DSDL compiler for libuavcan - dsdlc

.gitignore

@@ -12,3 +12,6 @@ lib*.so.*
 .project
 .cproject
 .pydevproject
+
+# libuavcan DSDL compiler default output directory
+*dsdlc_output

libuavcan/dsdl_compiler/data_type_template.hpp

@@ -1 +1,182 @@
- 
+/*
+ * UAVCAN data structure definition for libuavcan.
+ *
+ * Autogenerated, do not edit.
+ *
+ * Source file: ${t.filename}
+ */
+
+#pragma once
+
+#include <limits>
+#include <uavcan/data_type.hpp>
+#include <uavcan/global_data_type_registry.hpp>
+#include <uavcan/internal/util.hpp>
+
+% for inc in t.cpp_includes:
+#include <${inc}>
+% endfor
+
+#if !defined(UAVCAN_CONSTEXPR)
+# if __cplusplus < 201100L
+#  define UAVCAN_CONSTEXPR const
+# else
+#  define UAVCAN_CONSTEXPR constexpr
+# endif
+#endif
+
+<%!
+indent = lambda text, idnt='    ': idnt + text.replace('\n', '\n' + idnt)
+%>
+
+/******************************************************************************
+% for line in t.source_text.strip().splitlines():
+${line}
+% endfor
+******************************************************************************/
+
+% for nsc in t.cpp_namespace_components:
+namespace ${nsc}
+{
+% endfor
+
+struct ${t.short_name}
+{
+<%def name="generate_primary_body(type_name, max_bitlen, fields, constants)" buffered="True">
+    typedef const ${type_name}& ParameterType;
+    typedef ${type_name}& ReferenceType;
+
+<%def name="expand_attr_types(group_name, attrs)">
+    struct ${group_name}
+    {
+% for a in attrs:
+        typedef ${a.cpp_type} ${a.name};
+% endfor
+    };
+</%def>
+    ${expand_attr_types('ConstantTypes', constants)}
+    ${expand_attr_types('FieldTypes', fields)}
+
+<%def name="expand_enum_per_field(enum_name)">
+    enum
+    {
+        ${enum_name}
+% for idx,a in enumerate(fields):
+            ${'=' if idx == 0 else '+'} FieldTypes::${a.name}::${enum_name}
+% endfor
+    };
+</%def>
+    ${expand_enum_per_field('MinBitLen')}
+    ${expand_enum_per_field('MaxBitLen')}
+
+    // Constants
+% for a in constants:
+    % if a.cpp_use_enum:
+    enum { ${a.name} = ${a.cpp_value} }; // ${a.init_expression}
+    % else:
+    static UAVCAN_CONSTEXPR typename ::uavcan::StorageType<ConstantTypes::${a.name}>::Type
+        ${a.name} = ${a.cpp_value}; // ${a.init_expression}
+    %endif
+% endfor
+
+    // Fields
+% for a in fields:
+    typename ::uavcan::StorageType<FieldTypes::${a.name}>::Type ${a.name};
+% endfor
+
+    ${type_name}()
+% for idx,a in enumerate(fields):
+    ${':' if idx == 0 else ','} ${a.name}()
+% endfor
+    {
+#if UAVCAN_DEBUG
+        /*
+         * Cross-checking MaxBitLen provided by the DSDL compiler.
+         * This check shall never be performed in user code because MaxBitLen value
+         * actually depends on the nested types, thus it is not invariant.
+         */
+        ::uavcan::StaticAssert<${max_bitlen} == MaxBitLen>::check();
+#endif
+    }
+
+<%def name="generate_codec_calls_per_field(call_name, self_parameter_type)">
+    static int ${call_name}(${self_parameter_type} self, ::uavcan::ScalarCodec& codec,
+                      ::uavcan::TailArrayOptimizationMode tao_mode = ::uavcan::TailArrayOptEnabled)
+    {
+        int res = 1;
+% for idx,a in enumerate(fields):
+        res = FieldTypes::${a.name}::${call_name}(self.${a.name}, codec, \
+${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
+        if (res <= 0)
+            return res;
+% endfor
+        return res;
+    }
+</%def>
+    ${generate_codec_calls_per_field('encode', 'ParameterType')}
+    ${generate_codec_calls_per_field('decode', 'ReferenceType')}
+</%def>
+% if t.kind == t.KIND_SERVICE:
+    struct Request
+    {
+        ${generate_primary_body(t.short_name, t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
+    };
+
+    struct Response
+    {
+        ${generate_primary_body(t.short_name, t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
+    };
+% else:
+    ${generate_primary_body(t.short_name, t.get_max_bitlen(), t.fields, t.constants)}
+% endif
+
+    /*
+     * Static type info
+     */
+    enum { DataTypeKind = ${t.cpp_kind} };
+% if t.has_default_dtid:
+    enum { DefaultDataTypeID = ${t.default_dtid} };
+% else:
+    // This type has no default data type ID
+% endif
+
+    static const char* getDataTypeFullName()
+    {
+        return "${t.full_name}";
+    }
+
+    static void extendDataTypeSignature(::uavcan::DataTypeSignature& signature)
+    {
+        signature.extend(getDataTypeSignature());
+    }
+
+    static ::uavcan::DataTypeSignature getDataTypeSignature()
+    {
+        ::uavcan::DataTypeSignature signature(${hex(t.dsdl_signature)});
+<%def name="extend_signature_per_field(scope_prefix, fields)">
+    % for a in fields:
+        ${scope_prefix}FieldTypes::${a.name}::extendDataTypeSignature(signature);
+    % endfor
+</%def>
+% if t.kind == t.KIND_SERVICE:
+    ${extend_signature_per_field('Request::', t.request_fields)}
+    ${extend_signature_per_field('Response::', t.response_fields)}
+% else:
+    ${extend_signature_per_field('', t.fields)}
+% endif
+        return signature;
+    }
+};
+
+// TODO Stream operator
+
+% if t.has_default_dtid:
+namespace
+{
+::uavcan::DefaultDataTypeRegistrator<${t.short_name}> _uavcan_gdtr_registrator_${t.short_name};
+}
+% endif
+
+% for nsc in t.cpp_namespace_components:
+}
+% endfor

