Detect and print errors for duplicate motors

examples/ElevatorIO.java

@@ -81,6 +81,9 @@ public static class ElevatorOutputs {
     /** The voltage currently applied to the motors */
     public MutVoltage elevatorAppliedVolts = Volts.mutable(0.0);
 
+    /** The current closed-loop output from Motion Magic */
+    public double elevatorClosedLoopOutput = 0.0;
+
     /** Contribution of the p-term to motor output */
     public MutVoltage pContrib = Volts.mutable(0.0);
 

examples/ElevatorIOTalonFX.java

@@ -209,7 +209,8 @@ public void applyOutputs(ElevatorOutputs outputs) {
               "elevator/referenceSlope",
               leadMotor.getClosedLoopReferenceSlope().getValueAsDouble());
           outputs.elevatorAppliedVolts.mut_replace(
-              Volts.of(leadMotor.getClosedLoopOutput().getValueAsDouble()));
+              leadMotor.getMotorVoltage().getValue());
+          outputs.elevatorClosedLoopOutput = leadMotor.getClosedLoopOutput().getValueAsDouble();
           outputs.pContrib.mut_replace(
               Volts.of(leadMotor.getClosedLoopProportionalOutput().getValueAsDouble()));
           outputs.iContrib.mut_replace(

examples/exampleconfig.json

@@ -3,10 +3,7 @@
   "name": "Elevator",
   "kind": "Elevator",
   "canbus": "canivore",
-  "motors": [
-    "leadMotor",
-    "followerMotor"
-  ],
+  "motors": ["leadMotor", "followerMotor"],
   "lead_motor": "leadMotor",
   "encoder": "elevatorEncoder"
-}
+}

src/robotvibecoder/cli.py

@@ -0,0 +1,44 @@
+"""
+Utilities for printing warnings and errors and colors
+"""
+
+from dataclasses import dataclass
+import sys
+from typing import TextIO
+
+
+@dataclass
+class Colors:
+    """
+    ANSI Escape Codes for text colors and effects
+    """
+
+    fg_red = "\x1b[31m"
+    fg_green = "\x1b[32m"
+    fg_cyan = "\x1b[36m"
+    bold = "\x1b[1m"
+    reset = "\x1b[0m"
+
+    title_str = f"{fg_cyan}RobotVibeCoder{reset}"
+
+
+def print_err(message: str, file: TextIO = sys.stderr):
+    """Print an error message
+
+    :param message: The error message.
+    :type message: str
+    :param file: File to print the error message to, defaults to sys.stderr
+    :type file: _type_, optional
+    """
+    print(f"{Colors.fg_red}{Colors.bold}Error{Colors.reset}: {message}", file=file)
+
+
+def print_warning(message: str, file: TextIO = sys.stderr):
+    """Print a warning message
+
+    :param message: The warning message.
+    :type message: str
+    :param file: File to print the warning message to, defaults to sys.stderr
+    :type file: _type_, optional
+    """
+    print(f"{Colors.fg_red}{Colors.bold}Warning{Colors.reset}: {message}", file=file)

src/robotvibecoder/config.py

@@ -10,6 +10,8 @@
 import json
 import sys
 
+from robotvibecoder.cli import print_err
+
 
 class MechanismKind(str, Enum):
     """
@@ -49,14 +51,13 @@ def generate_config_from_data(data: dict) -> MechanismConfig:
     """
     for key in data:
         if key not in [field.name for field in fields(MechanismConfig)]:
-            print(f"Error: Config contained unexpected field `{key}`", file=sys.stdout)
+            print_err(f"Config contained unexpected field `{key}`")
             sys.exit(1)
 
     for field in fields(MechanismConfig):
         if field.name not in data:
-            print(
-                f"Error: Config missing field `{field.name}`",
-                file=sys.stdout,
+            print_err(
+                f"Config missing field `{field.name}`",
             )
             sys.exit(1)
 
@@ -79,10 +80,10 @@ def load_json_config(config_path: str) -> MechanismConfig:
         with open(config_path, "r", encoding="utf-8") as config_file:
             data = json.load(config_file)
     except FileNotFoundError:
-        print(f"Error: Specified config file {config_path} does not exist.")
+        print_err(f"Specified config file {config_path} does not exist.")
         sys.exit(1)
     except json.JSONDecodeError:
-        print(f"Error: Invalid JSON format in {config_path}")
+        print_err(f"Invalid JSON format in {config_path}")
         sys.exit(1)
 
     return generate_config_from_data(data)
@@ -94,11 +95,22 @@ def validate_config(config: MechanismConfig) -> None:
     """
 
     if config.lead_motor not in config.motors:
-        print(
-            f"Error in `{config.name}` config: `lead_motor` must be one of the motors listed in `motors`"  # pylint: disable=line-too-long
+        print_err(
+            f"`{config.name}` config: `lead_motor` must be one of the motors listed in `motors`"  # pylint: disable=line-too-long
         )
 
