def __generate_memory_code(self, cost=None, grad=None, f1=None, f2=None):
"""
Creates file casadi_memory.h with memory sizes
:param cost: cost function (cs.Function)
:param grad: grad function (cs.Function)
:param f1: mapping F1 (cs.Function)
:param f2: mapping F2 (cs.Function)
"""
self.__logger.info("Generating casadi_memory.h")
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader)
template = env.get_template('casadi_memory.h.template')
output_template = template.render(
cost=cost,
grad=grad,
f1=f1,
f2=f2,
build_config=self.__build_config,
meta=self.__meta,
timestamp_created=datetime.datetime.now())
memory_path = os.path.abspath(
os.path.join(self.__icasadi_target_dir(),
"extern/casadi_memory.h"))
with open(memory_path, "w") as fh:
fh.write(output_template)
def __generate_code_tcp_interface(self):
logging.info("Generating code for TCP/IP interface (tcp_iface/src/main.rs)")
logging.info("TCP server will bind at %s:%d",
self.__build_config.tcp_interface_config.bind_ip,
self.__build_config.tcp_interface_config.bind_port)
target_dir = self.__target_dir()
tcp_iface_dir = os.path.join(target_dir, "tcp_iface")
tcp_iface_source_dir = os.path.join(tcp_iface_dir, "src")
# make tcp_iface/ and tcp_iface/src
make_dir_if_not_exists(tcp_iface_dir)
make_dir_if_not_exists(tcp_iface_source_dir)
# generate main.rs for tcp_iface
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader)
template = env.get_template('tcp_server.rs.template')
output_template = template.render(meta=self.__meta,
tcp_server_config=self.__build_config.tcp_interface_config,
timestamp_created=datetime.datetime.now())
target_scr_lib_rs_path = os.path.join(tcp_iface_source_dir, "main.rs")
with open(target_scr_lib_rs_path, "w") as fh:
fh.write(output_template)
# generate Cargo.toml for tcp_iface
template = env.get_template('tcp_server_cargo.toml.template')
output_template = template.render(meta=self.__meta, timestamp_created=datetime.datetime.now())
target_scr_lib_rs_path = os.path.join(tcp_iface_dir, "Cargo.toml")
with open(target_scr_lib_rs_path, "w") as fh:
fh.write(output_template)
def __generate_c_bindings_makefile(self):
self.__logger.info("Generating CMakeLists (do: `cmake .; make` to compile the autogenerated example)")
target_dir = self.__target_dir()
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader, autoescape=True)
template = env.get_template('example_cmakelists.template')
output_template = template.render(meta=self.__meta, build_config=self.__build_config)
target_scr_lib_rs_path = os.path.join(target_dir, "CMakeLists.txt")
with open(target_scr_lib_rs_path, "w") as fh:
fh.write(output_template)
def __generate_build_rs(self):
logging.info("Generating build.rs for target optimizer")
target_dir = self.__target_dir()
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader)
template = env.get_template('optimizer_build.rs.template')
output_template = template.render(meta=self.__meta,
activate_clib_generation=self.__build_config.build_c_bindings)
target_scr_lib_rs_path = os.path.join(target_dir, "build.rs")
with open(target_scr_lib_rs_path, "w") as fh:
fh.write(output_template)
def __copy__ros_files(self):
self.__logger.info("Copying external dependencies")
# 1. --- copy header file
target_ros_dir = self.__ros_target_dir()
header_file_name = self.__meta.optimizer_name + '_bindings.hpp'
target_include_filename = os.path.abspath(
os.path.join(target_ros_dir, 'include', header_file_name))
original_include_file = os.path.abspath(
os.path.join(self.__target_dir(), header_file_name))
shutil.copyfile(original_include_file, target_include_filename)
# 2. --- copy library file
lib_file_name = 'lib' + self.__meta.optimizer_name + '.a'
target_lib_file_name = \
os.path.abspath(
os.path.join(
target_ros_dir, 'extern_lib', lib_file_name))
original_lib_file = os.path.abspath(
os.path.join(self.__target_dir(), 'target',
self.__build_config.build_mode, lib_file_name))
shutil.copyfile(original_lib_file, target_lib_file_name)
# 3. --- copy msg file OptimizationParameters.msg
original_params_msg = os.path.abspath(
os.path.join(og_dfn.templates_dir(), 'ros',
'OptimizationParameters.msg'))
target_params_msg = \
os.path.abspath(
os.path.join(
target_ros_dir, 'msg', 'OptimizationParameters.msg'))
shutil.copyfile(original_params_msg, target_params_msg)
# 4. --- copy msg file OptimizationResult.msg
original_result_msg = os.path.abspath(
os.path.join(og_dfn.templates_dir(), 'ros',
'OptimizationResult.msg'))
target_result_msg = \
os.path.abspath(
os.path.join(
target_ros_dir, 'msg', 'OptimizationResult.msg'))
shutil.copyfile(original_result_msg, target_result_msg)
def __generate_c_bindings_example(self):
self.__logger.info("Generating example_optimizer.c (C bindings example for your convenience)")
target_dir = self.__target_dir()
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader, autoescape=True)
template = env.get_template('example_optimizer_c_bindings.c.template')
output_template = template.render(meta=self.__meta,
build_config=self.__build_config,
problem=self.__problem)
target_scr_lib_rs_path = os.path.join(target_dir, "example_optimizer.c")
