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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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DSDL compiler for libuavcan - dsdlc
This commit is contained in:
Pavel Kirienko
@@ -12,3 +12,6 @@ lib*.so.*
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.project
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.cproject
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.pydevproject
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# libuavcan DSDL compiler default output directory
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*dsdlc_output
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@@ -1 +1,182 @@
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/*
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* UAVCAN data structure definition for libuavcan.
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*
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* Autogenerated, do not edit.
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*
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* Source file: ${t.filename}
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*/
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#pragma once
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#include <limits>
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#include <uavcan/data_type.hpp>
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#include <uavcan/global_data_type_registry.hpp>
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#include <uavcan/internal/util.hpp>
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% for inc in t.cpp_includes:
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#include <${inc}>
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% endfor
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#if !defined(UAVCAN_CONSTEXPR)
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# if __cplusplus < 201100L
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# define UAVCAN_CONSTEXPR const
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# else
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# define UAVCAN_CONSTEXPR constexpr
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# endif
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#endif
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<%!
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indent = lambda text, idnt=' ': idnt + text.replace('\n', '\n' + idnt)
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%>
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/******************************************************************************
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% for line in t.source_text.strip().splitlines():
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${line}
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% endfor
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******************************************************************************/
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% for nsc in t.cpp_namespace_components:
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namespace ${nsc}
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{
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% endfor
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struct ${t.short_name}
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{
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<%def name="generate_primary_body(type_name, max_bitlen, fields, constants)" buffered="True">
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typedef const ${type_name}& ParameterType;
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typedef ${type_name}& ReferenceType;
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<%def name="expand_attr_types(group_name, attrs)">
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struct ${group_name}
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{
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% for a in attrs:
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typedef ${a.cpp_type} ${a.name};
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% endfor
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};
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</%def>
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${expand_attr_types('ConstantTypes', constants)}
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${expand_attr_types('FieldTypes', fields)}
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<%def name="expand_enum_per_field(enum_name)">
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enum
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{
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${enum_name}
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% for idx,a in enumerate(fields):
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${'=' if idx == 0 else '+'} FieldTypes::${a.name}::${enum_name}
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% endfor
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};
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</%def>
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${expand_enum_per_field('MinBitLen')}
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${expand_enum_per_field('MaxBitLen')}
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// Constants
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% for a in constants:
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% if a.cpp_use_enum:
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enum { ${a.name} = ${a.cpp_value} }; // ${a.init_expression}
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% else:
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static UAVCAN_CONSTEXPR typename ::uavcan::StorageType<ConstantTypes::${a.name}>::Type
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${a.name} = ${a.cpp_value}; // ${a.init_expression}
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%endif
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% endfor
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// Fields
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% for a in fields:
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typename ::uavcan::StorageType<FieldTypes::${a.name}>::Type ${a.name};
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% endfor
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${type_name}()
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% for idx,a in enumerate(fields):
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${':' if idx == 0 else ','} ${a.name}()
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% endfor
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{
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#if UAVCAN_DEBUG
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/*
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* Cross-checking MaxBitLen provided by the DSDL compiler.
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* This check shall never be performed in user code because MaxBitLen value
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* actually depends on the nested types, thus it is not invariant.
