Program Listing for File drivers.py
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# Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
#
# This file is part of Taproot.
#
# Taproot is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Taproot is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Taproot. If not, see <https://www.gnu.org/licenses/>.
def nice_mock(mock_name):
return f"testing::NiceMock<{mock_name}>"
def strict_mock(mock_name):
return f"testing::StrictMock<{mock_name}>"
"""
A dictionary storing data about each driver that has
been defined in code. This data is used to construct
a drivers object. The module-dependencies specified
will determine if the driver defined below will be
added to the main drivers object.
"""
DRIVERS_AND_MODULE_DEPENDENCIES = [
{
"object-name": "arch::Profiler",
"mock-object-name": "arch::Profiler",
"src-file": "tap/architecture/profiler.hpp",
"mock-header": "tap/architecture/profiler.hpp",
"constructor": "this",
"module-dependencies": [":communication:gpio:analog"],
},
{
"object-name": "gpio::Analog",
"mock-object-name": nice_mock("mock::AnalogMock"),
"src-file": "tap/communication/gpio/analog.hpp",
"mock-header": "tap/mock/analog_mock.hpp",
"constructor": "",
"module-dependencies": "",
},
{
"object-name": "can::Can",
"mock-object-name": nice_mock("mock::CanMock"),
"src-file": "tap/communication/can/can.hpp",
"mock-header": "tap/mock/can_mock.hpp",
"constructor": "",
"module-dependencies": [":communication:can"],
},
{
"object-name": "can::CanRxHandler",
"mock-object-name": nice_mock("mock::CanRxHandlerMock"),
"src-file": "tap/communication/can/can_rx_handler.hpp",
"mock-header": "tap/mock/can_rx_handler_mock.hpp",
"constructor": "this",
"module-dependencies": [":communication:can"],
},
{
"object-name": "gpio::Digital",
"mock-object-name": nice_mock("mock::DigitalMock"),
"src-file": "tap/communication/gpio/digital.hpp",
"mock-header": "tap/mock/digital_mock.hpp",
"constructor": "",
"module-dependencies": [":communication:gpio:digital"],
},
{
"object-name": "gpio::Leds",
"mock-object-name": nice_mock("mock::LedsMock"),
"src-file": "tap/communication/gpio/leds.hpp",
"mock-header": "tap/mock/leds_mock.hpp",
"constructor": "",
"module-dependencies": [":communication:gpio:leds"],
},
{
"object-name": "gpio::Pwm",
"mock-object-name": nice_mock("mock::PwmMock"),
"src-file": "tap/communication/gpio/pwm.hpp",
"mock-header": "tap/mock/pwm_mock.hpp",
"constructor": "",
"module-dependencies": [":communication:gpio:pwm"],
},
{
"object-name": "communication::sensors::imu::mpu6500::Mpu6500",
"mock-object-name": nice_mock("mock::Mpu6500Mock"),
"src-file": "tap/communication/sensors/imu/mpu6500/mpu6500.hpp",
"mock-header": "tap/mock/mpu6500_mock.hpp",
"constructor": "this",
"module-dependencies": [":communication:sensors:imu:mpu6500"],
},
{
"object-name": "communication::serial::RefSerial",
"mock-object-name": nice_mock("mock::RefSerialMock"),
"src-file": "tap/communication/serial/ref_serial.hpp",
"mock-header": "tap/mock/ref_serial_mock.hpp",
"constructor": "this",
"module-dependencies": [":communication:serial:ref_serial"],
},
{
"object-name": "communication::serial::Remote",
"mock-object-name": nice_mock("mock::RemoteMock"),
"src-file": "tap/communication/serial/remote.hpp",
"mock-header": "tap/mock/remote_mock.hpp",
"constructor": "this",
"module-dependencies": [":communication:serial:remote"],
},
{
"object-name": "communication::serial::Uart",
"mock-object-name": nice_mock("mock::UartMock"),
"src-file": "tap/communication/serial/uart.hpp",
"mock-header": "tap/mock/uart_mock.hpp",
"constructor": "",
"module-dependencies": [":communication:serial"],
},
{
"object-name": "communication::serial::TerminalSerial",
"mock-object-name": nice_mock("mock::TerminalSerialMock"),
"src-file": "tap/communication/serial/terminal_serial.hpp",
"mock-header": "tap/mock/terminal_serial_mock.hpp",
"constructor": "this",
"module-dependencies": "",
},
{
"object-name": "control::CommandMapper",
"mock-object-name": nice_mock("mock::CommandMapperMock"),
"src-file": "tap/control/command_mapper.hpp",
"mock-header": "tap/mock/command_mapper_mock.hpp",
"constructor": "this",
"module-dependencies": "",
},
{
"object-name": "control::SchedulerTerminalHandler",
"mock-object-name": nice_mock("mock::SchedulerTerminalHandlerMock"),
"src-file": "tap/control/scheduler_terminal_handler.hpp",
"mock-header": "tap/mock/scheduler_terminal_handler_mock.hpp",
"constructor": "this",
"module-dependencies": "",
},
{
"object-name": "errors::ErrorController",
"mock-object-name": strict_mock("mock::ErrorControllerMock"),
"src-file": "tap/errors/error_controller.hpp",
"mock-header": "tap/mock/error_controller_mock.hpp",
"constructor": "this",
"module-dependencies": "",
},
{
"object-name": "motor::DjiMotorTerminalSerialHandler",
"mock-object-name": nice_mock("mock::DjiMotorTerminalSerialHandlerMock"),
"src-file": "tap/motor/dji_motor_terminal_serial_handler.hpp",
"mock-header": "tap/mock/dji_motor_terminal_serial_handler_mock.hpp",
"constructor": "this",
"module-dependencies": [":communication:serial:terminal_serial"],
},
{
"object-name": "motor::DjiMotorTxHandler",
"mock-object-name": nice_mock("mock::DjiMotorTxHandlerMock"),
"src-file": "tap/motor/dji_motor_tx_handler.hpp",
"mock-header": "tap/mock/dji_motor_tx_handler_mock.hpp",
"constructor": "this",
"module-dependencies": "",
},
{
"object-name": "communication::sensors::imu::bmi088::Bmi088",
"mock-object-name": nice_mock("mock::Bmi088Mock"),
"src-file": "tap/communication/sensors/imu/bmi088/bmi088.hpp",
"mock-header": "tap/mock/bmi088_mock.hpp",
"constructor": "this",
"module-dependencies": [":communication:sensors:imu:bmi088"],
}
]
def should_driver_be_generated(env, driver):
return all(env.has_module(dependency) for dependency in driver["module-dependencies"])
def get_names_sorted(env, name):
return sorted([driver[name] for driver in DRIVERS_AND_MODULE_DEPENDENCIES if should_driver_be_generated(env, driver)])
def get_src_files_sorted(env):
return get_names_sorted(env, "src-file")
def get_mock_headers_sorted(env):
return get_names_sorted(env, "mock-header")
def get_object_and_mock_names(env):
objects_and_mocks = []
for driver in DRIVERS_AND_MODULE_DEPENDENCIES:
if should_driver_be_generated(env, driver):
object_instance_name_pascal = driver["object-name"].split("::")[-1]
object_instance_name_camel = object_instance_name_pascal[0].lower() + object_instance_name_pascal[1:]
objects_and_mocks.append({
"object-name": driver["object-name"],
"mock-object-name": driver["mock-object-name"],
"object-instance-name": object_instance_name_camel,
"constructor": driver["constructor"]
})
return objects_and_mocks