libuavcan/dsdl_compiler/dsdlc.py

@@ -5,7 +5,8 @@
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
-import sys, os
+import sys, os, argparse, logging
+from mako.template import Template
 
 RUNNING_FROM_SRC_DIR = os.path.abspath(__file__).endswith(os.path.join('libuavcan', 'dsdl_compiler', 'dsdlc.py'))
 if RUNNING_FROM_SRC_DIR:
@@ -15,4 +16,173 @@ if RUNNING_FROM_SRC_DIR:
 
 from pyuavcan import dsdl
 
-print('Hello')
+MAX_BITLEN_FOR_ENUM = 31
+CPP_HEADER_EXTENSION = 'hpp'
+TEMPLATE_FILENAME = os.path.join(os.path.dirname(__file__), 'data_type_template.hpp')
+
+# -----------------
+
+class DsdlCompilerException(Exception):
+    pass
+
+def pretty_filename(filename):
+    a = os.path.abspath(filename)
+    r = os.path.relpath(filename)
+    return a if len(a) < len(r) else r
+
+def type_output_filename(t):
+    assert t.category == t.CATEGORY_COMPOUND
+    return t.full_name.replace('.', os.path.sep) + '.' + CPP_HEADER_EXTENSION
+
+def die(text):
+    print(text, file=sys.stderr)
+    exit(1)
+
+def configure_logging(verbosity):
+    fmt = '%(message)s'
+    level = { 0: logging.WARNING, 1: logging.INFO, 2: logging.DEBUG }.get(verbosity or 0, logging.DEBUG)
+    logging.basicConfig(stream=sys.stderr, level=level, format=fmt)
+
+def run_parser(source_dir, search_dirs):
+    try:
+        types = dsdl.parse_namespace(source_dir, search_dirs)
+    except dsdl.DsdlException as ex:
+        errtext = str(ex)  # TODO: gcc-style formatting
+        die(errtext)
+    logging.info('%d types from [%s] parsed successfully', len(types), source_dir)
+    return types
+
+def run_generator(types, dest_dir):
+    try:
+        dest_dir = os.path.abspath(dest_dir)  # Removing '..'
+        os.makedirs(dest_dir, exist_ok=True)
+        for t in types:
+            logging.info('Generating type %s', t.full_name)
+            file_path = os.path.join(dest_dir, type_output_filename(t))
+            dir_path = os.path.dirname(file_path)
+            os.makedirs(dir_path, exist_ok=True)
+            text = generate_one_type(t)
+            with open(file_path, 'w') as f:
+                f.write(text)
+    except Exception as ex:
+        logging.info('Generator error', exc_info=True)
+        die(str(ex))
+
+def type_to_cpp_type(t):
+    if t.category == t.CATEGORY_PRIMITIVE:
+        cast_mode = {
+            t.CAST_MODE_SATURATED: '::uavcan::CastModeSaturate',
+            t.CAST_MODE_TRUNCATED: '::uavcan::CastModeTruncate',
+        }[t.cast_mode]
+        if t.kind == t.KIND_FLOAT:
+            return '::uavcan::FloatSpec<%d, %s>' % (t.bitlen, cast_mode)
+        else:
+            signedness = {
+                t.KIND_BOOLEAN: '::uavcan::SignednessUnsigned',
+                t.KIND_UNSIGNED_INT: '::uavcan::SignednessUnsigned',
+                t.KIND_SIGNED_INT: '::uavcan::SignednessSigned',
+            }[t.kind]
+            return '::uavcan::IntegerSpec<%d, %s, %s>' % (t.bitlen, signedness, cast_mode)
+    elif t.category == t.CATEGORY_ARRAY:
+        value_type = type_to_cpp_type(t.value_type)
+        mode = {
+            t.MODE_STATIC: '::uavcan::ArrayModeStatic',
+            t.MODE_DYNAMIC: '::uavcan::ArrayModeDynamic',
+        }[t.mode]
+        return '::uavcan::Array<%s, %s, %d>' % (value_type, mode, t.max_size)
+    elif t.category == t.CATEGORY_COMPOUND:
+        return '::' + t.full_name.replace('.', '::')
+    else:
+        raise DsdlCompilerException('Unknown type category: %s' % t.category)
+
+def generate_one_type(t):
+    t.short_name = t.full_name.split('.')[-1]
+
+    # Dependencies (no duplicates)
