Yivo

Trying to standardize the way I access sensors.

Python

from yivo import Yivo, MsgInfo

# make some messages we want to send/receive
A = namedtuple("A","x y")      # id = 1
B = namedtuple("B", "x y z t") # id = 2

msgdb = MsgInfo()
msgdb[1] = ("2f", A) # 2 floats
msgdb[2] = ("4f", B) # 4 floats

yivo = Yivo(msgdb)
pkt = yivo.pack(1, A(1.,2.))

id = 0
while id == 0:
    b = serial_read() # get a byte from somewhere
    id = yivo.parse(b) # 0 or msg_id

err, msg = yivo.unpack() # err > 0 if failure to unpack

API

gentools

Generate messages for python and C/C++.

# comment ...
# comment ...

float     a # comment about var
uint8     b
int16[12] c

<enum something uint16_t
bob=0
tom=2
jerry=32
enum>

{
    "namespace": "foobar",
    "license": "MIT Kevin Walchko (c) 2023",
    "output": "test",
    "1": "messages/vec.yivo",
    "2": "messages/quat.yivo",
    "4": "messages/imu.yivo",
    "5": "messages/cal.yivo"
}

MIT License

Copyright (c) 2020 Mom's Friendly Robot Company

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.