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Agent notes — codegen

CRITICAL (non-optional): Before editing this package, complete the mandatory AGENTS.md preflight in ../../../AGENTS.md (read every applicable AGENTS.md on your paths, not just this file).

This package generates the schema-based tracker stack from ../deviceio_trackers/trackers.toml + ../deviceio_trackers/defaults.toml. manifest.py resolves %placeholder% values, templates.py derives per-entry type/file names, template_renderer.py loads templates/ bodies with @KEY@ substitution, and generate_trackers.py renders the sources and the .inc fragments.

Boundaries

  • Stdlib only, and this one is load-bearing. The generator runs at CMake configure time from whatever interpreter Python3_EXECUTABLE points at — a bare uv-managed CPython with no project venv and no site-packages. A third-party import here is not a dependency, it is a configure-time crash. That is why the manifests are TOML (tomllib is stdlib on 3.11+, the supported floor) and why there is no Jinja2.
  • Generation happens at configure time, not build time, because CMake needs the source list up front. Anything that changes the output (both TOMLs, every .py here, and every template under templates/) must stay listed in CMAKE_CONFIGURE_DEPENDS in ../../../cmake/GenerateTrackers.cmake, or incremental builds will silently use stale output.
  • Emitted files use compare-before-write. Content is rewritten only when it differs from the on-disk copy, so no-op configure runs keep mtimes stable and avoid needless rebuilds. Output lands under ${CMAKE_BINARY_DIR}/generated/trackers/ (explicit cmake source lists — not a filesystem glob of that tree).
  • Optional --prune-stale deletes previously generated files this run did not emit (suffix + AUTO-GENERATED banner; requires .isaac_teleop_tracker_codegen). CMake configure passes this flag so renamed or removed trackers cannot leave an old header satisfying a stale #include on the generated include path. Omit the flag for manual/dry runs that should only rewrite.
  • Prefer a manifest key over a template branch. If one tracker differs, give it an override key; add a new manifest shape only when the control flow genuinely differs. A shape that makes the templates hard to follow is a signal to leave that tracker hand-written and say so in ../deviceio_trackers/AGENTS.md. Optional header overrides the derived file stem (and thus *_base / live_*_impl / replay_*_impl) when name alone would invent a different public #include path.
  • direction must be pull or push — validated before defaults merge so a typo cannot silently pick up the wrong overlay. shape=single_collection requires record=true for direction=pull: those templates always emit MCAP channel/viewer constructors, while the factory only omits them when record=false. Non-recording multi-sample readers (e.g. HapticCommandReaderTracker) stay hand-written — there is no generated multi_endpoint shape.
  • Emit code that already satisfies the layering rules of the package it lands in — generated deviceio_trackers facades must not include OpenXR headers, generated live impls own the SchemaTracker, and so on. The generator is not exempt from a package's AGENTS.md.

Working on the templates

  • Per-tracker C++ bodies live under templates/ as *.hpp.template / *.cpp.template (pull/ and push/) plus *.template fragments under fragments/ for factory/pybind/traits. Direction-specific fragments use _pull / _push suffixes (e.g. pybind_pull.template, live_factory_push.template, recording_traits_pull.template); shared pieces are live_try_create.template and replay_try_create.template. Edit those for structure and includes; use @KEY@ placeholders filled by template_renderer.template_values(). templates/.clang-format sets DisableFormat: true so editors that map *.cpp.template to C++ for highlighting cannot mangle @KEY@ on save. Conditionals stay in Python (pick which template to load) or as #if @FLAG@ for optional fragments within one shape (e.g. @HAS_TENSOR_IDENTIFIER@). Do not merge push/ with pull/ via shared #if/#else — those control flows are different enough that separate templates stay clearer. *.hpp.template / *.cpp.template carry SPDX headers for REUSE; template_renderer strips them before prepending the emit-time COPYRIGHT / AUTO-GENERATED banner.
  • One-line aggregators (includes, dispatch rows, factory decls, cmake source lists, Python __all__) remain yield loops in generate_trackers.py joined with "\n".
  • Generated C++ is not covered by the format gate (cmake/ClangFormat.cmake globs only src/ and examples/ and excludes build/), so it does not need to be clang-format clean — but it must compile. Read the emitted file under ${CMAKE_BINARY_DIR}/generated/trackers/ when a template change fails to build; the compiler error points at generated text, not at the f-string.
  • Generated #includes must be written as the consumer sees them (<deviceio_base/...>, <live_trackers/schema_tracker.hpp>), not as the in-tree relative paths the hand-written files use, because generated sources sit in a different directory.
  • Run python test_manifest.py after touching resolution rules, and generate_trackers.py --print-resolved to see the fully expanded manifest before blaming a template.
  • A full build is the only real test of a template change: it is what proves the emitted facade, impls, and every .inc fragment still agree with the hand-written files including them.