From 313619cc08ce711a6deafdf8cd563c6c8779f8c4 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Wed, 6 Nov 2024 13:58:24 -0500
Subject: [PATCH 01/12] changed jninja generation function

---
 docs/includes/gen_glossary.py          |  1 -
 scripts/cangen/cangen/can_generator.py | 61 ++++++++++++++++----------
 scripts/cangen/cangen/main.py          |  4 +-
 3 files changed, 39 insertions(+), 27 deletions(-)

diff --git a/docs/includes/gen_glossary.py b/docs/includes/gen_glossary.py
index ccd3f5c1..205b8556 100644
--- a/docs/includes/gen_glossary.py
+++ b/docs/includes/gen_glossary.py
@@ -22,7 +22,6 @@
 
 glossary: list[dict] = []
 with open(HERE / file_glossary_input, "r") as f:
-
     for idx, line in enumerate(f.readlines()):
         match = re.match(term_pattern, line)
         if match:
diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 2b8348ed..29ec73ae 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -9,7 +9,7 @@
 import re
 import shutil
 import time
-from typing import Dict, List, Tuple
+from typing import Dict, List, Tuple, Callable, Any
 
 import numpy as np
 from cantools.database import Database, Message, Signal
@@ -171,26 +171,34 @@ def _camel_to_snake(text):
     return re.sub("([a-z0-9])([A-Z])", r"\1_\2", s1).lower()
 
 
-def _generate_from_jinja2_template(
-    template_path: str, output_path: str, context_dict: dict
+def _create_jninja_environment(
+    package_name: str, filters: dict[str, Callable[..., Any]]
 ):
-    # Create the environment with trim_blocks and lstrip_blocks settings
     env = Environment(
-        loader=PackageLoader("cangen"), trim_blocks=True, lstrip_blocks=True
+        loader=PackageLoader(package_name), trim_blocks=True, lstrip_blocks=True
     )
+    for filter_name, filter_function in filters:
+        env.filters[filter_name] = filter_function
 
-    # Register the camel_to_snake filter
-    env.filters["camel_to_snake"] = _camel_to_snake
-    env.filters["decimal_to_hex"] = hex
+    return env
 
-    # Load and render template
-    template = env.get_template(template_path)
-    rendered_code = template.render(**context_dict)
 
-    with open(output_path, "w") as output_file:
-        output_file.write(rendered_code)
+def _generate_from_jinja2_templates(
+    template_paths: List[str], output_paths: List[str], context: dict
+):
+    env = _create_jninja_environment(
+        "cangen", {"camel_to_snake": _camel_to_snake, "decimal_to_hex": hex}
+    )
+
+    # Load and render templates
+    for template_path, output_path in zip(template_paths, output_paths):
+        template = env.get_template(template_path)
+        rendered_code = template.render(**context)
 
-    logger.info(f"Rendered code written to '{os.path.abspath(output_path)}'")
+        with open(output_path, "w") as output_file:
+            output_file.write(rendered_code)
+
+        logger.info(f"Rendered code written to '{os.path.abspath(output_path)}'")
 
 
 def generate_code(bus: Bus, config: Config):
@@ -220,17 +228,17 @@ def generate_code(bus: Bus, config: Config):
         "bus_name": bus.bus_name,
     }
 
-    logger.debug("Generating code for can messages")
-    _generate_from_jinja2_template(
+    logger.debug("Generating code for can messages and msg registry.")
+    template_file_names = [
         CAN_MESSAGES_TEMPLATE_FILENAME,
-        os.path.join(config.output_dir, bus.bus_name.lower() + CAN_MESSAGES_FILE_NAME),
-        context,
-    )
-
-    logger.debug("Generating code for msg registry")
-    _generate_from_jinja2_template(
         MSG_REGISTRY_TEMPLATE_FILENAME,
-        os.path.join(config.output_dir, bus.bus_name.lower() + MSG_REGISTRY_FILE_NAME),
+    ]
+    _generate_from_jinja2_templates(
+        template_file_names,
+        [
+            os.path.join(config.output_dir, bus.bus_name.lower() + file_name)
+            for file_name in template_file_names
+        ],
         context,
     )
 
