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#
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# UAVCAN DSDL file parser
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#
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# Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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#
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import os, re, logging
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from .signature import compute_signature
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MAX_FULL_TYPE_NAME_LEN = 80
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class ParserException(Exception):
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def __init__(self, text, *args, file=None, line=None):
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super().__init__(text, *args)
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self.file = file
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self.line = line
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def __str__(self):
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if self.file and self.line:
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return '%s:%s: %s' % (_pretty_filename(self.file), self.line, super().__str__())
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if self.file:
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return '%s:?: %s' % (_pretty_filename(self.file), super().__str__())
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return super().__str__()
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class Type:
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CATEGORY_PRIMITIVE = 0
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CATEGORY_ARRAY = 1
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CATEGORY_COMPOUND = 2
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def __init__(self, full_name, category):
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self.full_name = str(full_name)
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self.category = category
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def __str__(self):
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return self.get_normalized_definition()
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__repr__ = __str__
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class PrimitiveType(Type):
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KIND_BOOLEAN = 0
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KIND_UNSIGNED_INT = 1
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KIND_SIGNED_INT = 2
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KIND_FLOAT = 3
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CAST_MODE_SATURATED = 0
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CAST_MODE_TRUNCATED = 1
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def __init__(self, kind, bit_len, cast_mode):
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self.kind = kind
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self.bit_len = bit_len
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self.cast_mode = cast_mode
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super().__init__(self.get_normalized_definition(), Type.CATEGORY_PRIMITIVE)
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def get_normalized_definition(self):
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cast_mode = 'saturated' if self.cast_mode == PrimitiveType.CAST_MODE_SATURATED else 'truncated'
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if self.kind == PrimitiveType.KIND_BOOLEAN:
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primary_type = 'bool'
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elif self.kind == PrimitiveType.KIND_UNSIGNED_INT:
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primary_type = 'uint' + str(self.bit_len)
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elif self.kind == PrimitiveType.KIND_SIGNED_INT:
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primary_type = 'int' + str(self.bit_len)
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elif self.kind == PrimitiveType.KIND_FLOAT:
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primary_type = 'float' + str(self.bit_len)
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else:
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raise ParserException('Primitive type of unknown kind', self.kind)
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return cast_mode + ' ' + primary_type
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class ArrayType(Type):
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MODE_STATIC = 0
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MODE_DYNAMIC = 1
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def __init__(self, value_type, mode, max_size):
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self.value_type = value_type
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self.mode = mode
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self.max_size = max_size
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super().__init__(self.get_normalized_definition(), Type.CATEGORY_ARRAY)
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def get_normalized_definition(self):
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typedef = self.value_type.get_normalized_definition()
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return ('%s[<=%d]' if self.mode == ArrayType.MODE_DYNAMIC else '%s[%d]') % (typedef, self.max_size)
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class CompoundType(Type):
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KIND_SERVICE = 0
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KIND_MESSAGE = 1
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def __init__(self, full_name, kind, dsdl_signature, dsdl_path, default_dtid):
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super().__init__(full_name, Type.CATEGORY_COMPOUND)
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self.dsdl_signature = dsdl_signature
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self.dsdl_path = dsdl_path
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self.default_dtid = default_dtid
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self.kind = kind
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if kind == CompoundType.KIND_SERVICE:
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self.request_fields = []
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self.response_fields = []
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self.request_constants = []
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self.response_constants = []
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elif kind == CompoundType.KIND_MESSAGE:
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self.fields = []
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self.constants = []
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else:
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raise ParserException('Compound type of unknown kind', kind)
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def get_normalized_definition(self):
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return self.full_name
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def get_normalized_attributes_definitions(self):
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def normdef(attrs):
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return '\n'.join([x.get_normalized_definition() for x in attrs])
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if self.kind == self.KIND_MESSAGE:
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return '\n'.join([normdef(self.fields), normdef(self.constants)])
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elif self.kind == self.KIND_SERVICE:
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rq = '\n'.join([normdef(self.request_fields), normdef(self.request_constants)])
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rs = '\n'.join([normdef(self.response_fields), normdef(self.response_constants)])