+    def fields_includes(fields):
+        return set(type_output_filename(x.type) for x in fields if x.type.category == x.type.CATEGORY_COMPOUND)
+
+    if t.kind == t.KIND_MESSAGE:
+        t.cpp_includes = fields_includes(t.fields)
+    else:
+        t.cpp_includes = fields_includes(t.request_fields + t.response_fields)
+
+    t.cpp_namespace_components = t.full_name.split('.')[:-1]
+    t.has_default_dtid = t.default_dtid is not None
+
+    # Attribute types
+    def inject_cpp_types(attributes):
+        for a in attributes:
+            a.cpp_type = type_to_cpp_type(a.type)
+
+    if t.kind == t.KIND_MESSAGE:
+        inject_cpp_types(t.fields)
+        inject_cpp_types(t.constants)
+    else:
+        inject_cpp_types(t.request_fields)
+        inject_cpp_types(t.request_constants)
+        inject_cpp_types(t.response_fields)
+        inject_cpp_types(t.response_constants)
+
+    # Constant properties
+    def inject_constant_info(constants):
+        for c in constants:
+            if c.type.kind == c.type.KIND_FLOAT:
+                c.cpp_use_enum = False
+                numeric_limits = '::std::numeric_limits<typename ::uavcan::StorageType<typename ConstantTypes::%s>::Type>' % c.name
+                numeric_limits_inf = numeric_limits + '::infinity()'
+                special_values = {
+                    'inf': numeric_limits_inf,
+                    '+inf': numeric_limits_inf,
+                    '-inf': '-' + numeric_limits_inf,
+                    'nan': numeric_limits + '::quiet_NaN()',
+                }
+                if c.string_value in special_values:
+                    c.cpp_value = special_values[c.string_value]
+                else:
+                    float(c.string_value)  # making sure that this is a valid float literal
+                    c.cpp_value = c.string_value
+            else:
+                c.cpp_use_enum = c.value >= 0 and c.type.bitlen <= MAX_BITLEN_FOR_ENUM
+                c.cpp_value = c.string_value
+    if t.kind == t.KIND_MESSAGE:
+        inject_constant_info(t.constants)
+    else:
+        inject_constant_info(t.request_constants)
+        inject_constant_info(t.response_constants)
+
+    # Data type kind
+    t.cpp_kind = {
+        t.KIND_MESSAGE: '::uavcan::DataTypeKindMessage',
+        t.KIND_SERVICE: '::uavcan::DataTypeKindService',
+    }[t.kind]
+
+    # Generation
+    template = Template(filename=TEMPLATE_FILENAME)
+    text = template.render(t=t)
+    text = '\n'.join(x.rstrip() for x in text.splitlines())
+    text = text.replace('\n\n\n\n', '\n\n').replace('\n\n\n', '\n\n')
+    text = text.replace('{\n\n ', '{\n ')
+    return text
+
+# -----------------
+
+DESCRIPTION = '''UAVCAN DSDL compiler. Takes an input directory that contains an hierarchy of DSDL
+definitions and converts it into compatible hierarchy of C++ types for libuavcan.'''
+
+DEFAULT_OUTDIR = './dsdlc_output'
+
+argparser = argparse.ArgumentParser(description=DESCRIPTION)
+argparser.add_argument('source_dir', help='source directory with DSDL definitions')
+argparser.add_argument('--verbose', '-v', action='count', help='verbosity level (-v, -vv)')
+argparser.add_argument('--outdir', '-O', default=DEFAULT_OUTDIR, help='output directory, default %s' % DEFAULT_OUTDIR)
+argparser.add_argument('--incdir', '-I', default=[], action='append', help='nested type namespaces')
+args = argparser.parse_args()
+
+configure_logging(args.verbose)
+
+types = run_parser(args.source_dir, args.incdir)
+if not types:
+    die('No type definitions were found')
+
+run_generator(types, args.outdir)

