[wpilib] Pregenerate PWM motor controllers (wpilibsuite#6742)

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>

.github/workflows/pregenerate.yml

@@ -34,6 +34,8 @@ jobs:
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Run HIDs
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
+      - name: Run PWM Controllers
+        run: ./wpilibj/generate_pwm_motor_controllers.py && ./wpilibc/generate_pwm_motor_controllers.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

wpilibc/generate_pwm_motor_controllers.py

@@ -0,0 +1,101 @@
+#!/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 sys
+import os
+from typing import Dict, Any
+from pathlib import Path
+
+from jinja2 import Environment, FileSystemLoader
+from jinja2.environment import Template
+
+
+def render_template(
+    template: Template, output_dir: Path, filename: str, controller: Dict[str, Any]
+):
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    output_file = output_dir / filename
+    output_file.write_text(template.render(controller), encoding="utf-8")
+
+
+def generate_cpp_headers(
+    output_root: Path, template_root: Path, pwm_motor_controllers: Dict[str, Any]
+):
+    header_template_root = template_root / "main/native/include/frc/motorcontroller"
+    env = Environment(
+        loader=FileSystemLoader(header_template_root),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    root_path = output_root / "main/native/include/frc/motorcontrol"
+    template = env.get_template("pwm_motor_controller.h.jinja")
+
+    for controller in pwm_motor_controllers:
+        controller_name = os.path.basename(f"{controller['name']}.h")
+        render_template(template, root_path, controller_name, controller)
+
+
+def generate_cpp_sources(output_root, template_root, pwm_motor_controllers):
+    cpp_template_root = str(template_root / "main/native/cpp/motorcontroller")
+    env = Environment(
+        loader=FileSystemLoader(cpp_template_root),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+
+    root_path = output_root / "main/native/cpp/motorcontrol"
+    template = env.get_template("pwm_motor_controller.cpp.jinja")
+
+    for controller in pwm_motor_controllers:
+        controller_name = os.path.basename(f"{controller['name']}.cpp")
+        render_template(template, root_path, controller_name, controller)
+
+
+def generate_pwm_motor_controllers(
+    output_root: Path, template_root: Path, schema_root: Path
+):
+    with (schema_root / "pwm_motor_controllers.json").open(encoding="utf-8") as f:
+        controllers = json.load(f)
+
+    generate_cpp_headers(output_root, template_root, controllers)
+    generate_cpp_sources(output_root, template_root, controllers)
+
+
+def main(argv):
+    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(
+        "--schema_root",
+        help="Optional. If set, will use this directory as the root for discovering the pwm controller schema",
+        default=dirname / "../wpilibj/src/generate",
+        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,
+    )
+    args = parser.parse_args(argv)
+
+    generate_pwm_motor_controllers(
+        args.output_directory, args.template_root, args.schema_root
+    )
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja

@@ -0,0 +1,20 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#include "frc/motorcontrol/{{ name }}.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+{{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
+  m_pwm.SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_{{ PeriodMultiplier | default("1", true)}}X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_{{ ResourceName }}, GetChannel() + 1);
+}

wpilibc/src/generate/main/native/include/frc/motorcontroller/pwm_motor_controller.h.jinja

@@ -0,0 +1,43 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * {{ Manufacturer }} {{ DisplayName }} Motor Controller with PWM control.
+ *
+ * Note that the {{ DisplayName }} uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the {{ DisplayName }} User
+ * Manual available from {{ Manufacturer }}.
+ *
+ * \li {{ "{:.3f}".format(pulse_width_ms.max) }}ms = full "forward"
+ * \li {{ "{:.3f}".format(pulse_width_ms.deadbandMax) }}ms = the "high end" of the deadband range
+ * \li {{ "{:.3f}".format(pulse_width_ms.center) }}ms = center of the deadband range (off)
+ * \li {{ "{:.3f}".format(pulse_width_ms.deadbandMin) }}ms = the "low end" of the deadband range
+ * \li {{ "{:.3f}".format(pulse_width_ms.min) }}ms = full "reverse"
+ */
+class {{ name }} : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a {{ DisplayName }} connected via PWM.
+   *
+   * @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit {{ name }}(int channel);
+
+  {{ name }}({{ name }}&&) = default;
+  {{ name }}& operator=({{ name }}&&) = default;
+};
+
+}  // namespace frc