allwpilib/commandsv3/generate_files.py

#!/usr/bin/env python3

# Copyright (c) FIRST and other WPILib contributors.
# Open Source Software; you can modify and/or share it under the terms of
# the WPILib BSD license file in the root directory of this project.

import argparse
import json
import re
import subprocess
from pathlib import Path

from jinja2 import Environment, FileSystemLoader


def write_controller_file(output_dir: Path, controller_name: str, contents: str):
    output_dir.mkdir(parents=True, exist_ok=True)
    output_file = output_dir / controller_name
    output_file.write_text(contents, encoding="utf-8", newline="\n")
    print("Writing to ", output_file)


def generate_hids(output_directory: Path, template_directory: Path, schema_file: Path):
    with schema_file.open(encoding="utf-8") as f:
        controllers = json.load(f)

    # Java files
    java_subdirectory = "main/java/org/wpilib/command3/button"
    env = Environment(
        loader=FileSystemLoader(template_directory / "main/java"),
        autoescape=False,
        keep_trailing_newline=True,
    )
    root_path = output_directory / java_subdirectory
    template = env.get_template("commandhid.java.jinja")
    for controller in controllers:
        controllerName = f"Command{controller['ConsoleName']}Controller.java"
        output = template.render(controller)
        write_controller_file(root_path, controllerName, output)


def _capitalize_first(name: str) -> str:
    return name[0].upper() + name[1:]


def _display_name(name: str) -> str:
    name = re.sub(r"([a-z0-9])([A-Z])", r"\1 \2", name)
    name = re.sub(r"([A-Z]+)([A-Z][a-z])", r"\1 \2", name)
    name = re.sub(r"([A-Za-z])([0-9])", r"\1 \2", name)
    return name[0].upper() + name[1:]


def _constant_name(name: str) -> str:
    name = re.sub(r"([A-Z]+)([A-Z][a-z])", r"\1_\2", name)
    name = re.sub(r"([a-z0-9])([A-Z])", r"\1_\2", name)
    name = re.sub(r"([a-z])([0-9])", r"\1_\2", name)
    return name.upper()


def _is_trigger_axis(name: str) -> bool:
    return name.endswith("Trigger") or name in {
        "L2",
        "R2",
        "ZL",
        "ZR",
    }


def _normalize_command_mapping(mapping: dict[str, int]):
    return [
        {
            "Name": name,
            "MethodName": _capitalize_first(name),
            "ConstantName": _constant_name(name),
            "DocName": _display_name(name),
            "value": value,
        }
        for name, value in mapping.items()
    ]


def _normalize_first_ds_command_controller(controller: dict):
    buttons = _normalize_command_mapping(controller["buttons"])
    axes = _normalize_command_mapping(controller["axes"])
    button_names = {button["Name"] for button in buttons}

    trigger_axes = []
    for axis in axes:
        if not _is_trigger_axis(axis["Name"]):
            continue

        name = axis["Name"]
        trigger_name = name
        trigger_axes.append(
            {
                "Name": trigger_name,
                "MethodName": _capitalize_first(trigger_name),
                "DocName": _display_name(trigger_name),
                "AxisName": axis["Name"],
                "AxisMethodName": axis["MethodName"],
                "AxisConstantName": axis["ConstantName"],
                "AxisDocName": axis["DocName"],
                "HasDefaultThresholdMethod": trigger_name not in button_names,
            }
        )

    normalized = dict(controller)
    normalized["buttons"] = buttons
    normalized["axes"] = axes
    normalized["triggerAxes"] = trigger_axes
    return normalized


def generate_first_ds_hids(
    output_directory: Path, template_directory: Path, schema_file: Path
):
    with schema_file.open(encoding="utf-8") as f:
        controllers = [
            _normalize_first_ds_command_controller(controller)
            for controller in json.load(f)
        ]

    java_subdirectory = "main/java/org/wpilib/command3/button"
    env = Environment(
        loader=FileSystemLoader(template_directory / "main/java"),
        autoescape=False,
        keep_trailing_newline=True,
    )
    root_path = output_directory / java_subdirectory
    template = env.get_template("first_ds_commandhid.java.jinja")
    for controller in controllers:
        controller_name = f"Command{controller['ClassName']}Controller.java"
        output = template.render(controller)
        write_controller_file(root_path, controller_name, output)


def generate_quickbuf(
    protoc, quickbuf_plugin: Path, output_directory: Path, proto_dir: Path
):
    proto_files = proto_dir.glob("*.proto")
    for path in proto_files:
        absolute_filename = path.absolute()
        args = [protoc]
        if quickbuf_plugin:
            # Optional on macOS if using protoc-quickbuf
            args += [f"--plugin=protoc-gen-quickbuf={quickbuf_plugin}"]
        args += [
            f"--quickbuf_out=gen_descriptors=true:{output_directory.absolute()}",
            f"-I{absolute_filename.parent}",
            absolute_filename,
        ]
        subprocess.check_call(args)
    java_files = (output_directory / "org/wpilib/command3/proto").glob("*.java")
    for java_file in java_files:
        with (java_file).open(encoding="utf-8") as f:
            content = f.read()

        java_file.write_text(
            "// Copyright (c) FIRST and other WPILib contributors.\n// Open Source Software; you can modify and/or share it under the terms of\n// the WPILib BSD license file in the root directory of this project.\n"
            + content,
            encoding="utf-8",
            newline="\n",
        )


def main():
    script_path = Path(__file__).resolve()
    dirname = script_path.parent

    parser = argparse.ArgumentParser()
    parser.add_argument(
        "--output_directory",
        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
        default=dirname / "src/generated",
        type=Path,
    )
    parser.add_argument(
        "--template_root",
        help="Optional. If set, will use this directory as the root for the jinja templates",
        default=dirname / "src/generate",
        type=Path,
    )
    parser.add_argument(
        "--schema_file",
        help="Optional. If set, will use this file for the joystick schema",
        default="wpilibj/src/generate/hids.json",
        type=Path,
    )
    parser.add_argument(
        "--first_ds_schema_file",
        help="Optional. If set, will use this file for the FIRST Driver Station HID schema",
        default="wpilibj/src/generate/first_ds_hids.json",
        type=Path,
    )
    parser.add_argument(
        "--protoc",
        help="Protoc executable command",
        default="protoc",
    )
    parser.add_argument(
        "--quickbuf_plugin",
        help="Path to the quickbuf protoc plugin",
    )
    parser.add_argument(
        "--proto_directory",
        help="Optional. If set, will use this directory to glob for protobuf files",
        default=dirname / "src/main/proto",
        type=Path,
    )
    args = parser.parse_args()

    generate_hids(args.output_directory, args.template_root, args.schema_file)
    generate_first_ds_hids(
        args.output_directory, args.template_root, args.first_ds_schema_file
    )
    generate_quickbuf(
        args.protoc,
        args.quickbuf_plugin,
        args.output_directory / "main/java",
        args.proto_directory,
    )


if __name__ == "__main__":
    main()