pyuavcan/dsdl_test_data/root_a/425.TypeInRootA.uavcan

@@ -2,5 +2,10 @@
 # Test file
 #
 
+int2 SMALL_CONST = -2
+int61 CONST = -123456789
+float16 FLOAT_CONST = 1.23
+float16 FLOAT_CONST2 = nan
+float16 FLOAT_CONST3 = -inf
 root_b.TypeInRootB type_in_root_b
 root_a.ns2.TypeInNs2[<5] type_in_ns_2

pyuavcan/pyuavcan/dsdl/parser.py

@@ -92,13 +92,14 @@ class CompoundType(Type):
     KIND_SERVICE = 0
     KIND_MESSAGE = 1
 
-    def __init__(self, full_name, kind, dsdl_signature, dsdl_path, default_dtid, filename):
+    def __init__(self, full_name, kind, dsdl_signature, dsdl_path, default_dtid, filename, source_text):
         super().__init__(full_name, Type.CATEGORY_COMPOUND)
         self.dsdl_signature = dsdl_signature
         self.dsdl_path = dsdl_path
         self.default_dtid = default_dtid
         self.kind = kind
         self.filename = filename
+        self.source_text = source_text
         max_bitlen_sum = lambda fields: sum([x.type.get_max_bitlen() for x in fields])
         if kind == CompoundType.KIND_SERVICE:
             self.request_fields = []
@@ -362,10 +363,10 @@ class Parser:
         try:
             filename = os.path.abspath(filename)
             with open(filename) as f:
-                text = f.read()
+                source_text = f.read()
 
             full_typename, default_dtid = self._full_typename_and_dtid_from_filename(filename)
-            numbered_lines = list(self._tokenize(text))
+            numbered_lines = list(self._tokenize(source_text))
             all_attributes_names = set()
             fields, constants, resp_fields, resp_constants = [], [], [], []
             response_part = False
@@ -396,7 +397,7 @@ class Parser:
                 dsdl_signature = self._compute_dsdl_signature(full_typename, fields, constants,
                                                               resp_fields, resp_constants)
                 typedef = CompoundType(full_typename, CompoundType.KIND_SERVICE, dsdl_signature, filename,
-                                       default_dtid, filename)
+                                       default_dtid, filename, source_text)
                 typedef.request_fields = fields
                 typedef.request_constants = constants
                 typedef.response_fields = resp_fields
@@ -406,7 +407,7 @@ class Parser:
             else:
                 dsdl_signature = self._compute_dsdl_signature(full_typename, fields, constants)
                 typedef = CompoundType(full_typename, CompoundType.KIND_MESSAGE, dsdl_signature, filename,
-                                       default_dtid, filename)
+                                       default_dtid, filename, source_text)
                 typedef.fields = fields
                 typedef.constants = constants
                 max_bitlen = typedef.get_max_bitlen()