[XPCC] Require Identifier for containers.

In the progress of adding raw Ethernet frames as a backend for XPCC
communication, each container requires a unique id.

When using CAN as a backend filtering is done by component id.
Normally, each CAN controller has enough filters to accommodate up to
ten components per container. E.g. STM32F4 has 14 CAN filters.

When moving to Ethernet, the Ethernet MAC controller only has two or
six filters which may be not enough. The filters are more difficult to
configure.

The fifth byte of the MAC address will be used for the container Id and
the sixth byte for the component Id.
MAC filtering then can be easily implemented by filtering for the first
five bytes of the MAC address.

There is no overhead for CAN communication as container Id is omitted.

examples/communication/xml/communication.dtd

@@ -79,4 +79,5 @@
 <!ELEMENT container (description|component)*>
 <!ATTLIST container
 	name CDATA #REQUIRED
+	id CDATA #REQUIRED
 >

examples/communication/xml/communication.xml

@@ -71,24 +71,24 @@
 </component>
 
 <!-- Containers -->
-<container name="sender">
+<container name="sender" id="0x10">
 	<component name="sender" />
 </container>
 
-<container name="receiver">
+<container name="receiver" id="0x20">
 	<component name="receiver" />
 </container>
 
-<container name="odometry">
+<container name="odometry" id="0x30">
 	<component name="odometry" />
 </container>
 
-<container name="senderreceiver">
+<container name="sender receiver" id="0x40">
 	<component name="sender" />
 	<component name="receiver" />
 </container>
 
-<container name="gui">
+<container name="gui" id="0x50">
 	<component name="gui" />
 </container>
 

tools/system_design/builder/cpp_identifier.py

@@ -55,6 +55,7 @@ def generate(self):
 
 		cppFilter = {
 			'enumElement': filter.enumElement,
+			'enumElementStrong': filter.typeName,
 			'enumValue': filter.toHexValue,
 		}
 
@@ -66,6 +67,7 @@ def generate(self):
 
 		substitutions = {
 			'domains' : self.tree.domains,
+			'containers' : self.tree.containers,
 			'components': components,
 			'actions': self.tree.components.actions,
 			'events': self.tree.events,

tools/system_design/builder/templates/robot_identifier.tpl

@@ -35,6 +35,16 @@ namespace {{ namespace }}
 			}
 		}
 	}
+
+	namespace container
+	{
+		enum class Identifier : uint8_t
+		{
+		{%- for item in containers %}
+			{{ item.name | enumElementStrong }} = {{ item.id | enumValue }},
+		{%- endfor %}
+		};
+	}
 
 	namespace component
 	{

tools/system_design/xml/dtd/rca_container.dtd

@@ -13,6 +13,7 @@
 <!ELEMENT container (description|bootloader|component)*>
 <!ATTLIST container
 	name CDATA #REQUIRED
+	id CDATA #REQUIRED
 >
 
 <!ELEMENT domain (#PCDATA)>

tools/system_design/xmlparser/container.py

@@ -9,9 +9,11 @@
 
 class Container:
 	""" Representation of a container which bundles components.
+		For microcontrollers, each container runs on a separate controller.
 	
 	Attributes:
 	name			--	Name of the container
+	id				--	Globally unique identifier of the container (0..255).
 	bootloader		--	Information about a bootloader used to program this
 						container.
 	description		--	Description string
@@ -43,6 +45,7 @@ def __init__(self, node):
 		self.bootloader = bootloader
 
 		self.description = xml_utils.get_description(node)
+		self.id = xml_utils.get_identifier(self.node)
 
 		self.components = None
 		self.events = EventContainer()
@@ -95,7 +98,7 @@ def updateIndex(self):
 		self.indexReady = True
 
 	def __cmp__(self, other):
-		return cmp(self.name.lower(), other.name.lower())
+		return cmp(self.name.lower(), other.name.lower()) or cmp(self.id, other.id)
 
 	def dump(self):
 		str = "%s : container\n" % self.__str__()
@@ -104,4 +107,8 @@ def dump(self):
 		return str[:-1]
 
 	def __str__(self):
-		return self.name
+		if self.id is None:
+			name = "[--] %s" % self.name
+		else:
+			name = "[%02x] %s" % (self.id, self.name)
+		return name