Merge pull request #8 from FRC3636/autlog

Auto-generate LoggableInputs and use Kotlin build script

.gitignore

@@ -1,5 +1,3 @@
-src/main/java/BuildConstants.java
-
 # Dynamically generated by IntelliJ IDEA FRC Plugin on Tuesday May 16, 2023 1:48:30 PM PDT
 # using https://www.toptal.com/developers/gitignore/api (See https://docs.gitignore.io)
 # Created by https://www.toptal.com/developers/gitignore/api/java,gradle,intellij+all,visualstudiocode,eclipse,netbeans,linux,macos,windows

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 3636
 }

annotation/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Team 8-Bit 9432
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

annotation/build.gradle.kts

@@ -0,0 +1,21 @@
+val kspVersion: String by project
+
+plugins {
+    kotlin("jvm")
+}
+
+group = "org.team9432.lib"
+
+dependencies {
+    implementation("com.squareup:kotlinpoet:1.14.2")
+    implementation("com.squareup:kotlinpoet-ksp:1.14.2")
+    implementation("com.google.devtools.ksp:symbol-processing-api:$kspVersion")
+
+    implementation("org.littletonrobotics.akit.junction:junction-core:3.2.1")
+}
+
+repositories {
+    maven {
+        url = uri("https://frcmaven.wpi.edu/artifactory/release/")
+    }
+}

annotation/src/main/kotlin/org/team9432/annotation/LogTableUtils.kt

@@ -0,0 +1,63 @@
+package org.team9432.annotation
+
+import edu.wpi.first.units.Measure
+import edu.wpi.first.units.MutableMeasure
+import edu.wpi.first.units.Unit
+import edu.wpi.first.util.WPISerializable
+import edu.wpi.first.util.protobuf.Protobuf
+import edu.wpi.first.util.struct.Struct
+import edu.wpi.first.util.struct.StructSerializable
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.LogTable.LogValue
+import us.hebi.quickbuf.ProtoMessage
+
+object LogTableUtils {
+    // This is all just to get correct type inference working with kotlin
+    fun <T: StructSerializable> LogTable.kGet(key: String, defaultValue: T) = this.getFromWPISerializable(key, defaultValue)
+    private fun <T: WPISerializable> LogTable.getFromWPISerializable(key: String, defaultValue: T): T = this.get(key, defaultValue)
+
+    fun LogTable.kPut(key: String, value: LogValue) = put(key, value)
+    fun LogTable.kPut(key: String, value: ByteArray) = put(key, value)
+    fun LogTable.kPut(key: String, value: Boolean) = put(key, value)
+    fun LogTable.kPut(key: String, value: Int) = put(key, value)
+    fun LogTable.kPut(key: String, value: Long) = put(key, value)
+    fun LogTable.kPut(key: String, value: Float) = put(key, value)
+    fun LogTable.kPut(key: String, value: Double) = put(key, value)
+    fun LogTable.kPut(key: String, value: String) = put(key, value)
+    fun <E: Enum<E>> LogTable.kPut(key: String, value: E) = put(key, value)
+    fun <U: Unit<U>> LogTable.kPut(key: String, value: Measure<U>) = put(key, value)
+    fun LogTable.kPut(key: String, value: BooleanArray) = put(key, value)
+    fun LogTable.kPut(key: String, value: IntArray) = put(key, value)
+    fun LogTable.kPut(key: String, value: LongArray) = put(key, value)
+    fun LogTable.kPut(key: String, value: FloatArray) = put(key, value)
+    fun LogTable.kPut(key: String, value: DoubleArray) = put(key, value)
+    fun LogTable.kPut(key: String, value: Array<String>) = put(key, value)
+    fun <T> LogTable.kPut(key: String, struct: Struct<T>, value: T) = put(key, struct, value)
+    fun <T> LogTable.kPut(key: String, struct: Struct<T>, value: Array<T>) = put(key, struct, *value)
+    fun <T, MessageType: ProtoMessage<*>> LogTable.kPut(key: String, proto: Protobuf<T, MessageType>, value: T) = put(key, proto, value)
+    fun <T: WPISerializable> LogTable.kPut(key: String, value: T) = put(key, value)
+    fun <T: StructSerializable> LogTable.kPut(key: String, value: Array<T>) = put(key, *value)
+
+    fun LogTable.kGet(key: String): LogValue = get(key)
+    fun LogTable.kGet(key: String, defaultValue: ByteArray): ByteArray = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: Boolean) = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: Int) = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: Long) = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: Float) = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: Double) = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: String): String = get(key, defaultValue)
+    fun <E: Enum<E>> LogTable.kGet(key: String, defaultValue: E): E = get(key, defaultValue)
+    fun <U: Unit<U>> LogTable.kGet(key: String, defaultValue: Measure<U>): Measure<U> = get(key, defaultValue)
+    fun <U: Unit<U>> LogTable.kGet(key: String, defaultValue: MutableMeasure<U>): MutableMeasure<U> = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: BooleanArray): BooleanArray = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: IntArray): IntArray = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: LongArray): LongArray = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: FloatArray): FloatArray = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: DoubleArray): DoubleArray = get(key, defaultValue)
+    fun LogTable.kGet(key: String, defaultValue: Array<String>): Array<String> = get(key, defaultValue)
+    fun <T> LogTable.kGet(key: String, struct: Struct<T>, defaultValue: T): T = get(key, struct, defaultValue)
+    fun <T> LogTable.kGet(key: String, struct: Struct<T>, defaultValue: Array<T>): Array<T> = get(key, struct, *defaultValue)
+    fun <T, MessageType: ProtoMessage<*>> LogTable.kGet(key: String, proto: Protobuf<T, MessageType>, defaultValue: T): T = get(key, proto, defaultValue)
+    fun <T: WPISerializable> LogTable.kGet(key: String, defaultValue: T): T = get(key, defaultValue)
+    fun <T: StructSerializable> LogTable.kGet(key: String, defaultValue: Array<T>): Array<T> = get(key, *defaultValue)
+}

