dirty

StarQTius · Sep 25, 2024 · 00848d6 · 00848d6
1 parent 45262dc
commit 00848d6
Show file tree

Hide file tree

Showing 9 changed files with 741 additions and 170 deletions.
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
@@ -1,3 +1,3 @@
 add_executable(dynamixel_protocol_20 dynamixel-protocol-2.0.cpp)
 add_dependencies(check_revamp dynamixel_protocol_20)
-target_link_libraries(dynamixel_protocol_20 PRIVATE Unpadded)
+target_link_libraries(dynamixel_protocol_20 PRIVATE Unpadded)
diff --git a/example/dynamixel-protocol-2.0.cpp b/example/dynamixel-protocol-2.0.cpp
@@ -1,5 +1,4 @@
 #include <cinttypes>
-#include <climits>
 #include <iostream>
 
 #include <upd/description.hpp>
@@ -11,34 +10,80 @@ ostream &operator<<(ostream &os, byte b) { return os << static_cast<int>(b); }
 
 } // namespace std
 
+using crc = upd::xuint<16>;
+
+constexpr auto accumulate_crc(crc acc, upd::xuint<8> byte) noexcept -> crc {
+  constexpr auto crc_table = std::array {
+      0x0000, 0x8005, 0x800f, 0x000a, 0x801b, 0x001e, 0x0014, 0x8011,
+      0x8033, 0x0036, 0x003c, 0x8039, 0x0028, 0x802d, 0x8027, 0x0022,
+      0x8063, 0x0066, 0x006c, 0x8069, 0x0078, 0x807d, 0x8077, 0x0072,
+      0x0050, 0x8055, 0x805f, 0x005a, 0x804b, 0x004e, 0x0044, 0x8041,
+      0x80c3, 0x00c6, 0x00cc, 0x80c9, 0x00d8, 0x80dd, 0x80d7, 0x00d2,
+      0x00f0, 0x80f5, 0x80ff, 0x00fa, 0x80eb, 0x00ee, 0x00e4, 0x80e1,
+      0x00a0, 0x80a5, 0x80af, 0x00aa, 0x80bb, 0x00be, 0x00b4, 0x80b1,
+      0x8093, 0x0096, 0x009c, 0x8099, 0x0088, 0x808d, 0x8087, 0x0082,
+      0x8183, 0x0186, 0x018c, 0x8189, 0x0198, 0x819d, 0x8197, 0x0192,
+      0x01b0, 0x81b5, 0x81bf, 0x01ba, 0x81ab, 0x01ae, 0x01a4, 0x81a1,
+      0x01e0, 0x81e5, 0x81ef, 0x01ea, 0x81fb, 0x01fe, 0x01f4, 0x81f1,
+      0x81d3, 0x01d6, 0x01dc, 0x81d9, 0x01c8, 0x81cd, 0x81c7, 0x01c2,
+      0x0140, 0x8145, 0x814f, 0x014a, 0x815b, 0x015e, 0x0154, 0x8151,
+      0x8173, 0x0176, 0x017c, 0x8179, 0x0168, 0x816d, 0x8167, 0x0162,
+      0x8123, 0x0126, 0x012c, 0x8129, 0x0138, 0x813d, 0x8137, 0x0132,
+      0x0110, 0x8115, 0x811f, 0x011a, 0x810b, 0x010e, 0x0104, 0x8101,
+      0x8303, 0x0306, 0x030c, 0x8309, 0x0318, 0x831d, 0x8317, 0x0312,
+      0x0330, 0x8335, 0x833f, 0x033a, 0x832b, 0x032e, 0x0324, 0x8321,
+      0x0360, 0x8365, 0x836f, 0x036a, 0x837b, 0x037e, 0x0374, 0x8371,
+      0x8353, 0x0356, 0x035c, 0x8359, 0x0348, 0x834d, 0x8347, 0x0342,
+      0x03c0, 0x83c5, 0x83cf, 0x03ca, 0x83db, 0x03de, 0x03d4, 0x83d1,
+      0x83f3, 0x03f6, 0x03fc, 0x83f9, 0x03e8, 0x83ed, 0x83e7, 0x03e2,
+      0x83a3, 0x03a6, 0x03ac, 0x83a9, 0x03b8, 0x83bd, 0x83b7, 0x03b2,
+      0x0390, 0x8395, 0x839f, 0x039a, 0x838b, 0x038e, 0x0384, 0x8381,
+      0x0280, 0x8285, 0x828f, 0x028a, 0x829b, 0x029e, 0x0294, 0x8291,
+      0x82b3, 0x02b6, 0x02bc, 0x82b9, 0x02a8, 0x82ad, 0x82a7, 0x02a2,
+      0x82e3, 0x02e6, 0x02ec, 0x82e9, 0x02f8, 0x82fd, 0x82f7, 0x02f2,
+      0x02d0, 0x82d5, 0x82df, 0x02da, 0x82cb, 0x02ce, 0x02c4, 0x82c1,
+      0x8243, 0x0246, 0x024c, 0x8249, 0x0258, 0x825d, 0x8257, 0x0252,
+      0x0270, 0x8275, 0x827f, 0x027a, 0x826b, 0x026e, 0x0264, 0x8261,
+      0x0220, 0x8225, 0x822f, 0x022a, 0x823b, 0x023e, 0x0234, 0x8231,
+      0x8213, 0x0216, 0x021c, 0x8219, 0x0208, 0x820d, 0x8207, 0x0202
+  };
+
+  auto i = ((acc >> 8) ^ byte) & 0xff;
+  return (acc << 8) ^ crc_table[i];
+}
+
 constexpr auto description = [] {
   using namespace upd;
   using namespace upd::literals;
   using namespace upd::descriptor;
 