with open(target_scr_lib_rs_path, "w") as fh:
fh.write(output_template)
def __generate_icasadi_cargo_toml(self):
"""
Generate icasadi's Cargo.toml file
"""
self.__logger.info("Generating icasadi's Cargo.toml")
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader, autoescape=True)
template = env.get_template('icasadi_cargo.toml.template')
output_template = template.render(meta=self.__meta)
icallocator_path = os.path.abspath(
os.path.join(self.__icasadi_target_dir(), "Cargo.toml"))
with open(icallocator_path, "w") as fh:
fh.write(output_template)
def __generate_cargo_toml(self):
"""Generates Cargo.toml for generated project"""
logging.info("Generating Cargo.toml for target optimizer")
target_dir = self.__target_dir()
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader)
template = env.get_template('optimizer_cargo.toml.template')
output_template = template.render(
meta=self.__meta,
open_version=self.__build_config.open_version,
activate_tcp_server=self.__build_config.tcp_interface_config is not None,
activate_clib_generation=self.__build_config.build_c_bindings)
cargo_toml_path = os.path.abspath(os.path.join(target_dir, "Cargo.toml"))
with open(cargo_toml_path, "w") as fh:
fh.write(output_template)
def __generate_main_project_code(self):
logging.info("Generating main code for target optimizer (lib.rs)")
target_dir = self.__target_dir()
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader)
template = env.get_template('optimizer.rs.template')
output_template = template.render(solver_config=self.__solver_config,
meta=self.__meta,
problem=self.__problem,
timestamp_created=datetime.datetime.now(),
activate_clib_generation=self.__build_config.build_c_bindings)
target_source_path = os.path.join(target_dir, "src");
target_scr_lib_rs_path = os.path.join(target_source_path, "lib.rs")
make_dir_if_not_exists(target_source_path)
with open(target_scr_lib_rs_path, "w") as fh:
fh.write(output_template)
def __generate_icasadi_lib(self):
"""Generates the Rust library file of icasadi
Generates src/lib.rs
"""
logging.info("Generating icasadi Rust library file")
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader)
template = env.get_template('icasadi_lib.rs.template')
output_template = template.render(meta=self.__meta,
problem=self.__problem,
build_config=self.__build_config,
timestamp_created=datetime.datetime.now())
icasadi_lib_rs_path = os.path.abspath(
os.path.join(self.__icasadi_target_dir(), "src/lib.rs"))
with open(icasadi_lib_rs_path, "w") as fh:
fh.write(output_template)
def __generate_icasadi_c_interface(self):
"""
Generates the C interface file interface.c
"""
self.__logger.info("Generating intercafe.c (C interface)")
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader, autoescape=True)
template = env.get_template('interface.c.template')
output_template = template.render(meta=self.__meta,
problem=self.__problem,
build_config=self.__build_config,
timestamp_created=datetime.datetime.now())
icallocator_path = os.path.abspath(
os.path.join(self.__icasadi_target_dir(), "extern/interface.c"))
with open(icallocator_path, "w") as fh:
fh.write(output_template)
def __generate_code_python_bindings(self):
self.__logger.info("Generating code for Python bindings")
target_dir = self.__target_dir()
python_bindings_dir_name = _PYTHON_BINDINGS_PREFIX + self.__meta.optimizer_name
python_bindings_dir = os.path.join(target_dir,
python_bindings_dir_name)
python_bindings_source_dir = os.path.join(python_bindings_dir, "src")
self.__logger.info(
f"Generating code for Python bindings in {python_bindings_dir}")
# make python_bindings/ and python_bindings/src
make_dir_if_not_exists(python_bindings_dir)
make_dir_if_not_exists(python_bindings_source_dir)
# generate tcp_server.rs for python_bindings
python_rs_template = OpEnOptimizerBuilder.__get_template(
'python_bindings.rs', 'python')
python_rs_output_template = python_rs_template.render(
meta=self.__meta, timestamp_created=datetime.datetime.now())
target_python_rs_path = os.path.join(python_bindings_source_dir,
"lib.rs")
with open(target_python_rs_path, "w") as fh:
fh.write(python_rs_output_template)
# generate Cargo.toml for python_bindings
python_rs_template = OpEnOptimizerBuilder.__get_template(
'python_bindings_cargo.toml', 'python')
python_rs_output_template = python_rs_template.render(
meta=self.__meta,
build_config=self.__build_config,
timestamp_created=datetime.datetime.now())
target_python_rs_path = os.path.join(python_bindings_dir, "Cargo.toml")
with open(target_python_rs_path, "w") as fh:
fh.write(python_rs_output_template)
# move cargo_config into .cargo/config
target_cargo_config_dir = os.path.join(python_bindings_dir, '.cargo')
make_dir_if_not_exists(target_cargo_config_dir)
cargo_config_file = os.path.join(og_dfn.templates_dir(), 'python',
'cargo_config')
shutil.copy(cargo_config_file,
os.path.join(target_cargo_config_dir, 'config'))
def get_template(name):
file_loader = jinja2.FileSystemLoader(og_dfn.templates_dir())
env = jinja2.Environment(loader=file_loader, autoescape=True)
return env.get_template(name)
