#!/usr/bin/env python

#

# Copyright (c) 2017, United States Government, as represented by the

# Administrator of the National Aeronautics and Space Administration.

#

# All rights reserved.

#

# The Astrobee platform is licensed under the Apache License, Version 2.0

# (the "License"); you may not use this file except in compliance with the

# License. You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT

# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the

# License for the specific language governing permissions and limitations

# under the License.

"""

A library and command-line tool for generating a RAPID-style CommandConstants.idl

file from an XPJSON schema.

"""

import argparse

import logging

import os

import sys

# hack to set up PYTHONPATH

ffroot = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))

sys.path.insert(0, os.path.join(ffroot, "astrobee", "commands", "xgds_planner2"))

import luaTable

import xpjsonAstrobee

TEMPLATE_MAIN = """

-- Copyright (c) 2015 United States Government as represented by the

-- Administrator of the National Aeronautics and Space Administration.

-- All Rights Reserved.

commandConfig = %(table)s

"""

# END TEMPLATE_MAIN

def getParamConfig(param):

if "." in param.id:

category, baseId = param.id.split(".", 1)

else:

category, baseId = None, param.id

return {

"key": xpjsonAstrobee.fixName(baseId),

"type": xpjsonAstrobee.XPJSON_PARAM_VALUE_TYPE_MAPPINGS[param.valueType],

}

def getCommandConfig(cmd):

assert "." in cmd.id, "CommandSpec without category: %s" % cmd

category, baseId = cmd.id.split(".", 1)

return {

"name": baseId,

"parameters": [getParamConfig(p) for p in cmd.params],

}

def genCommandConfigLua(inSchemaPath, outCommandConfigPath):

schema = xpjsonAstrobee.loadDocument(inSchemaPath)

specs = sorted(schema.commandSpecs, key=lambda c: c.id)

categoryMap = {}

for spec in specs:

assert "." in spec.id, "CommandSpec without category: %s" % spec

category, baseId = spec.id.split(".", 1)

specsInCategory = categoryMap.setdefault(category, [])

specsInCategory.append(getCommandConfig(spec))

categories = sorted(categoryMap.keys())

config = {

"availableSubsystems": [

{"name": c, "subsystemTypeName": c + "Type"} for c in categories

],

"availableSubsystemTypes": [

{"name": k + "Type", "commands": categoryMap[k]} for k in categories

],

}

# import json; print json.dumps(config, indent=4, sort_keys=True)

table = luaTable.dumps(config)

with open(outCommandConfigPath, "w") as outStream:

outStream.write(TEMPLATE_MAIN % {"table": table})

logging.info("wrote command config Lua to %s", outCommandConfigPath)

class CustomFormatter(

argparse.RawDescriptionHelpFormatter, argparse.ArgumentDefaultsHelpFormatter

):

pass

def main():

parser = argparse.ArgumentParser(

description=__doc__ + "\n\n",

formatter_class=CustomFormatter,

)

parser.add_argument(

"inSchemaPath",

help="input XPJSON schema path",

)

parser.add_argument(

"outCommandConfigPath",

help="output Lua command config file",

nargs="?",

default="commands.config",

)

args = parser.parse_args()

logging.basicConfig(level=logging.DEBUG, format="%(message)s")

genCommandConfigLua(args.inSchemaPath, args.outCommandConfigPath)

if __name__ == "__main__":

main()