-  return constant<"header"_h>(0xfdffff, width<32>) | field<"id"_h>(unsigned_int, width<8>) |
-         field<"length"_h>(unsigned_int, width<16>) | field<"instruction"_h>(unsigned_int, width<8>) |
-         field<"checksum"_h>(unsigned_int, width<16>);
+  return
+  // constant<"header">(0xfdffff, width<32>) | field<"id">(unsigned_int, width<8>) |
+  // field<"length">(unsigned_int, width<16>) | field<"instruction">(unsigned_int, width<8>) |
+         checksum<"crc">(accumulate_crc, width<16>, 0, all_fields);
 }();
 
 constexpr auto answer_description = [] {
   using namespace upd;
   using namespace upd::literals;
   using namespace upd::descriptor;
 
-  return constant<"header"_h>(0xfdffff, width<32>) | field<"id"_h>(unsigned_int, width<8>) |
-         field<"length"_h>(unsigned_int, width<16>) | field<"instruction"_h>(unsigned_int, width<8>) |
-         field<"error"_h>(unsigned_int, width<8>) | field<"model_number"_h>(unsigned_int, width<16>) |
-         field<"firmware_version"_h>(unsigned_int, width<8>) | field<"checksum"_h>(unsigned_int, width<16>);
+  return constant<"header">(0xfdffff, width<32>) | field<"id">(unsigned_int, width<8>) |
+         field<"length">(unsigned_int, width<16>) | field<"instruction">(unsigned_int, width<8>) |
+         field<"error">(unsigned_int, width<8>) | field<"model_number">(unsigned_int, width<16>) |
+         field<"firmware_version">(unsigned_int, width<8>) | 
+         checksum<"crc">(accumulate_crc, width<16>, 0, all_fields);
 }();
 
 struct serializer {
+  constexpr static auto bytewidth = 8;
+
   template<typename XInteger, typename OutputIt>
   void serialize_unsigned(XInteger value, OutputIt output) {
     static_assert(upd::is_extended_integer_v<XInteger>, "`value` must be an instance of `extended_integer`");
     static_assert(!upd::is_signed_v<XInteger>, "`value` must be unsigned");
 
-    constexpr auto byte_count = value.bitsize / CHAR_BIT;
+    constexpr auto byte_count = value.bitsize / bytewidth;
 
     auto decomposition = value.decompose(upd::width<byte_count>);
     std::copy(decomposition.begin(), decomposition.end(), output);
@@ -56,17 +101,17 @@ struct serializer {
       abs = ~abs + 1;
     }
 
-    constexpr auto byte_count = abs.bitsize / CHAR_BIT;
+    constexpr auto byte_count = abs.bitsize / bytewidth;
 
     auto decomposition = abs.decompose(upd::width<byte_count>);
     std::copy(decomposition.begin(), decomposition.end(), output);
   }
 
   template<typename InputIt, std::size_t Bitsize>
   auto deserialize_unsigned(InputIt input, upd::width_t<Bitsize>) {
-    static_assert(Bitsize % CHAR_BIT == 0, "`Bitsize` must be a multiple of `CHAR_BIT`");
+    static_assert(Bitsize % bytewidth == 0, "`Bitsize` must be a multiple of `bytewidth`");
 
-    constexpr auto size = Bitsize / CHAR_BIT;
+    constexpr auto size = Bitsize / bytewidth;
 
     auto byteseq = std::array<std::byte, size>{};
     auto last_written = std::copy_n(input, size, byteseq.begin());
@@ -78,17 +123,17 @@ struct serializer {
 
   template<typename InputIt, std::size_t Bitsize>
   auto deserialize_signed(InputIt input, upd::width_t<Bitsize>) {
-    static_assert((Bitsize + 1) % CHAR_BIT == 0, "`Bitsize` must be a multiple of `CHAR_BIT`");
+    static_assert((Bitsize + 1) % bytewidth == 0, "`Bitsize` must be a multiple of `bytewidth`");
 