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*/
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::uavcan::StaticAssert<${max_bitlen} == MaxBitLen>::check();
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#endif
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}
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<%def name="generate_codec_calls_per_field(call_name, self_parameter_type)">
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static int ${call_name}(${self_parameter_type} self, ::uavcan::ScalarCodec& codec,
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::uavcan::TailArrayOptimizationMode tao_mode = ::uavcan::TailArrayOptEnabled)
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{
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int res = 1;
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% for idx,a in enumerate(fields):
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res = FieldTypes::${a.name}::${call_name}(self.${a.name}, codec, \
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${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
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if (res <= 0)
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return res;
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% endfor
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return res;
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}
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</%def>
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${generate_codec_calls_per_field('encode', 'ParameterType')}
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${generate_codec_calls_per_field('decode', 'ReferenceType')}
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</%def>
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% if t.kind == t.KIND_SERVICE:
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struct Request
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{
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${generate_primary_body(t.short_name, t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
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};
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struct Response
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{
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${generate_primary_body(t.short_name, t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
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};
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% else:
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${generate_primary_body(t.short_name, t.get_max_bitlen(), t.fields, t.constants)}
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% endif
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/*
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* Static type info
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*/
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enum { DataTypeKind = ${t.cpp_kind} };
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% if t.has_default_dtid:
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enum { DefaultDataTypeID = ${t.default_dtid} };
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% else:
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// This type has no default data type ID
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% endif
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static const char* getDataTypeFullName()
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{
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return "${t.full_name}";
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}
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static void extendDataTypeSignature(::uavcan::DataTypeSignature& signature)
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{
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signature.extend(getDataTypeSignature());
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}
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static ::uavcan::DataTypeSignature getDataTypeSignature()
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{
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::uavcan::DataTypeSignature signature(${hex(t.dsdl_signature)});
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<%def name="extend_signature_per_field(scope_prefix, fields)">
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% for a in fields:
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${scope_prefix}FieldTypes::${a.name}::extendDataTypeSignature(signature);
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% endfor
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</%def>
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% if t.kind == t.KIND_SERVICE:
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${extend_signature_per_field('Request::', t.request_fields)}
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${extend_signature_per_field('Response::', t.response_fields)}
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% else:
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${extend_signature_per_field('', t.fields)}
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% endif
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return signature;
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}
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};
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// TODO Stream operator
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% if t.has_default_dtid:
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namespace
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{
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::uavcan::DefaultDataTypeRegistrator<${t.short_name}> _uavcan_gdtr_registrator_${t.short_name};
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}
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% endif
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% for nsc in t.cpp_namespace_components:
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}
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% endfor
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@@ -5,7 +5,8 @@
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# Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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#
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import sys, os
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import sys, os, argparse, logging
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from mako.template import Template
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RUNNING_FROM_SRC_DIR = os.path.abspath(__file__).endswith(os.path.join('libuavcan', 'dsdl_compiler', 'dsdlc.py'))
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if RUNNING_FROM_SRC_DIR:
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@@ -15,4 +16,173 @@ if RUNNING_FROM_SRC_DIR:
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from pyuavcan import dsdl
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print('Hello')
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MAX_BITLEN_FOR_ENUM = 31
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CPP_HEADER_EXTENSION = 'hpp'
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TEMPLATE_FILENAME = os.path.join(os.path.dirname(__file__), 'data_type_template.hpp')
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# -----------------
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class DsdlCompilerException(Exception):
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pass
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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 type_output_filename(t):
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assert t.category == t.CATEGORY_COMPOUND
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return t.full_name.replace('.', os.path.sep) + '.' + CPP_HEADER_EXTENSION
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def die(text):
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print(text, file=sys.stderr)
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exit(1)
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def configure_logging(verbosity):
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fmt = '%(message)s'
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level = { 0: logging.WARNING, 1: logging.INFO, 2: logging.DEBUG }.get(verbosity or 0, logging.DEBUG)
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logging.basicConfig(stream=sys.stderr, level=level, format=fmt)
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def run_parser(source_dir, search_dirs):
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try:
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types = dsdl.parse_namespace(source_dir, search_dirs)
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except dsdl.DsdlException as ex:
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errtext = str(ex) # TODO: gcc-style formatting
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die(errtext)
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logging.info('%d types from [%s] parsed successfully', len(types), source_dir)
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return types
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def run_generator(types, dest_dir):
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try:
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dest_dir = os.path.abspath(dest_dir) # Removing '..'