         print(
             f"  Found `{config.lead_motor}` but expected one of {', '.join(['`' + motor + '`' for motor in config.motors])}"  # pylint: disable=line-too-long
         )
         sys.exit(1)
+
+    if len(config.motors) != len(set(config.motors)):
+        motors_seen: set[str] = set()
+
+        for motor in config.motors:
+            if motor not in motors_seen:
+                motors_seen.add(motor)
+            else:
+                print_err(f"`{config.name}` config: Duplicate motor {motor}")
+
+        sys.exit(1)

src/robotvibecoder/constants.py

@@ -1,9 +1,7 @@
 """
 Constants that will be reused/don't need to live in code, e.g. default config
-& color escape codes
 """
 
-from dataclasses import dataclass
 from robotvibecoder.config import MechanismConfig, MechanismKind
 
 
@@ -16,18 +14,3 @@
     "leftMotor",
     "exampleEncoder",
 )
-
-
-@dataclass
-class Colors:
-    """
-    ANSI Escape Codes for text colors and effects
-    """
-
-    fg_red = "\x1b[31m"
-    fg_green = "\x1b[32m"
-    fg_cyan = "\x1b[36m"
-    bold = "\x1b[1m"
-    reset = "\x1b[0m"
-
-    title_str = f"{fg_cyan}RobotVibeCoder{reset}"

src/robotvibecoder/main.py

@@ -3,7 +3,7 @@
 """
 
 import argparse
-from robotvibecoder import constants
+from robotvibecoder import cli
 from robotvibecoder.subcommands.new import new
 from robotvibecoder.subcommands.generate import generate
 
@@ -58,9 +58,7 @@ def main() -> None:
     # Call the default function defined by the subcommand
     args.func(args)
 
-    print(
-        f"{constants.Colors.fg_green}{constants.Colors.bold}Done.{constants.Colors.reset}"
-    )
+    print(f"{cli.Colors.fg_green}{cli.Colors.bold}Done.{cli.Colors.reset}")
 
 
 if __name__ == "__main__":

src/robotvibecoder/subcommands/generate.py

@@ -7,7 +7,8 @@
 import os
 import sys
 
-from robotvibecoder import constants
+from robotvibecoder import cli
+from robotvibecoder.cli import print_err, print_warning
 from robotvibecoder.config import (
     MechanismConfig,
     MechanismKind,
@@ -29,12 +30,12 @@ def generate(args: Namespace) -> None:
         config: MechanismConfig = generate_config_from_data(data)
     else:
         if args.config is None:
-            print(
-                "Error: Config not specified: Either --stdin or --config [file] must be supplied to command."  # pylint: disable=line-too-long
+            print_err(
+                "Config not specified: Either --stdin or --config [file] must be supplied to command."  # pylint: disable=line-too-long
             )
             sys.exit(1)
         config_path = os.path.join(args.folder, args.config)
-        print(f"[{constants.Colors.title_str}] Reading config file at {config_path}")
+        print(f"[{cli.Colors.title_str}] Reading config file at {config_path}")
         config = load_json_config(config_path)
 
     validate_config(config)
@@ -53,8 +54,8 @@ def generate(args: Namespace) -> None:
     }
 
     if not args.stdin:
-        print(
-            f"{constants.Colors.fg_red}{constants.Colors.bold}WARNING{constants.Colors.reset}: This will create/overwrite files at the following paths:"  # pylint: disable=line-too-long
+        print_warning(
+            "This will create/overwrite files at the following paths:"  # pylint: disable=line-too-long
         )
         for file_template, file_output in template_to_output_map.items():
             output_path = os.path.join(
@@ -75,12 +76,12 @@ def generate(args: Namespace) -> None:
         if os.path.exists(output_path) and args.stdin:
             # stdin mode skips the warning prompt at the start, so files would
             # be destroyed, necessitating this check
-            print(
-                f"Error: File {output_path} already exists. Please move/delete it and retry"
+            print_err(
+                f"File {output_path} already exists. Please move/delete it and retry"
             )
             sys.exit(1)
 
-        print(f"{constants.Colors.fg_cyan}➜{constants.Colors.reset} {output_path}")
+        print(f"{cli.Colors.fg_cyan}➜{cli.Colors.reset} {output_path}")
         template_path = file_template
         template = env.get_template(template_path)
 

src/robotvibecoder/subcommands/new.py

@@ -8,6 +8,7 @@
 import sys
 
 from robotvibecoder import constants
+import robotvibecoder.cli
 from robotvibecoder.config import MechanismConfig, MechanismKind
 