-    constexpr auto size = (Bitsize + 1) / CHAR_BIT;
+    constexpr auto size = (Bitsize + 1) / bytewidth;
 
     auto byteseq = std::array<std::byte, size>{};
     auto last_written = std::copy_n(input, size, byteseq.begin());
 
     UPD_ASSERT(last_written == byteseq.end());
 
     auto raw = upd::recompose_into_xuint(byteseq);
-    auto sign = (raw & upd::nth_bit<Bitsize> != 0);
+    auto sign = ((raw & upd::nth_bit<Bitsize>) != 0);
     auto abs = (raw & upd::nth_bit<Bitsize>) ? ~raw + 1 : raw;
 
     return sign ? -abs : abs;
@@ -111,8 +156,8 @@ int main() {
   auto oit = std::ostream_iterator<std::byte>{std::cout, " "};
   std::cout << std::hex;
 
-  auto ping_ex1 = description.instantiate(
-      upd::kw<"id"_h> = 1, upd::kw<"length"_h> = 3, upd::kw<"instruction"_h> = 1, upd::kw<"checksum"_h> = 0x4e19);
+  auto ping_ex1 = description.instantiate(ser,
+      upd::kw<"id"> = 1, upd::kw<"length"> = 3, upd::kw<"instruction"> = 1);
   if (!ping_ex1) {
     return (int)ping_ex1.error();
   }
@@ -128,14 +173,13 @@ int main() {
   }
 
   std::printf("Answer 1: \n");
-  std::printf("- header: %" PRIx32 "\n", (std::uint32_t)(*answer1)[upd::kw<"header"_h>]);
-  std::printf("- id: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"id"_h>]);
-  std::printf("- length: %" PRIx16 "\n", (std::uint16_t)(*answer1)[upd::kw<"length"_h>]);
-  std::printf("- instruction: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"instruction"_h>]);
-  std::printf("- error: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"error"_h>]);
-  std::printf("- model number: %" PRIx16 "\n", (std::uint16_t)(*answer1)[upd::kw<"model_number"_h>]);
-  std::printf("- firmware version: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"firmware_version"_h>]);
-  std::printf("- checksum: %" PRIx16 "\n", (std::uint16_t)(*answer1)[upd::kw<"checksum"_h>]);
+  std::printf("- header: %" PRIx32 "\n", (std::uint32_t)(*answer1)[upd::kw<"header">]);
+  std::printf("- id: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"id">]);
+  std::printf("- length: %" PRIx16 "\n", (std::uint16_t)(*answer1)[upd::kw<"length">]);
+  std::printf("- instruction: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"instruction">]);
+  std::printf("- error: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"error">]);
+  std::printf("- model number: %" PRIx16 "\n", (std::uint16_t)(*answer1)[upd::kw<"model_number">]);
+  std::printf("- firmware version: %" PRIx8 "\n", (std::uint8_t)(*answer1)[upd::kw<"firmware_version">]);
   std::printf("\n\n");
 
   auto answer2_seq = bytearray{0xff, 0xff, 0xfd, 0x00, 0x02, 0x07, 0x00, 0x55, 0x00, 0x06, 0x04, 0x26, 0x6f, 0x6d};
@@ -145,13 +189,12 @@ int main() {
   }
 
   std::printf("Answer 2: \n");
-  std::printf("- header: %" PRIx32 "\n", (std::uint32_t)(*answer2)[upd::kw<"header"_h>]);
-  std::printf("- id: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"id"_h>]);
-  std::printf("- length: %" PRIx16 "\n", (std::uint16_t)(*answer2)[upd::kw<"length"_h>]);
-  std::printf("- instruction: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"instruction"_h>]);
-  std::printf("- error: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"error"_h>]);
-  std::printf("- model number: %" PRIx16 "\n", (std::uint16_t)(*answer2)[upd::kw<"model_number"_h>]);
-  std::printf("- firmware version: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"firmware_version"_h>]);
-  std::printf("- checksum: %" PRIx16 "\n", (std::uint16_t)(*answer2)[upd::kw<"checksum"_h>]);
+  std::printf("- header: %" PRIx32 "\n", (std::uint32_t)(*answer2)[upd::kw<"header">]);
+  std::printf("- id: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"id">]);
+  std::printf("- length: %" PRIx16 "\n", (std::uint16_t)(*answer2)[upd::kw<"length">]);
+  std::printf("- instruction: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"instruction">]);
+  std::printf("- error: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"error">]);
+  std::printf("- model number: %" PRIx16 "\n", (std::uint16_t)(*answer2)[upd::kw<"model_number">]);
+  std::printf("- firmware version: %" PRIx8 "\n", (std::uint8_t)(*answer2)[upd::kw<"firmware_version">]);
   std::printf("\n\n");
 }
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
@@ -8,7 +8,7 @@ add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(
   ${PROJECT_NAME} INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
                             $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIRS}>)
-target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
+target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_20)
 
 if(${PROJECT_NAME}_PLATFORM_ENDIANESS)
   target_compile_definitions(