@@ -240,7 +248,10 @@ def generate_code(bus: Bus, config: Config):
 def _prepare_output_directory(output_dir):
     """Deletes previously generated files and creates a gitignore for the directory"""
     if os.path.exists(output_dir):
+        logger.info("Deleting previously generated code")
         shutil.rmtree(output_dir)
+
+    logger.info("Creating generated/can folder")
     os.makedirs(output_dir, exist_ok=True)
 
     gitignore_path = os.path.join(output_dir, ".gitignore")
@@ -248,7 +259,9 @@ def _prepare_output_directory(output_dir):
         f.write("*")
 
 
-def generate_can_from_dbc(project_folder_name: str):
+def generate_can_for_project(project_folder_name: str):
+    """Generates C code for a given project.
+    Ensure the project contains a config.yaml file which specifies the relative path to its corresponding dbc file."""
     os.chdir(project_folder_name)
     config = Config.from_yaml("config.yaml")
 
diff --git a/scripts/cangen/cangen/main.py b/scripts/cangen/cangen/main.py
index f2912e7f..efe1ddbf 100644
--- a/scripts/cangen/cangen/main.py
+++ b/scripts/cangen/cangen/main.py
@@ -6,7 +6,7 @@
 import argparse
 import logging
 
-from .can_generator import generate_can_from_dbc
+from .can_generator import generate_can_for_project
 
 logging.basicConfig(level="INFO", format="%(levelname)-8s| (%(name)s) %(message)s")
 logger = logging.getLogger(__name__)
@@ -39,4 +39,4 @@ def main():
     }
     logger.setLevel(cmake_to_python_level[args.level])
 
-    generate_can_from_dbc(args.project)
+    generate_can_for_project(args.project)

From 0698c8a82b3350cb9388de6a94a4442469505727 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Wed, 6 Nov 2024 14:30:26 -0500
Subject: [PATCH 02/12] changes jninja functions

---
 scripts/cangen/cangen/can_generator.py | 18 ++++++++----------
 1 file changed, 8 insertions(+), 10 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 29ec73ae..e80e9b68 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -25,8 +25,8 @@
 MSG_REGISTRY_FILE_NAME = "_msg_registry.h"
 CAN_MESSAGES_FILE_NAME = "_can_messages.h"
 
-CAN_MESSAGES_TEMPLATE_FILENAME = "can_messages.h.jinja2"
-MSG_REGISTRY_TEMPLATE_FILENAME = "msg_registry.h.jinja2"
+TEMPLATE_FILE_NAMES = ["can_messages.h.jinja2", "msg_registry.h.jinja2"]
+
 
 
 def _parse_dbc_files(dbc_file: str) -> Database:
@@ -177,11 +177,13 @@ def _create_jninja_environment(
     env = Environment(
         loader=PackageLoader(package_name), trim_blocks=True, lstrip_blocks=True
     )
-    for filter_name, filter_function in filters:
+    for filter_name, filter_function in filters.items():
         env.filters[filter_name] = filter_function
 
     return env
 
+def _create_output_file_name(output_dir, bus_name, template_filename):
+    return os.path.join(output_dir, bus_name.lower() + "_" + template_filename[:-7])
 
 def _generate_from_jinja2_templates(
     template_paths: List[str], output_paths: List[str], context: dict
@@ -229,15 +231,11 @@ def generate_code(bus: Bus, config: Config):
     }
 
     logger.debug("Generating code for can messages and msg registry.")
-    template_file_names = [
-        CAN_MESSAGES_TEMPLATE_FILENAME,
-        MSG_REGISTRY_TEMPLATE_FILENAME,
-    ]
     _generate_from_jinja2_templates(
-        template_file_names,
+        TEMPLATE_FILE_NAMES,
         [
-            os.path.join(config.output_dir, bus.bus_name.lower() + file_name)
-            for file_name in template_file_names
+            _create_output_file_name(config.output_dir, bus.bus_name, file_name)
+            for file_name in TEMPLATE_FILE_NAMES
         ],
         context,
     )

From ef1195b3b9fb0146cc3d472990c5353406567a13 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Thu, 7 Nov 2024 14:45:41 -0500
Subject: [PATCH 03/12] inline jninja generation