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os.makedirs(dest_dir, exist_ok=True)
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for t in types:
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logging.info('Generating type %s', t.full_name)
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file_path = os.path.join(dest_dir, type_output_filename(t))
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dir_path = os.path.dirname(file_path)
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os.makedirs(dir_path, exist_ok=True)
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text = generate_one_type(t)
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with open(file_path, 'w') as f:
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f.write(text)
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except Exception as ex:
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logging.info('Generator error', exc_info=True)
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die(str(ex))
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def type_to_cpp_type(t):
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if t.category == t.CATEGORY_PRIMITIVE:
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cast_mode = {
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t.CAST_MODE_SATURATED: '::uavcan::CastModeSaturate',
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t.CAST_MODE_TRUNCATED: '::uavcan::CastModeTruncate',
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}[t.cast_mode]
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if t.kind == t.KIND_FLOAT:
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return '::uavcan::FloatSpec<%d, %s>' % (t.bitlen, cast_mode)
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else:
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signedness = {
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t.KIND_BOOLEAN: '::uavcan::SignednessUnsigned',
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t.KIND_UNSIGNED_INT: '::uavcan::SignednessUnsigned',
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t.KIND_SIGNED_INT: '::uavcan::SignednessSigned',
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}[t.kind]
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return '::uavcan::IntegerSpec<%d, %s, %s>' % (t.bitlen, signedness, cast_mode)
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elif t.category == t.CATEGORY_ARRAY:
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value_type = type_to_cpp_type(t.value_type)
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mode = {
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t.MODE_STATIC: '::uavcan::ArrayModeStatic',
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t.MODE_DYNAMIC: '::uavcan::ArrayModeDynamic',
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}[t.mode]
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return '::uavcan::Array<%s, %s, %d>' % (value_type, mode, t.max_size)
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elif t.category == t.CATEGORY_COMPOUND:
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return '::' + t.full_name.replace('.', '::')
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else:
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raise DsdlCompilerException('Unknown type category: %s' % t.category)
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def generate_one_type(t):
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t.short_name = t.full_name.split('.')[-1]
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# Dependencies (no duplicates)
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def fields_includes(fields):
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return set(type_output_filename(x.type) for x in fields if x.type.category == x.type.CATEGORY_COMPOUND)
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if t.kind == t.KIND_MESSAGE:
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t.cpp_includes = fields_includes(t.fields)
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else:
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t.cpp_includes = fields_includes(t.request_fields + t.response_fields)
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t.cpp_namespace_components = t.full_name.split('.')[:-1]
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t.has_default_dtid = t.default_dtid is not None
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# Attribute types
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def inject_cpp_types(attributes):
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for a in attributes:
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a.cpp_type = type_to_cpp_type(a.type)
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if t.kind == t.KIND_MESSAGE:
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inject_cpp_types(t.fields)
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inject_cpp_types(t.constants)
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else:
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inject_cpp_types(t.request_fields)
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inject_cpp_types(t.request_constants)
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inject_cpp_types(t.response_fields)
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inject_cpp_types(t.response_constants)
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# Constant properties
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def inject_constant_info(constants):
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for c in constants:
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if c.type.kind == c.type.KIND_FLOAT:
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c.cpp_use_enum = False
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numeric_limits = '::std::numeric_limits<typename ::uavcan::StorageType<typename ConstantTypes::%s>::Type>' % c.name
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numeric_limits_inf = numeric_limits + '::infinity()'
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special_values = {
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'inf': numeric_limits_inf,
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'+inf': numeric_limits_inf,
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'-inf': '-' + numeric_limits_inf,
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'nan': numeric_limits + '::quiet_NaN()',
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}
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if c.string_value in special_values:
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c.cpp_value = special_values[c.string_value]
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else:
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float(c.string_value) # making sure that this is a valid float literal
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c.cpp_value = c.string_value
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else:
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c.cpp_use_enum = c.value >= 0 and c.type.bitlen <= MAX_BITLEN_FOR_ENUM
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c.cpp_value = c.string_value
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if t.kind == t.KIND_MESSAGE:
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inject_constant_info(t.constants)
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else:
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inject_constant_info(t.request_constants)
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inject_constant_info(t.response_constants)
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# Data type kind
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t.cpp_kind = {
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t.KIND_MESSAGE: '::uavcan::DataTypeKindMessage',
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t.KIND_SERVICE: '::uavcan::DataTypeKindService',
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}[t.kind]
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# Generation
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template = Template(filename=TEMPLATE_FILENAME)
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text = template.render(t=t)
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text = '\n'.join(x.rstrip() for x in text.splitlines())
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text = text.replace('\n\n\n\n', '\n\n').replace('\n\n\n', '\n\n')
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text = text.replace('{\n\n ', '{\n ')
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return text
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# -----------------
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DESCRIPTION = '''UAVCAN DSDL compiler. Takes an input directory that contains an hierarchy of DSDL
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definitions and converts it into compatible hierarchy of C++ types for libuavcan.'''