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return (rq + '\n---\n' + rs).strip('\n').replace('\n\n', '\n')
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class Attribute:
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def __init__(self, type, name): # @ReservedAssignment
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self.type = type
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self.name = name
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def __str__(self):
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return self.get_normalized_definition()
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__repr__ = __str__
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class Field(Attribute):
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def get_normalized_definition(self):
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return '%s %s' % (self.type.get_normalized_definition(), self.name)
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class Constant(Attribute):
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def __init__(self, type, name, init_expression): # @ReservedAssignment
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super().__init__(type, name)
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self.init_expression = init_expression
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def get_normalized_definition(self):
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return '%s %s = %s' % (self.type.get_normalized_definition(), self.name, self.init_expression)
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def evaluate_init_expression(self):
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return evaluate_expression(self.init_expression)
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def _enforce(cond, *exception_args):
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if not cond:
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raise ParserException(*exception_args)
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def _pretty_filename(filename):
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a = os.path.abspath(filename)
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r = os.path.relpath(filename)
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return a if len(a) < len(r) else r
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def evaluate_expression(expression):
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try:
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env = {
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'locals': None,
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'globals': None,
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'__builtins__': None,
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'true': 1,
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'false': 0
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}
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return eval(expression, env)
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except Exception as ex:
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raise ParserException('Cannot evaluate expression', str(ex))
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def validate_search_directories(dirnames):
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dirnames = set(dirnames)
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dirnames = list(map(os.path.abspath, dirnames))
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for d1 in dirnames:
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for d2 in dirnames:
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if d1 == d2:
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continue
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_enforce(not d1.startswith(d2), 'Nested search directories are not allowed', d1, d2)
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_enforce(d1.split(os.path.sep)[-1] != d2.split(os.path.sep)[-1], 'Root namespaces must be unique', d1, d2)
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return dirnames
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def validate_namespace_name(name):
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for component in name.split('.'):
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_enforce(re.match(r'[a-z][a-z0-9_]*$', component), 'Invalid namespace name', name)
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_enforce(len(name) <= MAX_FULL_TYPE_NAME_LEN, 'Namespace name is too long', name)
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def validate_compound_type_full_name(name):
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_enforce('.' in name, 'Full type name must explicitly specify its namespace', name)
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short_name = name.split('.')[-1]
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namespace = '.'.join(name.split('.')[:-1])
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validate_namespace_name(namespace)
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_enforce(re.match(r'[A-Z][A-Za-z0-9_]*$', short_name), 'Invalid type name', name)
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_enforce(len(name) <= MAX_FULL_TYPE_NAME_LEN, 'Type name is too long', name)
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def validate_attribute_name(name):
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_enforce(re.match(r'[a-zA-Z][a-zA-Z0-9_]*$', name), 'Invalid attribute name', name)
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def tokenize_dsdl_definition(text):
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for idx, line in enumerate(text.splitlines()):
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line = re.sub('#.*', '', line).strip() # Remove comments and leading/trailing whitespaces
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if line:
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tokens = [tk for tk in line.split() if tk]
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yield idx + 1, tokens
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class Parser:
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LOGGER_NAME = 'dsdl_parser'
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def __init__(self, search_dirs):
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self.search_dirs = validate_search_directories(search_dirs)
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self.log = logging.getLogger(Parser.LOGGER_NAME)
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def _namespace_from_filename(self, filename):
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search_dirs = sorted(map(os.path.abspath, self.search_dirs)) # Nested last
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filename = os.path.abspath(filename)
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for dirname in search_dirs:
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root_ns = dirname.split(os.path.sep)[-1]
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if filename.startswith(dirname):
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dir_len = len(dirname)
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basename_len = len(os.path.basename(filename))
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ns = filename[dir_len:-basename_len]
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ns = (root_ns + '.' + ns.replace(os.path.sep, '.').strip('.')).strip('.')
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validate_namespace_name(ns)
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return ns
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raise ParserException('File was not found in search directories', filename)
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def _full_typename_and_dtid_from_filename(self, filename):
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basename = os.path.basename(filename)
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items = basename.split('.')