---
 scripts/cangen/cangen/can_generator.py | 39 ++++++++------------------
 1 file changed, 12 insertions(+), 27 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index e80e9b68..2b9fd480 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -182,26 +182,8 @@ def _create_jninja_environment(
 
     return env
 
-def _create_output_file_name(output_dir, bus_name, template_filename):
-    return os.path.join(output_dir, bus_name.lower() + "_" + template_filename[:-7])
-
-def _generate_from_jinja2_templates(
-    template_paths: List[str], output_paths: List[str], context: dict
-):
-    env = _create_jninja_environment(
-        "cangen", {"camel_to_snake": _camel_to_snake, "decimal_to_hex": hex}
-    )
-
-    # Load and render templates
-    for template_path, output_path in zip(template_paths, output_paths):
-        template = env.get_template(template_path)
-        rendered_code = template.render(**context)
-
-        with open(output_path, "w") as output_file:
-            output_file.write(rendered_code)
-
-        logger.info(f"Rendered code written to '{os.path.abspath(output_path)}'")
-
+def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str):
+    return os.path.join(output_dir, bus_name.lower() + "_" + template_file_name[:-7])
 
 def generate_code(bus: Bus, config: Config):
     """
@@ -231,14 +213,17 @@ def generate_code(bus: Bus, config: Config):
     }
 
     logger.debug("Generating code for can messages and msg registry.")
-    _generate_from_jinja2_templates(
-        TEMPLATE_FILE_NAMES,
-        [
-            _create_output_file_name(config.output_dir, bus.bus_name, file_name)
-            for file_name in TEMPLATE_FILE_NAMES
-        ],
-        context,
+
+    env = _create_jninja_environment(
+        "cangen", {"camel_to_snake": _camel_to_snake, "decimal_to_hex": hex}
     )
+    for template_file_name in TEMPLATE_FILE_NAMES:
+        template = env.get_template(template_file_name)
+        rendered_code = template.render(**context)
+        output_file_name = _create_output_file_name(config.output_dir, bus.bus_name, template_file_name)
+        with open(output_file_name, "w") as output_file:
+            output_file.write(rendered_code)
+        logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
 
     logger.info("Code generation complete")
 

From 4737c8383069ec748de6c70ec1f74d9a31435c0a Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Thu, 7 Nov 2024 15:06:28 -0500
Subject: [PATCH 04/12] changed function names cangen

---
 scripts/cangen/cangen/can_generator.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 2b9fd480..1ff86557 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -28,7 +28,6 @@
 TEMPLATE_FILE_NAMES = ["can_messages.h.jinja2", "msg_registry.h.jinja2"]
 
 
-
 def _parse_dbc_files(dbc_file: str) -> Database:
     logger.info(f"Parsing DBC files: {dbc_file}")
     can_db = Database()
@@ -185,7 +184,7 @@ def _create_jninja_environment(
 def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str):
     return os.path.join(output_dir, bus_name.lower() + "_" + template_file_name[:-7])
 
-def generate_code(bus: Bus, config: Config):
+def _generate_code(bus: Bus, config: Config):
     """
     Parses DBC files, extracts information, and generates code using Jinja2
     templates.
@@ -228,7 +227,7 @@ def generate_code(bus: Bus, config: Config):
     logger.info("Code generation complete")
 
 
-def _prepare_output_directory(output_dir):
+def _prepare_output_directory(output_dir: str):
     """Deletes previously generated files and creates a gitignore for the directory"""
     if os.path.exists(output_dir):
         logger.info("Deleting previously generated code")
@@ -244,11 +243,11 @@ def _prepare_output_directory(output_dir):
 
 def generate_can_for_project(project_folder_name: str):
     """Generates C code for a given project.
-    Ensure the project contains a config.yaml file which specifies the relative path to its corresponding dbc file."""
+    Ensure the project folder contains a config.yaml file which specifies the relative path to its corresponding dbc file."""
     os.chdir(project_folder_name)
     config = Config.from_yaml("config.yaml")
 
     _prepare_output_directory(config.output_dir)
 
     for bus in config.busses:
-        generate_code(bus, config)
+        _generate_code(bus, config)

From 84dd4c662636bae934b837a07490b6313b76cb04 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Sun, 10 Nov 2024 19:24:55 -0500
Subject: [PATCH 05/12] moved jninja generation into its own function

---
 scripts/cangen/cangen/can_generator.py | 24 +++++++++++++++++-------
 1 file changed, 17 insertions(+), 7 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 1ff86557..c5b468f1 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -27,6 +27,8 @@
 
 TEMPLATE_FILE_NAMES = ["can_messages.h.jinja2", "msg_registry.h.jinja2"]
 
