Merge pull request #92 from robotpy/defaults

Add pidIdx and timeoutMs defaults

gen/MotController_data.yml

@@ -437,6 +437,8 @@ c_MotController_GetTemperature:
 c_MotController_ConfigSelectedFeedbackSensor:
   code: |
     self.hal_data['pid%d_feedback' % pidIdx] = feedbackDevice
+  defaults:
+    pidIdx: 0
   doc: |
     Select the feedback device for the motor controller.
     Most CTRE CAN motor controllers will support remote sensors over CAN.
@@ -455,6 +457,8 @@ c_MotController_ConfigSelectedFeedbackSensor:
 c_MotController_ConfigSelectedFeedbackCoefficient:
   code: |
     self.hal_data['pid%d_coefficient' % pidIdx] = coefficient
+  defaults:
+    pidIdx: 0
   doc: |
     The Feedback Coefficient is a scalar applied to the value of the
     feedback sensor.  Useful when you need to scale your sensor values
@@ -520,6 +524,8 @@ c_MotController_GetSelectedSensorPosition:
         raise NotImplementedError("getSelectedSensorPosition not implemented for %s" % fd)
     else:
         retval = self.hal_data['%sposition' % prefix]
+  defaults:
+    pidIdx: 0
   doc: |
     Get the selected sensor position.
     
@@ -536,6 +542,8 @@ c_MotController_GetSelectedSensorVelocity:
         raise NotImplementedError("getSelectedSensorVelocity not implemented for %s" % fd)
     else:
         retval = self.hal_data['%svelocity' % prefix]
+  defaults:
+    pidIdx: 0
   doc: |
     Get the selected sensor velocity.
     
@@ -551,6 +559,8 @@ c_MotController_SetSelectedSensorPosition:
         raise NotImplementedError("setSelectedSensorPosition not implemented for %s" % fd)
     else:
         self.hal_data['%sposition' % prefix] = sensorPos
+  defaults:
+    pidIdx: 0
   doc: |
     Sets the sensor position to the given value.
 
@@ -891,6 +901,8 @@ c_MotController_ConfigClosedLoopPeriod:
 c_MotController_SetIntegralAccumulator:
   code: |
     self.hal_data['pid%d_iaccum' % pidIdx] = iaccum
+  defaults:
+    pidIdx: 0
   doc: |
     Sets the integral accumulator. Typically this is used to clear/zero the
     integral accumulator, however some use cases may require seeding the
@@ -909,6 +921,8 @@ c_MotController_SetIntegralAccumulator:
 c_MotController_GetClosedLoopError:
   code: |
     retval = int(self.hal_data['pid%d_error' % pidIdx])
+  defaults:
+    pidIdx: 0
   doc: |
     Gets the closed-loop error.  The units depend on which control mode is in
     use. See Phoenix-Documentation information on units.
@@ -919,6 +933,8 @@ c_MotController_GetClosedLoopError:
 c_MotController_GetIntegralAccumulator:
   code: |
     retval = self.hal_data['pid%d_iaccum' % pidIdx]
+  defaults:
+    pidIdx: 0
   doc: |
     Gets the iaccum value.
 
@@ -928,6 +944,8 @@ c_MotController_GetIntegralAccumulator:
 c_MotController_GetErrorDerivative:
   code: |
     retval = self.hal_data['pid%d_errorDerivative' % pidIdx]
+  defaults:
+    pidIdx: 0
   doc: |
     Gets the derivative of the closed-loop error.
     
@@ -1708,6 +1726,8 @@ c_MotController_GetLimitSwitchState:
 c_MotController_GetClosedLoopTarget:
   code: |
       retval = self.hal_data['pid%d_target' % pidIdx]
+  defaults:
+    pidIdx: 0
   doc: |
     Gets the current target of a given closed loop.
 

gen/hooks.py

@@ -125,6 +125,15 @@ def function_hook(fn, data):
 
     param_offset = 0 if x_name.startswith("create") else 1
 
+    data = data.get("data", {}).get(fn["name"])
+    if data is None:
+        # ensure every function is in our yaml
+        print("WARNING", fn["name"])
+        data = {}
+        # assert False, fn['name']
+
+    param_defaults = data.get("defaults", {})
+
     for i, p in enumerate(fn["parameters"][param_offset:]):
         if p["name"] == "":
             p["name"] = "param%s" % i
@@ -136,6 +145,14 @@ def function_hook(fn, data):
         p["x_pyann"] = "%(name)s: %(x_pyann_type)s" % p
         p["x_pyarg"] = 'py::arg("%(name)s")' % p
 
+        if p["name"] in param_defaults:
+            _pname = param_defaults.pop(p["name"])
+            p["x_pyann"] += " = " + str(_pname)
+            p["x_pyarg"] += "=" + str(_pname)
+        elif p["name"].lower() == "timeoutms":
+            p["x_pyann"] += " = 0"
+            p["x_pyarg"] += "=0"
+
         if p["pointer"]:
             p["x_callname"] = "&%(x_callname)s" % p
             x_out_params.append(p)
@@ -158,6 +175,8 @@ def function_hook(fn, data):
 
         p["x_decl"] = "%s %s" % (p["x_type"], p["name"])
 
+    assert not param_defaults
+
     x_callstart = ""
     x_callend = ""
     x_wrap_return = ""
@@ -224,13 +243,6 @@ def function_hook(fn, data):
 
     args_comma = ", " if x_in_params else ""
 
-    data = data.get("data", {}).get(fn["name"])
-    if data is None:
-        # ensure every function is in our yaml
-        print("WARNING", fn["name"])
-        data = {}
-        # assert False, fn['name']
-
     if "return" in data.get("code", ""):
         raise ValueError("%s: Do not use return, assign to retval instead" % fn["name"])