Make it so that we can import DrivetrainConfigs from JSON
This adds utilities to make it so that:
1. The control loop python code will output any constants
to the output JSON.
2. In order to support the above, allow the contorl loop python
code to optionally put the state space matrices into a
sub-field of the JSON.
3. Add a utility to merge the JSONs outputted by the separate
drivetrain python files each year.
4. Add a test that confirms that we can actually convert said JSON
to the DrivetrainConfig type.
Change-Id: I05c13d248a47fec86af36b872ea20ae9e68aa9ca
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 864a4e4..a6fcd3e 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -6,7 +6,14 @@
class Constant(object):
- def __init__(self, name, formatt, value, comment=None):
+ def __init__(self,
+ name,
+ formatt,
+ value,
+ comment=None,
+ json_name=None,
+ json_scale=1.0,
+ json_type=None):
self.name = name
self.formatt = formatt
self.value = value
@@ -17,6 +24,9 @@
self.comment = ""
else:
self.comment = comment + "\n"
+ self.json_name = json_name
+ self.json_scale = json_scale
+ self.json_type = json_type
def Render(self, loop_type):
typestring = self.formatToType[self.formatt]
@@ -25,6 +35,16 @@
return str("\n%sstatic constexpr %s %s = "+ self.formatt +";\n") % \
(self.comment, typestring, self.name, self.value)
+ def RenderJson(self, json_dict):
+ if self.json_name is None:
+ return
+ json_value = self.value * self.json_scale
+ json_dict[
+ self.
+ json_name] = json_value if self.json_type is None else self.json_type(
+ json_value)
+ return json_dict
+
def MatrixToJson(matrix):
"""Returns JSON representation of a numpy matrix."""
@@ -94,12 +114,12 @@
os.path.basename(header_file).upper().replace(
'.', '_').replace('/', '_') + '_')
- def Write(self, header_file, cc_file, json_file=None):
+ def Write(self, header_file, cc_file, json_file=None, json_field=None):
"""Writes the loops to the specified files."""
self.WriteHeader(header_file)
self.WriteCC(os.path.basename(header_file), cc_file)
if json_file is not None:
- self.WriteJson(json_file)
+ self.WriteJson(json_file, json_field)
def _GenericType(self, typename, extra_args=None):
"""Returns a loop template using typename for the type."""
@@ -275,7 +295,7 @@
fd.write(self._namespace_end)
fd.write('\n')
- def WriteJson(self, json_file):
+ def WriteJson(self, json_file, json_field):
"""Writes a JSON file of the loop constants to the specified json_file."""
loops = []
for loop in self._loops:
@@ -285,8 +305,16 @@
loop_json["observer"] = loop.DumbObserverJson(
self._ObserverCoeffType())
loops.append(loop_json)
+ if json_field is None:
+ with open(json_file, 'w') as f:
+ f.write(json.dumps(loops))
+ return
+ loop_config = {}
+ loop_config[json_field] = loops
+ for const in self._constant_list:
+ const.RenderJson(loop_config)
with open(json_file, 'w') as f:
- f.write(json.dumps(loops))
+ f.write(json.dumps(loop_config))
class ControlLoop(object):