+PACKAGE_NAME = "cangen"
+
 
 def _parse_dbc_files(dbc_file: str) -> Database:
     logger.info(f"Parsing DBC files: {dbc_file}")
@@ -184,6 +186,15 @@ def _create_jninja_environment(
 def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str):
     return os.path.join(output_dir, bus_name.lower() + "_" + template_file_name[:-7])
 
+def _generate_jninja_template(template_file_name, output_path, context, env):
+    template = env.get_template(template_file_name)
+    rendered_code = template.render(**context)
+
+    output_file_name = output_path
+    with open(output_file_name, "w") as output_file:
+        output_file.write(rendered_code)
+    logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
+
 def _generate_code(bus: Bus, config: Config):
     """
     Parses DBC files, extracts information, and generates code using Jinja2
@@ -214,15 +225,14 @@ def _generate_code(bus: Bus, config: Config):
     logger.debug("Generating code for can messages and msg registry.")
 
     env = _create_jninja_environment(
-        "cangen", {"camel_to_snake": _camel_to_snake, "decimal_to_hex": hex}
+        PACKAGE_NAME, {"camel_to_snake": _camel_to_snake, "decimal_to_hex": hex}
     )
     for template_file_name in TEMPLATE_FILE_NAMES:
-        template = env.get_template(template_file_name)
-        rendered_code = template.render(**context)
-        output_file_name = _create_output_file_name(config.output_dir, bus.bus_name, template_file_name)
-        with open(output_file_name, "w") as output_file:
-            output_file.write(rendered_code)
-        logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
+        _generate_jninja_template(
+            template_file_name, 
+            _create_output_file_name(config.output_dir, bus.bus_name, template_file_name),
+            context,
+            env)
 
     logger.info("Code generation complete")
 

From 2b1d480df14950da0a1b179e6a37bbd9b23cb328 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Sun, 10 Nov 2024 20:15:09 -0500
Subject: [PATCH 06/12] added -v flag and changed logging levels

---
 scripts/cangen/cangen/main.py | 28 +++++++++++++++++++---------
 1 file changed, 19 insertions(+), 9 deletions(-)

diff --git a/scripts/cangen/cangen/main.py b/scripts/cangen/cangen/main.py
index efe1ddbf..ff4dd0e5 100644
--- a/scripts/cangen/cangen/main.py
+++ b/scripts/cangen/cangen/main.py
@@ -16,20 +16,22 @@ def parse():
     parser = argparse.ArgumentParser(description="DBC to C code generator")
     parser.add_argument("project", type=str, help="Name of the project")
     parser.add_argument(
-        "--log-level",
+        "-v",
+        "--verbose",
+        dest="is_verbose",
+        action="store_true",
+        help="Enable verbose output",
+    )
+    parser.add_argument(
+        "--cmake-log-level",
         dest="level",
         choices=["STATUS", "INFO", "VERBOSE", "DEBUG"],
         default="INFO",
         help="Log verbosity threshold",
     )
 
-    # If parsing fails (ex incorrect or no arguments provided) then this exits with
-    # code 2.
-    return parser.parse_args()
-
-
-def main():
-    args = parse()
+    # If parsing fails (ex incorrect or no arguments provided) then this code will be 2
+    args = parser.parse_args()
 
     cmake_to_python_level = {
         "STATUS": "INFO",
@@ -37,6 +39,14 @@ def main():
         "VERBOSE": "DEBUG",
         "DEBUG": "DEBUG",
     }
-    logger.setLevel(cmake_to_python_level[args.level])
+
+    args.level = cmake_to_python_level['VERBOSE'] if args.is_verbose else cmake_to_python_level[args.level]
+    return args
+
+
+def main():
+    args = parse()
+
+    logger.setLevel(args.level)
 
     generate_can_for_project(args.project)

From b0a859ef40de58d150b606442c5f413520fe73df Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Sun, 10 Nov 2024 20:18:10 -0500
Subject: [PATCH 07/12] ruff formated

---
 scripts/cangen/cangen/can_generator.py | 12 +++++++++---
 scripts/cangen/cangen/main.py          |  6 +++++-
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index c5b468f1..6e29c03d 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -183,9 +183,11 @@ def _create_jninja_environment(
 
     return env
 
+
 def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str):
     return os.path.join(output_dir, bus_name.lower() + "_" + template_file_name[:-7])
 