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if (len(items) != 2 and len(items) != 3) or items[-1] != 'uavcan':
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raise ParserException('Invalid file name', basename)
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if len(items) == 2:
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default_dtid, name = None, items[0]
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else:
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default_dtid, name = items[0], items[1]
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try:
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default_dtid = int(default_dtid)
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except ValueError:
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raise ParserException('Invalid default data type ID', default_dtid)
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full_name = self._namespace_from_filename(filename) + '.' + name
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validate_compound_type_full_name(full_name)
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return full_name, default_dtid
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def _compute_dsdl_signature(self, full_typename, fields, response_fields=None):
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text = full_typename + '\n'
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text += '\n'.join([x.get_normalized_definition() for x in fields])
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if response_fields is not None:
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text += '\n---\n'
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text += '\n'.join([x.get_normalized_definition() for x in response_fields])
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text = text.replace('\n\n', '\n')
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self.log.debug('DSDL signature of [%s] will be computed from:', full_typename)
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for ln in text.splitlines():
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self.log.debug(' %s', ln)
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return compute_signature(text)
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def _locate_compound_type_definition(self, referencing_filename, typename):
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def locate_namespace_directory(namespace):
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root_namespace, *sub_namespace_components = namespace.split('.')
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for directory in self.search_dirs:
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if directory.split(os.path.sep)[-1] == root_namespace:
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return os.path.join(directory, *sub_namespace_components)
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raise ParserException('Unknown namespace', namespace)
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if '.' not in typename:
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current_namespace = self._namespace_from_filename(referencing_filename)
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full_typename = current_namespace + '.' + typename
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else:
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full_typename = typename
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namespace = '.'.join(full_typename.split('.')[:-1])
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directory = locate_namespace_directory(namespace)
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self.log.debug('Searching for [%s] in [%s]', full_typename, directory)
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for fn in os.listdir(directory):
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fn = os.path.join(directory, fn)
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if os.path.isfile(fn):
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try:
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fn_full_typename, _dtid = self._full_typename_and_dtid_from_filename(fn)
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except Exception as ex:
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self.log.info('Unknown file [%s], skipping... [%s]', _pretty_filename(fn), ex)
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if full_typename == fn_full_typename:
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return fn