annotation/src/main/kotlin/org/team9432/annotation/Logged.kt

@@ -0,0 +1,4 @@
+package org.team9432.annotation
+
+@Target(AnnotationTarget.CLASS)
+annotation class Logged

annotation/src/main/kotlin/org/team9432/annotation/LoggedProcessor.kt

@@ -0,0 +1,81 @@
+package org.team9432.annotation
+
+import com.google.devtools.ksp.processing.*
+import com.google.devtools.ksp.symbol.KSAnnotated
+import com.google.devtools.ksp.symbol.KSClassDeclaration
+import com.google.devtools.ksp.symbol.Modifier
+import com.google.devtools.ksp.validate
+import com.squareup.kotlinpoet.FileSpec
+import com.squareup.kotlinpoet.FunSpec
+import com.squareup.kotlinpoet.KModifier
+import com.squareup.kotlinpoet.TypeSpec
+import com.squareup.kotlinpoet.ksp.toClassName
+import com.squareup.kotlinpoet.ksp.writeTo
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+
+class LoggedProcessor(private val codeGenerator: CodeGenerator): SymbolProcessor {
+    private val logTableType = LogTable::class
+    private val loggableInputsType = LoggableInputs::class
+
+    override fun process(resolver: Resolver): List<KSAnnotated> {
+        val annotatedClasses = resolver.getSymbolsWithAnnotation("org.team9432.annotation.Logged").filterIsInstance<KSClassDeclaration>()
+        annotatedClasses.forEach { process(it) }
+        return annotatedClasses.filterNot { it.validate() }.toList()
+    }
+
+    private fun process(classDeclaration: KSClassDeclaration) {
+        if (!classDeclaration.modifiers.contains(Modifier.OPEN)) throw Exception("""[Logged] Please ensure the class you are annotating (${classDeclaration.simpleName.asString()}) has the open modifier!""")
+
+        val packageName = classDeclaration.packageName.asString()
+        val className = classDeclaration.simpleName.asString()
+
+        val newClassName = "Logged${className}"
+
+        val toLogBuilder = FunSpec.builder("toLog")
+            .addModifiers(KModifier.OVERRIDE)
+            .addParameter("table", logTableType)
+        val fromLogBuilder = FunSpec.builder("fromLog")
+            .addModifiers(KModifier.OVERRIDE)
+            .addParameter("table", logTableType)
+
+        classDeclaration.getAllProperties().forEach { property ->
+            val simpleName = property.simpleName.asString()
+            val logName = simpleName.substring(0, 1).uppercase() + simpleName.substring(1)
+
+            if (!property.isMutable) throw Exception("""[Logged] Please ensure the class you are annotating (${classDeclaration.simpleName.asString()}.${simpleName}) has only mutable properties!""")
+
+            toLogBuilder.addCode(
+                """ |table.kPut("$logName", $simpleName)
+                    |
+                """.trimMargin()
+            )
+
+            fromLogBuilder.addCode(
+                """ |$simpleName = table.kGet("$logName", $simpleName)
+                    |
+                """.trimMargin()
+            )
+        }
+
+        val type = TypeSpec.classBuilder(newClassName)
+            .addSuperinterface(loggableInputsType)
+            .superclass(classDeclaration.toClassName())
+            .addFunction(toLogBuilder.build())
+            .addFunction(fromLogBuilder.build())
+
+
+        val file = FileSpec.builder(packageName, newClassName)
+        file.addType(type.build())
+        file.indent("    ")
+        file.addImport(LogTableUtils::class, "kGet", "kPut")
+        file.addImport("com.frcteam3636.frc2024.utils.LogTableUtils", "kGet", "kPut")
+        file.build().writeTo(codeGenerator, Dependencies(true, classDeclaration.containingFile!!))
+    }
+}
+
+class Provider: SymbolProcessorProvider {
+    override fun create(environment: SymbolProcessorEnvironment) = LoggedProcessor(
+        codeGenerator = environment.codeGenerator
+    )
+}

annotation/src/main/kotlin/org/team9432/annotation/README.md

@@ -0,0 +1,4 @@
+## org/team9432/lib/annotation/
+
+This package is for a custom annotation processor that replicates the behavior of AdvantageKit's AutoLog annotation, but
+in Kotlin.

annotation/src/main/resources/META-INF/services/com.google.devtools.ksp.processing.SymbolProcessorProvider

@@ -0,0 +1 @@
+org.team9432.annotation.Provider