+
 def _generate_jninja_template(template_file_name, output_path, context, env):
     template = env.get_template(template_file_name)
     rendered_code = template.render(**context)
@@ -195,6 +197,7 @@ def _generate_jninja_template(template_file_name, output_path, context, env):
         output_file.write(rendered_code)
     logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
 
+
 def _generate_code(bus: Bus, config: Config):
     """
     Parses DBC files, extracts information, and generates code using Jinja2
@@ -229,10 +232,13 @@ def _generate_code(bus: Bus, config: Config):
     )
     for template_file_name in TEMPLATE_FILE_NAMES:
         _generate_jninja_template(
-            template_file_name, 
-            _create_output_file_name(config.output_dir, bus.bus_name, template_file_name),
+            template_file_name,
+            _create_output_file_name(
+                config.output_dir, bus.bus_name, template_file_name
+            ),
             context,
-            env)
+            env,
+        )
 
     logger.info("Code generation complete")
 
diff --git a/scripts/cangen/cangen/main.py b/scripts/cangen/cangen/main.py
index ff4dd0e5..8aff353d 100644
--- a/scripts/cangen/cangen/main.py
+++ b/scripts/cangen/cangen/main.py
@@ -40,7 +40,11 @@ def parse():
         "DEBUG": "DEBUG",
     }
 
-    args.level = cmake_to_python_level['VERBOSE'] if args.is_verbose else cmake_to_python_level[args.level]
+    args.level = (
+        cmake_to_python_level["VERBOSE"]
+        if args.is_verbose
+        else cmake_to_python_level[args.level]
+    )
     return args
 
 

From 250c4de164b127a4f4bf92c63ffa8282f2cf14ec Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Mon, 11 Nov 2024 15:52:13 -0500
Subject: [PATCH 08/12] refactored jninja environment setup

---
 firmware/cmake/cangen.cmake            |  2 +-
 scripts/cangen/cangen/can_generator.py | 61 +++++++++-----------------
 scripts/cangen/cangen/main.py          |  5 ++-
 3 files changed, 24 insertions(+), 44 deletions(-)

diff --git a/firmware/cmake/cangen.cmake b/firmware/cmake/cangen.cmake
index 6f308158..c881fdcf 100644
--- a/firmware/cmake/cangen.cmake
+++ b/firmware/cmake/cangen.cmake
@@ -5,7 +5,7 @@ cmake_language(GET_MESSAGE_LOG_LEVEL LOG_LEVEL)
 # cangen is provided by racecar/scripts/cangen
 add_custom_target(
     generated_can
-    COMMAND "cangen" ${CMAKE_CURRENT_SOURCE_DIR} "--log-level=${LOG_LEVEL}"
+    COMMAND "cangen" ${CMAKE_CURRENT_SOURCE_DIR} "--cmake-log-level=${LOG_LEVEL}"
     DEPENDS ${CAN_DEPENDENCIES}
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
     COMMENT Generating CAN code from DBCs
diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 6e29c03d..2c060a42 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -9,7 +9,7 @@
 import re
 import shutil
 import time
-from typing import Dict, List, Tuple, Callable, Any
+from typing import Dict, List, Tuple
 
 import numpy as np
 from cantools.database import Database, Message, Signal
@@ -22,13 +22,9 @@
 EIGHT_BITS = 8
 EIGHT_BYTES = 8
 TOTAL_BITS = EIGHT_BITS * EIGHT_BYTES
-MSG_REGISTRY_FILE_NAME = "_msg_registry.h"
-CAN_MESSAGES_FILE_NAME = "_can_messages.h"
 
 TEMPLATE_FILE_NAMES = ["can_messages.h.jinja2", "msg_registry.h.jinja2"]
 
-PACKAGE_NAME = "cangen"
-
 
 def _parse_dbc_files(dbc_file: str) -> Database:
     logger.info(f"Parsing DBC files: {dbc_file}")
@@ -172,33 +168,11 @@ def _camel_to_snake(text):
     return re.sub("([a-z0-9])([A-Z])", r"\1_\2", s1).lower()
 
