andrewi/293 cangen refactor

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

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 +168,12 @@ 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
+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")
     )
-    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 _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, output_dir: str):
     """
     Parses DBC files, extracts information, and generates code using Jinja2
     templates.
@@ -227,20 +202,22 @@ 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(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")
+        logger.info("Code generation complete")
 
 
 def _prepare_output_directory(output_dir: str):
@@ -266,4 +243,4 @@ def generate_can_for_project(project_folder_name: str):
     _prepare_output_directory(config.output_dir)
 
     for bus in config.busses:
-        _generate_code(bus, config)
+        _generate_code(bus, config.output_dir)

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"],