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DEFAULT_OUTDIR = './dsdlc_output'
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argparser = argparse.ArgumentParser(description=DESCRIPTION)
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argparser.add_argument('source_dir', help='source directory with DSDL definitions')
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argparser.add_argument('--verbose', '-v', action='count', help='verbosity level (-v, -vv)')
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argparser.add_argument('--outdir', '-O', default=DEFAULT_OUTDIR, help='output directory, default %s' % DEFAULT_OUTDIR)
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argparser.add_argument('--incdir', '-I', default=[], action='append', help='nested type namespaces')
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args = argparser.parse_args()
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configure_logging(args.verbose)
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types = run_parser(args.source_dir, args.incdir)
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if not types:
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die('No type definitions were found')
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run_generator(types, args.outdir)
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@@ -2,5 +2,10 @@
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# Test file
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#
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int2 SMALL_CONST = -2
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int61 CONST = -123456789
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float16 FLOAT_CONST = 1.23
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float16 FLOAT_CONST2 = nan
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float16 FLOAT_CONST3 = -inf
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root_b.TypeInRootB type_in_root_b
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root_a.ns2.TypeInNs2[<5] type_in_ns_2
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@@ -92,13 +92,14 @@ 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, filename):
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def __init__(self, full_name, kind, dsdl_signature, dsdl_path, default_dtid, filename, source_text):
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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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self.filename = filename
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self.source_text = source_text
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max_bitlen_sum = lambda fields: sum([x.type.get_max_bitlen() for x in fields])
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if kind == CompoundType.KIND_SERVICE:
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self.request_fields = []
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@@ -362,10 +363,10 @@ class Parser:
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try:
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filename = os.path.abspath(filename)
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with open(filename) as f:
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text = f.read()
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source_text = f.read()
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full_typename, default_dtid = self._full_typename_and_dtid_from_filename(filename)
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numbered_lines = list(self._tokenize(text))
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numbered_lines = list(self._tokenize(source_text))
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all_attributes_names = set()
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fields, constants, resp_fields, resp_constants = [], [], [], []
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response_part = False
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@@ -396,7 +397,7 @@ class Parser:
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dsdl_signature = self._compute_dsdl_signature(full_typename, fields, constants,
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resp_fields, resp_constants)
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typedef = CompoundType(full_typename, CompoundType.KIND_SERVICE, dsdl_signature, filename,
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default_dtid, filename)
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default_dtid, filename, source_text)
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typedef.request_fields = fields
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typedef.request_constants = constants
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typedef.response_fields = resp_fields
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@@ -406,7 +407,7 @@ class Parser:
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else:
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dsdl_signature = self._compute_dsdl_signature(full_typename, fields, constants)
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typedef = CompoundType(full_typename, CompoundType.KIND_MESSAGE, dsdl_signature, filename,
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default_dtid, filename)
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default_dtid, filename, source_text)
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typedef.fields = fields
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typedef.constants = constants
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max_bitlen = typedef.get_max_bitlen()
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