueError(f"Network {network['name']} already exists") outConfig["networks"][network["name"]] = newNetwork print(outConfig) # save the output config save_json_file("controller-firmware/python/src/sandbox/test_config_out.json", outConfig)