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https://github.com/wpilibsuite/allwpilib
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b37e2d9343
The framework fundamentally relies on the continuation API added in Java 21 (which is currently internal to the JDK). Continuations allow for call stacks to be saved to the heap and resumed later. The async framework allows command bodies to be written in an imperative style. However, an async command will need to be actively cooperative and periodically call coroutine.yield() in loops to yield control back to the command scheduler to let it process other commands. There are also some other additions like priority levels (as opposed to a blanket yes/no for ignoring incoming commands), factories requiring names be provided for commands, and the scheduler tracking all running commands and not just the highest-level groups. However, those changes aren't unique to an async framework, and could just as easily be used in a traditional command framework.
121 lines
4.0 KiB
Python
Executable File
121 lines
4.0 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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import argparse
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import json
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import subprocess
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from pathlib import Path
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from jinja2 import Environment, FileSystemLoader
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def write_controller_file(output_dir: Path, controller_name: str, contents: str):
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output_dir.mkdir(parents=True, exist_ok=True)
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output_file = output_dir / controller_name
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output_file.write_text(contents, encoding="utf-8", newline="\n")
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print("Writing to ", output_file)
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def generate_hids(output_directory: Path, template_directory: Path, schema_file: Path):
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with schema_file.open(encoding="utf-8") as f:
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controllers = json.load(f)
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# Java files
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java_subdirectory = "main/java/org/wpilib/commands3/button"
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env = Environment(
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loader=FileSystemLoader(template_directory / "main/java"),
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autoescape=False,
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keep_trailing_newline=True,
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)
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root_path = output_directory / java_subdirectory
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template = env.get_template("commandhid.java.jinja")
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for controller in controllers:
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controllerName = f"Command{controller['ConsoleName']}Controller.java"
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output = template.render(controller)
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write_controller_file(root_path, controllerName, output)
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def generate_quickbuf(
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protoc, quickbuf_plugin: Path, output_directory: Path, proto_dir: Path
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):
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proto_files = proto_dir.glob("*.proto")
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for path in proto_files:
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absolute_filename = path.absolute()
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args = [protoc]
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if quickbuf_plugin:
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# Optional on macOS if using protoc-quickbuf
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args += [f"--plugin=protoc-gen-quickbuf={quickbuf_plugin}"]
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args += [
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f"--quickbuf_out=gen_descriptors=true:{output_directory.absolute()}",
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f"-I{absolute_filename.parent}",
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absolute_filename,
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]
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subprocess.check_call(args)
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java_files = (output_directory / "org/wpilib/commands3/proto").glob("*.java")
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for java_file in java_files:
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with (java_file).open(encoding="utf-8") as f:
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content = f.read()
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java_file.write_text(
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"// 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"
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+ content,
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encoding="utf-8",
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newline="\n",
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)
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def main():
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script_path = Path(__file__).resolve()
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dirname = script_path.parent
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parser = argparse.ArgumentParser()
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parser.add_argument(
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"--output_directory",
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help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
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default=dirname / "src/generated",
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type=Path,
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)
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parser.add_argument(
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"--template_root",
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help="Optional. If set, will use this directory as the root for the jinja templates",
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default=dirname / "src/generate",
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type=Path,
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)
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parser.add_argument(
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"--schema_file",
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help="Optional. If set, will use this file for the joystick schema",
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default="wpilibj/src/generate/hids.json",
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type=Path,
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)
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parser.add_argument(
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"--protoc",
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help="Protoc executable command",
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default="protoc",
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)
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parser.add_argument(
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"--quickbuf_plugin",
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help="Path to the quickbuf protoc plugin",
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)
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parser.add_argument(
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"--proto_directory",
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help="Optional. If set, will use this directory to glob for protobuf files",
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default=dirname / "src/main/proto",
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type=Path,
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)
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args = parser.parse_args()
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generate_hids(args.output_directory, args.template_root, args.schema_file)
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generate_quickbuf(
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args.protoc,
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args.quickbuf_plugin,
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args.output_directory / "main/java",
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args.proto_directory,
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)
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if __name__ == "__main__":
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main()
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