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65 lines
2.6 KiB
Python
Executable File
65 lines
2.6 KiB
Python
Executable File
#!/usr/bin/env python
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#
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# UAVCAN DSDL compiler for libuavcan
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# Supported Python versions: 3.2+, 2.7.
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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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from __future__ import division, absolute_import, print_function, unicode_literals
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import os, sys, logging, argparse
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# This trickery allows to use the compiler even if pyuavcan is not installed in the system.
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# This is extremely important, as it makes the compiler (and therefore libuavcan in general)
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# totally dependency-free, except for the Python interpreter itself.
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SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
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LOCAL_PYUAVCAN_DIR = os.path.join(SCRIPT_DIR, 'pyuavcan')
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RUNNING_FROM_SRC_DIR = os.path.isdir(LOCAL_PYUAVCAN_DIR)
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if RUNNING_FROM_SRC_DIR:
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#print('Running from the source directory')
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sys.path.insert(0, SCRIPT_DIR)
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sys.path.insert(0, LOCAL_PYUAVCAN_DIR)
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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 die(text):
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print(text, file=sys.stderr)
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exit(1)
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DEFAULT_OUTDIR = 'dsdlc_generated'
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DESCRIPTION = '''UAVCAN DSDL compiler for libuavcan.
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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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This script can be used directly from the source directory, no installation required!
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Supported Python versions: 3.2+, 2.7.
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'''
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argparser = argparse.ArgumentParser(description=DESCRIPTION)
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argparser.add_argument('source_dir', nargs='+', 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=
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'''nested type namespaces, one path per argument. Can be also specified through the environment variable
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UAVCAN_DSDL_INCLUDE_PATH, where the path entries are separated by colons ":"''')
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args = argparser.parse_args()
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configure_logging(args.verbose)
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try:
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extra_incdir = os.environ['UAVCAN_DSDL_INCLUDE_PATH'].split(':')
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logging.info('Additional include directories: %s', extra_incdir)
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args.incdir += extra_incdir
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except KeyError:
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pass
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from libuavcan_dsdl_compiler import run as dsdlc_run
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try:
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dsdlc_run(args.source_dir, args.incdir, args.outdir)
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except Exception as ex:
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logging.error('Compiler failure', exc_info=True)
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die(str(ex))
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