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102 lines
3.3 KiB
Python
Executable File
102 lines
3.3 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 os
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from pathlib import Path
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from typing import Any, Dict
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from jinja2 import Environment, FileSystemLoader
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from jinja2.environment import Template
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def render_template(
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template: Template, output_dir: Path, filename: str, controller: Dict[str, Any]
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):
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output_dir.mkdir(parents=True, exist_ok=True)
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output_file = output_dir / filename
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output_file.write_text(template.render(controller), encoding="utf-8", newline="\n")
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def generate_cpp_headers(
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output_root: Path, template_root: Path, pwm_motor_controllers: Dict[str, Any]
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):
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header_template_root = template_root / "main/native/include/wpi/hardware/motor"
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env = Environment(
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loader=FileSystemLoader(header_template_root),
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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_root / "main/native/include/wpi/hardware/motor"
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template = env.get_template("pwm_motor_controller.hpp.jinja")
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for controller in pwm_motor_controllers:
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controller_name = os.path.basename(f"{controller['name']}.hpp")
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render_template(template, root_path, controller_name, controller)
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def generate_cpp_sources(output_root, template_root, pwm_motor_controllers):
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cpp_template_root = str(template_root / "main/native/cpp/hardware/motor")
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env = Environment(
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loader=FileSystemLoader(cpp_template_root),
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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_root / "main/native/cpp/hardware/motor"
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template = env.get_template("pwm_motor_controller.cpp.jinja")
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for controller in pwm_motor_controllers:
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controller_name = os.path.basename(f"{controller['name']}.cpp")
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render_template(template, root_path, controller_name, controller)
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def generate_pwm_motor_controllers(
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output_root: Path, template_root: Path, schema_root: Path
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):
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with (schema_root / "pwm_motor_controllers.json").open(encoding="utf-8") as f:
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controllers = json.load(f)
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generate_cpp_headers(output_root, template_root, controllers)
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generate_cpp_sources(output_root, template_root, controllers)
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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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"--schema_root",
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help="Optional. If set, will use this directory as the root for discovering the pwm controller schema",
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default=dirname / "../wpilibj/src/generate",
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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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args = parser.parse_args()
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generate_pwm_motor_controllers(
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args.output_directory, args.template_root, args.schema_root
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)
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if __name__ == "__main__":
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main()
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