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raise ParserException('Type definition not found', typename)
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def _parse_array_type(self, filename, value_typedef, size_spec, cast_mode):
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self.log.debug('Parsing the array value type [%s]...', value_typedef)
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value_type = self._parse_type(filename, value_typedef, cast_mode)
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_enforce(value_type.category != value_type.CATEGORY_ARRAY, 'Multidimensional arrays are not allowed')
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try:
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if size_spec.startswith('<='):
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max_size = int(size_spec[2:], 0)
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mode = ArrayType.MODE_DYNAMIC
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elif size_spec.startswith('<'):
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max_size = int(size_spec[1:], 0) - 1
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mode = ArrayType.MODE_DYNAMIC
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else:
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max_size = int(size_spec, 0)
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mode = ArrayType.MODE_STATIC
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except ValueError:
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raise ParserException('Invalid array size specifier (note: allowed [<=X], [<X], [X])', size_spec)
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_enforce(max_size > 0, 'Array size must be positive', max_size)
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return ArrayType(value_type, mode, max_size)
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def _parse_primitive_type(self, filename, base_name, bitlen, cast_mode):
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if cast_mode is None or cast_mode == 'saturated':
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cast_mode = PrimitiveType.CAST_MODE_SATURATED
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elif cast_mode == 'truncated':
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|
|
|
cast_mode = PrimitiveType.CAST_MODE_TRUNCATED
|
|
|
|
|
else:
|
|
|
|
|
raise ParserException('Invalid cast mode', cast_mode)
|
|
|
|
|
|
|
|
|
|
if base_name == 'bool':
|
|
|
|
|
return PrimitiveType(PrimitiveType.KIND_BOOLEAN, 1, cast_mode)
|
|
|
|
|
try:
|
|
|
|
|
kind = {
|
|
|
|
|
'uint' : PrimitiveType.KIND_UNSIGNED_INT,
|
|
|
|
|
'int' : PrimitiveType.KIND_SIGNED_INT,
|
|
|
|
|
'float': PrimitiveType.KIND_FLOAT,
|
|
|
|
|
}[base_name]
|
|
|
|
|
except KeyError:
|
|
|
|
|
raise ParserException('Unknown primitive type (note: compound types must be in CamelCase)')
|
|
|
|
|
|
|
|
|
|
_enforce(2 <= bitlen <= 64, 'Invalid bit length (note: use bool instead of uint1)', bitlen)
|
|
|
|
|
return PrimitiveType(kind, bitlen, cast_mode)
|
|
|
|
|
|
|
|
|
|
def _parse_compound_type(self, filename, typedef):
|
|
|
|
|
definition_filename = self._locate_compound_type_definition(filename, typedef)
|
|
|
|
|
self.log.info('Nested type [%s] is defined in [%s], parsing...', typedef, _pretty_filename(definition_filename))
|
|
|
|
|
t = self.parse(definition_filename)
|
|
|
|
|
if t.kind == t.KIND_SERVICE:
|
|
|
|
|
raise ParserException('Service types can not be nested', t)
|
|
|
|
|
self.log.info('Nested type [%s] parsed successfully', typedef)
|
|
|
|
|
return t
|
|
|
|
|
|
|
|
|
|
def _parse_type(self, filename, typedef, cast_mode):
|
|
|
|
|
typedef = typedef.strip()
|
|
|
|
|
array_match = re.match(r'(.+?)\[([^\]]*)\]$', typedef)
|
|
|
|
|
primitive_match = re.match(r'([a-z]+)(\d{1,2})$|(bool)$', typedef)
|
|
|
|
|
|
|
|
|
|
if array_match:
|
|
|
|
|
assert not primitive_match
|
|
|
|
|
value_typedef = array_match.group(1).strip()
|
|
|
|
|
size_spec = array_match.group(2).strip()
|
|
|
|
|
return self._parse_array_type(filename, value_typedef, size_spec, cast_mode)
|
|
|
|
|
elif primitive_match:
|
|
|
|
|
if primitive_match.group(0) == 'bool':
|
|
|
|
|
return self._parse_primitive_type(filename, 'bool', 1, cast_mode)
|
|
|
|
|
else:
|
|
|
|
|
base_name = primitive_match.group(1)
|
|
|
|
|
bitlen = int(primitive_match.group(2))
|
|
|
|
|
return self._parse_primitive_type(filename, base_name, bitlen, cast_mode)
|
|
|
|
|
else:
|
|
|
|
|
_enforce(cast_mode is None, 'Cast mode specifier is not applicable for compound types', cast_mode)