 
@@ -76,9 +77,10 @@ def new(args: Namespace) -> None:
     """
     config_path = os.path.join(args.folder, args.outfile)
 
-    print(f"[{constants.Colors.title_str}] Creating a new config file")
-    print(
-        f"  {constants.Colors.fg_red}{constants.Colors.bold}WARNING{constants.Colors.reset}: This will create/overwrite a file at `{constants.Colors.fg_cyan}{config_path}{constants.Colors.reset}`"  # pylint: disable=line-too-long
+    print(f"[{robotvibecoder.cli.Colors.title_str}] Creating a new config file")
+    print("  ", end="", file=sys.stderr)  # Indent the warning on the line below
+    robotvibecoder.cli.print_warning(
+        f"This will create/overwrite a file at `{robotvibecoder.cli.Colors.fg_cyan}{config_path}{robotvibecoder.cli.Colors.reset}`"  # pylint: disable=line-too-long
     )
     try:
         input("  Press Ctrl+C to cancel or [Enter] to continue")
@@ -92,6 +94,6 @@ def new(args: Namespace) -> None:
     else:
         config = constants.DEFAULT_CONFIG
 
-    print(f"[{constants.Colors.title_str}] Writing config file")
+    print(f"[{robotvibecoder.cli.Colors.title_str}] Writing config file")
     with open(config_path, "w+", encoding="utf-8") as outfile:
         json.dump(config.__dict__, fp=outfile, indent=2)

src/robotvibecoder/templating.py

@@ -4,7 +4,8 @@
 
 from jinja2 import Environment, PackageLoader, select_autoescape
 
-from robotvibecoder import constants
+from robotvibecoder import cli
+from robotvibecoder.cli import print_err
 
 
 def article(word: str) -> str:
@@ -62,9 +63,9 @@ def hash_can_id(device: str) -> str:
     if device not in GlobalTemplateState.can_id_map:
         next_id = GlobalTemplateState.new_id()
         GlobalTemplateState.can_id_map[device] = next_id
-        print(f"  {constants.Colors.fg_green}➜{constants.Colors.reset} ", end="")
+        print(f"  {cli.Colors.fg_green}➜{cli.Colors.reset} ", end="")
         print(
-            f"Mapped device {constants.Colors.fg_cyan}{device}{constants.Colors.reset} to placeholder CAN ID {constants.Colors.fg_cyan}{next_id}{constants.Colors.reset}"  # pylint: disable=line-too-long
+            f"Mapped device {cli.Colors.fg_cyan}{device}{cli.Colors.reset} to placeholder CAN ID {cli.Colors.fg_cyan}{next_id}{cli.Colors.reset}"  # pylint: disable=line-too-long
         )
 
     return str(GlobalTemplateState.can_id_map[device])
@@ -80,8 +81,8 @@ def pos_dimension(kind: str) -> str:
         return "Distance"
 
     # Flywheels won't have a position
-    print(
-        f"{constants.Colors.fg_red}Error:{constants.Colors.reset} Invalid kind {kind} passed to pos_dimension."  # pylint: disable=line-too-long
+    print_err(
+        f"Invalid kind {kind} passed to pos_dimension."  # pylint: disable=line-too-long
     )
     print(
         "This is a robotvibecoder issue, NOT a user error. Please report this on github!"
@@ -108,8 +109,8 @@ def pos_unit(kind: str) -> str:
     if kind == "Elevator":
         return "Meters"
 
-    print(
-        f"{constants.Colors.fg_red}Error:{constants.Colors.reset} Invalid kind {kind} passed to pos_unit."  # pylint: disable=line-too-long
+    print_err(
+        f"Invalid kind {kind} passed to pos_unit."  # pylint: disable=line-too-long
     )
     print(
         "This is a robotvibecoder issue, NOT user error. Please report this on github!"
@@ -141,9 +142,7 @@ def goal(kind: str) -> str:
     if kind == "Flywheel":
         return "Speed"
 
-    print(
-        f"{constants.Colors.fg_red}Error:{constants.Colors.reset} Invalid kind {kind} passed to goal."  # pylint: disable=line-too-long
-    )
+    print_err(f"Invalid kind {kind} passed to goal.")  # pylint: disable=line-too-long
     print(
         "This is a robotvibecoder issue, NOT a user error. Please report this on github!"
     )
@@ -164,9 +163,7 @@ def goal_dimension(kind: str) -> str:
     if kind == "Flywheel":
         return "AngularVelocity"
 
-    print(
-        f"{constants.Colors.fg_red}Error:{constants.Colors.reset} Invalid kind {kind} passed to goal_dimension."  # pylint: disable=line-too-long
-    )
+    print_err(f"Invalid kind {kind} passed to goal_dimension.")
     print(
         "This is a robotvibecoder issue, NOT a user error. Please report this on github!"
     )