rename Odrive interface to ODrive

Firmware/MotorControl/odrive_main.h

@@ -214,7 +214,7 @@ enum TimingLog_t {
 
 
 // general system functions defined in main.cpp
-class ODrive : public OdriveIntf {
+class ODrive : public ODriveIntf {
 public:
     void save_configuration() override;
     void erase_configuration() override;

Firmware/Tupfile.lua

@@ -3,7 +3,7 @@ tup.include('build.lua')
 
 tup.frule{inputs={'fibre/cpp/interfaces_template.j2'}, command='python3 interface_generator.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/interfaces.hpp'}
 tup.frule{inputs={'fibre/cpp/function_stubs_template.j2'}, command='python3 interface_generator.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/function_stubs.hpp'}
-tup.frule{inputs={'fibre/cpp/endpoints_template.j2'}, command='python3 interface_generator.py --definitions odrive-interface.yaml --generate-endpoints Odrive --template %f --output %o', outputs='autogen/endpoints.hpp'}
+tup.frule{inputs={'fibre/cpp/endpoints_template.j2'}, command='python3 interface_generator.py --definitions odrive-interface.yaml --generate-endpoints ODrive --template %f --output %o', outputs='autogen/endpoints.hpp'}
 tup.frule{inputs={'fibre/cpp/type_info_template.j2'}, command='python3 interface_generator.py --definitions odrive-interface.yaml --template %f --output %o', outputs='autogen/type_info.hpp'}
 tup.frule{command='python3 interface_generator.py --definitions odrive-interface.yaml --template enums_template.j2 --output ../tools/odrive/enums.py'}
 

Firmware/communication/ascii_protocol.cpp

@@ -29,7 +29,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 
-static Introspectable root_obj = OdriveTypeInfo<ODrive>::make_introspectable(odrv);
+static Introspectable root_obj = ODriveTypeInfo<ODrive>::make_introspectable(odrv);
 
 /* Private function prototypes -----------------------------------------------*/
 /* Function implementations --------------------------------------------------*/

Firmware/communication/interface_can.hpp

@@ -19,7 +19,7 @@ enum {
     CAN_BAUD_1M     = 1000000
 };
 
-class ODriveCAN : public OdriveIntf::CanIntf {
+class ODriveCAN : public ODriveIntf::CanIntf {
    public:
     struct Config_t {
         uint32_t baud_rate = CAN_BAUD_250K;

Firmware/interface_generator.py

@@ -78,6 +78,7 @@ properties:
   ns: {type: string}
   version: {type: string}
   summary: {type: string}
+  dictionary: {type: array, items: {type: string}}
   interfaces:
     type: object
     additionalProperties: { "$ref": "#/definitions/interface" }
@@ -105,13 +106,14 @@ class SafeLineLoader(yaml.SafeLoader):
 #        #mapping['__column__'] = node.start_mark.column + 1
 #        return mapping
 
-
+dictionary = []
 
 def get_words(string):
     """
     Splits a string in PascalCase into a list of lower case words
     """
-    return [w.lower() for w in re.findall('[a-z0-9]+|[A-Z][a-z0-9]*', string)]
+    regex = ''.join((re.escape(w) + '|') for w in dictionary) + '[a-z0-9]+|[A-Z][a-z0-9]*'
+    return [(w if w in dictionary else w.lower()) for w in re.findall(regex, string)]
 
 def join_name(*names, delimiter: str = '.'):
     """
@@ -128,7 +130,7 @@ def split_name(name, delimiter: str = '.'):
             yield c if (parenthesis_depth == 0) or (c != delimiter) else ':'
     return [part.replace(':', '.') for part in ''.join(replace_delimiter_in_parentheses()).split('.')]
 
-def to_pascal_case(s): return ''.join([w.title() for w in get_words(s)])
+def to_pascal_case(s): return ''.join([(w.title() if not w in dictionary else w) for w in get_words(s)])
 def to_camel_case(s): return ''.join([(c.lower() if i == 0 else c) for i, c in enumerate(''.join([w.title() for w in get_words(s)]))])
 def to_macro_case(s): return '_'.join(get_words(s)).upper()
 def to_snake_case(s): return '_'.join(get_words(s)).lower()
@@ -519,6 +521,7 @@ for definition_file in definition_files:
         raise Exception(err.message + '\nat ' + str(list(err.absolute_path)))
     interfaces = {**interfaces, **get_dict(file_content, 'interfaces')}
     value_types = {**value_types, **get_dict(file_content, 'valuetypes')}
+    dictionary += file_content.get('dictionary', None) or []
 
 
 # Preprocess definitions

Firmware/odrive-interface.yaml

@@ -3,8 +3,10 @@ version:  0.0.1
 ns:       com.odriverobotics
 summary:  ODrive Interface Definitions
 
+dictionary: [ODrive] # Prevent the word 'ODrive' from being detected as two words 'O' and 'Drive'
+
 interfaces:
-  Odrive:
+  ODrive:
     c_is_class: True
     attributes:
       vbus_voltage: readonly float32
@@ -162,7 +164,7 @@ interfaces:
       reboot:
       enter_dfu_mode:
 
-  Odrive.Can:
+  ODrive.Can:
     c_is_class: True
     attributes:
       error:
@@ -625,7 +627,7 @@ interfaces:
 
 
 valuetypes:
-  Odrive.Can.Protocol:
+  ODrive.Can.Protocol:
     values: {Simple: }
 
   Axis.AxisState: # TODO: remove redundant "Axis" in name

tools/odrive/enums.py

@@ -1,7 +1,7 @@
 
 # TODO: This file is dangerous because the enums could potentially change between API versions. Should transmit as part of the JSON.
 
-# Odrive.Can.Protocol
+# ODrive.Can.Protocol
 PROTOCOL_SIMPLE                          = 0
 
 # Axis.AxisState
@@ -47,7 +47,7 @@ MOTOR_TYPE_HIGH_CURRENT                  = 0
 MOTOR_TYPE_GIMBAL                        = 2
 MOTOR_TYPE_ACIM                          = 3
 
-# Odrive.Can.Error
+# ODrive.Can.Error
 CAN_ERROR_NONE                           = 0x00000000
 CAN_ERROR_DUPLICATE_CAN_IDS              = 0x00000001