 
-def _create_jninja_environment(
-    package_name: str, filters: dict[str, Callable[..., Any]]
-):
-    env = Environment(
-        loader=PackageLoader(package_name), trim_blocks=True, lstrip_blocks=True
-    )
-    for filter_name, filter_function in filters.items():
-        env.filters[filter_name] = filter_function
-
-    return env
-
-
-def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str):
-    return os.path.join(output_dir, bus_name.lower() + "_" + template_file_name[:-7])
-
+def _create_output_file_name(bus_name: str, template_file_name: str) -> str:
+    return os.path.join(bus_name.lower() + "_" + template_file_name.removesuffix(".jninja2"))
 
-def _generate_jninja_template(template_file_name, output_path, context, env):
-    template = env.get_template(template_file_name)
-    rendered_code = template.render(**context)
 
-    output_file_name = output_path
-    with open(output_file_name, "w") as output_file:
-        output_file.write(rendered_code)
-    logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
-
-
-def _generate_code(bus: Bus, config: Config):
+def _generate_code(bus: Bus):
     """
     Parses DBC files, extracts information, and generates code using Jinja2
     templates.
@@ -227,20 +201,24 @@ def _generate_code(bus: Bus, config: Config):
 
     logger.debug("Generating code for can messages and msg registry.")
 
-    env = _create_jninja_environment(
-        PACKAGE_NAME, {"camel_to_snake": _camel_to_snake, "decimal_to_hex": hex}
+    env = Environment(
+        loader=PackageLoader(__package__), trim_blocks=True, lstrip_blocks=True
     )
+    env.filters["decimal_to_hex"] = hex
+    env.filters["camel_to_snake"] = _camel_to_snake
+
     for template_file_name in TEMPLATE_FILE_NAMES:
-        _generate_jninja_template(
-            template_file_name,
-            _create_output_file_name(
-                config.output_dir, bus.bus_name, template_file_name
-            ),
-            context,
-            env,
-        )
+        template = env.get_template(template_file_name)
+        rendered_code = template.render(**context)
+
+        
+
+        output_file_name = _create_output_file_name(bus.bus_name, template_file_name)
+        with open(_create_output_file_name, "w") as output_file:
+            output_file.write(rendered_code)
+        logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
 
-    logger.info("Code generation complete")
+        logger.info("Code generation complete")
 
 
 def _prepare_output_directory(output_dir: str):
@@ -265,5 +243,6 @@ def generate_can_for_project(project_folder_name: str):
 
     _prepare_output_directory(config.output_dir)
 
+    os.chdir(config.output_dir)
     for bus in config.busses:
         _generate_code(bus, config)
diff --git a/scripts/cangen/cangen/main.py b/scripts/cangen/cangen/main.py
index 8aff353d..c867ac56 100644
--- a/scripts/cangen/cangen/main.py
+++ b/scripts/cangen/cangen/main.py
@@ -15,14 +15,15 @@
 def parse():
     parser = argparse.ArgumentParser(description="DBC to C code generator")
     parser.add_argument("project", type=str, help="Name of the project")
-    parser.add_argument(
+    group = parser.add_mutually_exclusive_group()
+    group.add_argument(
         "-v",
         "--verbose",
         dest="is_verbose",
         action="store_true",
         help="Enable verbose output",
     )
-    parser.add_argument(
+    group.add_argument(
         "--cmake-log-level",
         dest="level",
         choices=["STATUS", "INFO", "VERBOSE", "DEBUG"],

From e6fffaac98fb472e1e0bd4bc16879889fde655a1 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Mon, 11 Nov 2024 15:52:58 -0500
Subject: [PATCH 09/12] formatted ruff

---
 scripts/cangen/cangen/can_generator.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 2c060a42..ee594cff 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -169,7 +169,9 @@ def _camel_to_snake(text):
 
 
 def _create_output_file_name(bus_name: str, template_file_name: str) -> str:
-    return os.path.join(bus_name.lower() + "_" + template_file_name.removesuffix(".jninja2"))
+    return os.path.join(
+        bus_name.lower() + "_" + template_file_name.removesuffix(".jninja2")
+    )
 
 
 def _generate_code(bus: Bus):
@@ -211,8 +213,6 @@ def _generate_code(bus: Bus):
         template = env.get_template(template_file_name)
         rendered_code = template.render(**context)
 
-        
-
         output_file_name = _create_output_file_name(bus.bus_name, template_file_name)
         with open(_create_output_file_name, "w") as output_file:
             output_file.write(rendered_code)