|
|
|
|
|
return self._parse_compound_type(filename, typedef)
|
|
|
|
|
|
|
|
|
|
def _parse_line(self, filename, tokens):
|
|
|
|
|
cast_mode = None
|
|
|
|
|
if tokens[0] == 'saturated' or tokens[0] == 'truncated':
|
|
|
|
|
cast_mode, *tokens = tokens
|
|
|
|
|
|
|
|
|
|
if len(tokens) < 2:
|
|
|
|
|
raise ParserException('Invalid attribute definition', tokens)
|
|
|
|
|
|
|
|
|
|
typename, attrname, *tokens = tokens
|
|
|
|
|
validate_attribute_name(attrname)
|
|
|
|
|
attrtype = self._parse_type(filename, typename, cast_mode)
|
|
|
|
|
|
|
|
|
|
if len(tokens) > 0:
|
|
|
|
|
if len(tokens) < 2 or tokens[0] != '=':
|
|
|
|
|
raise ParserException('Constant assignment expected', tokens)
|
|
|
|
|
if attrtype.category != Type.CATEGORY_PRIMITIVE:
|
|
|
|
|
raise ParserException('Only primitive types allowed for constants', attrtype)
|
|
|
|
|
expression = ' '.join(tokens[1:])
|
|
|
|
|
evaluate_expression(expression) # Validation
|
|
|
|
|
return Constant(attrtype, attrname, expression)
|
|
|
|
|
else:
|
|
|
|
|
return Field(attrtype, attrname)
|
|
|
|
|
|
|
|
|
|
def parse(self, filename):
|
|
|
|
|
filename = os.path.abspath(filename)
|
|
|
|
|
with open(filename) as f:
|
|
|
|
|
text = f.read()
|
|
|
|
|
try:
|
|
|
|
|
full_typename, default_dtid = self._full_typename_and_dtid_from_filename(filename)
|
|
|
|
|
numbered_lines = list(tokenize_dsdl_definition(text))
|
|
|
|
|
|
|
|
|
|
all_attributes_names = set()
|
|
|
|
|
fields, constants, resp_fields, resp_constants = [], [], [], []
|
|
|
|
|
response_part = False
|
|
|
|
|
for num, tokens in numbered_lines:
|
|
|
|
|
if tokens == ['---']:
|
|
|
|
|
response_part = True
|
|
|
|
|
continue
|
|
|
|
|
try:
|
|
|
|
|
attr = self._parse_line(filename, tokens)
|
|
|
|
|
|
|
|
|
|
if attr.name in all_attributes_names:
|
|
|
|
|
raise ParserException('Duplicated attribute name', attr.name)
|
|
|
|
|
all_attributes_names.add(attr.name)
|
|
|
|
|
|
|
|
|
|
if isinstance(attr, Constant):
|
|
|
|
|
(resp_constants if response_part else constants).append(attr)
|
|
|
|
|
elif isinstance(attr, Field):
|
|
|
|
|
(resp_fields if response_part else fields).append(attr)
|
|
|
|
|
else:
|
|
|
|
|
raise ParserException('Unknown attribute', attr)
|
|
|
|
|
except ParserException as ex:
|
|
|
|
|
if not ex.line:
|
|
|
|
|
ex.line = num
|
|
|
|
|
raise ex
|
|
|
|
|
except Exception as ex:
|
|
|
|
|
raise ParserException('Internal error', str(ex), line=num) from ex
|
|
|
|
|
|
|
|
|
|
if response_part:
|
|
|
|
|
dsdl_signature = self._compute_dsdl_signature(full_typename, fields, resp_fields)
|
|
|
|
|
typedef = CompoundType(full_typename, CompoundType.KIND_SERVICE, dsdl_signature, filename, default_dtid)
|
|
|
|
|
typedef.request_fields = fields
|
|
|
|
|
typedef.request_constants = constants
|
|
|
|
|
typedef.response_fields = resp_fields
|
|
|
|
|
typedef.response_constants = resp_constants
|
|
|
|
|
else:
|
|
|
|
|
dsdl_signature = self._compute_dsdl_signature(full_typename, fields)
|
|
|
|
|
typedef = CompoundType(full_typename, CompoundType.KIND_MESSAGE, dsdl_signature, filename, default_dtid)
|
|
|
|
|
typedef.fields = fields
|
|
|
|
|
typedef.constants = constants
|
|
|
|
|
|
|
|
|
|
self.log.info('Type [%s], default DTID [%s], signature [%08x], interpretation:',
|
|
|
|
|
full_typename, default_dtid, dsdl_signature)
|
|
|
|
|
for ln in typedef.get_normalized_attributes_definitions().splitlines():
|
|
|
|
|
self.log.info(' %s', ln)
|
|
|
|
|
return typedef
|
|
|
|
|
except ParserException as ex:
|
|
|
|
|
if not ex.file:
|
|
|
|
|
ex.file = filename
|
|
|
|
|
raise ex
|
|
|
|
|
except Exception as ex:
|
|
|
|
|
raise ParserException('Internal error', str(ex), file=filename) from ex
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
|
import sys
|
|
|
|
|
logging.basicConfig(stream=sys.stderr, level=logging.DEBUG, format='%(levelname)s: %(message)s')
|
|
|
|
|
|
|
|
|
|
if not sys.argv[1:]:
|
|
|
|
|
self_directory = os.path.dirname(__file__)
|
|
|
|
|
test_dir = os.path.join(self_directory, '..', '..', 'dsdl_test_data')
|
|
|
|
|
test_dir = os.path.normpath(test_dir)
|
|
|
|
|
parser = Parser([os.path.join(test_dir, 'root_a'), os.path.join(test_dir, 'root_b')])
|
|
|
|
|
parser.log.setLevel(logging.DEBUG)
|
|
|
|
|
t = parser.parse(os.path.join(test_dir, 'root_a', 'ns1', 'ns9', '425.BeginFirmwareUpdate.uavcan'))
|
|
|
|
|
else:
|
|
|
|
|
search_dirs = sys.argv[1:-1]
|
|
|
|
|
filename = sys.argv[-1]
|
|
|
|
|
parser = Parser(search_dirs)
|
|
|
|
|
parser.log.setLevel(logging.DEBUG)
|
|
|
|
|
t = parser.parse(filename)
|
Pavel Kirienko