From 37459d05eeacc329db777033f5396debafe7a581 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Mon, 11 Nov 2024 15:53:46 -0500
Subject: [PATCH 10/12] changed generate code

---
 scripts/cangen/cangen/can_generator.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index ee594cff..11649fb4 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -245,4 +245,4 @@ def generate_can_for_project(project_folder_name: str):
 
     os.chdir(config.output_dir)
     for bus in config.busses:
-        _generate_code(bus, config)
+        _generate_code(bus)

From ed9d002434cc5647c8b08ebb09c1256b02254d0e Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Mon, 11 Nov 2024 18:06:12 -0500
Subject: [PATCH 11/12] changed output_dir function

---
 scripts/cangen/cangen/can_generator.py | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 11649fb4..1530ec70 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -168,13 +168,12 @@ def _camel_to_snake(text):
     return re.sub("([a-z0-9])([A-Z])", r"\1_\2", s1).lower()
 
 
-def _create_output_file_name(bus_name: str, template_file_name: str) -> str:
+def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str) -> str:
     return os.path.join(
-        bus_name.lower() + "_" + template_file_name.removesuffix(".jninja2")
+        output_dir, bus_name.lower() + "_" + template_file_name.removesuffix(".jninja2")
     )
 
-
-def _generate_code(bus: Bus):
+def _generate_code(bus: Bus, output_dir: str):
     """
     Parses DBC files, extracts information, and generates code using Jinja2
     templates.
@@ -213,8 +212,8 @@ def _generate_code(bus: Bus):
         template = env.get_template(template_file_name)
         rendered_code = template.render(**context)
 
-        output_file_name = _create_output_file_name(bus.bus_name, template_file_name)
-        with open(_create_output_file_name, "w") as output_file:
+        output_file_name = _create_output_file_name(output_dir, bus.bus_name, template_file_name)
+        with open(output_file_name, "w") as output_file:
             output_file.write(rendered_code)
         logger.info(f"Rendered code written to '{os.path.abspath(output_file_name)}'")
 
@@ -243,6 +242,5 @@ def generate_can_for_project(project_folder_name: str):
 
     _prepare_output_directory(config.output_dir)
 
-    os.chdir(config.output_dir)
     for bus in config.busses:
-        _generate_code(bus)
+        _generate_code(bus, config.output_dir)

From 3c042863cec4aa246e0a8990ed5805bed243f9d6 Mon Sep 17 00:00:00 2001
From: AndrewI26 <105824138+AndrewI26@users.noreply.github.com>
Date: Mon, 11 Nov 2024 20:55:10 -0500
Subject: [PATCH 12/12] fixed typo

---
 firmware/projects/FrontController/vehicle_control_system        | 1 +
 .../projects/debug/FrontControllerSimple/vehicle_control_system | 1 +
 scripts/cangen/cangen/can_generator.py                          | 2 +-
 3 files changed, 3 insertions(+), 1 deletion(-)
 create mode 160000 firmware/projects/FrontController/vehicle_control_system
 create mode 160000 firmware/projects/debug/FrontControllerSimple/vehicle_control_system

diff --git a/firmware/projects/FrontController/vehicle_control_system b/firmware/projects/FrontController/vehicle_control_system
new file mode 160000
index 00000000..4fddb936
--- /dev/null
+++ b/firmware/projects/FrontController/vehicle_control_system
@@ -0,0 +1 @@
+Subproject commit 4fddb9369730a8cee4e74f83d71d3b1e33b8d5ea
diff --git a/firmware/projects/debug/FrontControllerSimple/vehicle_control_system b/firmware/projects/debug/FrontControllerSimple/vehicle_control_system
new file mode 160000
index 00000000..a04e3a93
--- /dev/null
+++ b/firmware/projects/debug/FrontControllerSimple/vehicle_control_system
@@ -0,0 +1 @@
+Subproject commit a04e3a93f0def3d748ca7c636cb0f226328c0a10
diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 1530ec70..a84e36f0 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -170,7 +170,7 @@ def _camel_to_snake(text):
 
 def _create_output_file_name(output_dir: str, bus_name: str, template_file_name: str) -> str:
     return os.path.join(
-        output_dir, bus_name.lower() + "_" + template_file_name.removesuffix(".jninja2")
+        output_dir, bus_name.lower() + "_" + template_file_name.removesuffix(".jinja2")
     )
 
 def _generate_code(bus: Bus, output_dir: str):