def generate_rule_of_five(self):
raw_pointer = [v.name for v in self.fields if v.pointer and v.pointer == PointerType['RAW']]
raw_pointer_warning = '#pragma message ( "WARNING: The following fields in {0} are raw pointers and copying or moving will copy the raw pointer address: {1}") \n'.format(
self.name, ', '.join(raw_pointer)
)
rule_of_five = dedent(
"""\
{warning}
{name}(const {name}&) = default;
{name}({name}&&) = default;
~{name}() = default;
{name}& operator=(const {name}&) = default;
{name}& operator=({name}&&) = default;"""
)
return (rule_of_five.format(name=self.name, warning=raw_pointer_warning if raw_pointer else ''), '')
if function not in duplicates:
duplicates.append(function)
functions.append(function)
# Write our file
with open(base_file, 'w') as f:
f.write(dedent("""\
#include <pybind11/pybind11.h>
#include <pybind11/complex.h>
#include <pybind11/stl.h>
#include <pybind11/eigen.h>
// Declare our functions (that we know will be made later)
{function_declarations}
PYBIND11_PLUGIN(message) {{
pybind11::module module("message", "NUClear message classes");
// Initialise each of the modules
{function_calls}
return module.ptr();
}}
""").format(
function_declarations='\n'.join('void init_message_{}(pybind11::module& module);'.format(f) for f in functions),
function_calls=indent('\n'.join('init_message_{}(module);'.format(f) for f in functions)),
))
def generate_cpp(self):
# Make our value pairs
values = indent('\n'.join(['{} = {}'.format(v[0], v[1]) for v in self.values]), 8)
values = ',\n'.join([v for v in values.splitlines()])
scope_name='_'.join(self.fqn.split('.'))
# Make our switch statement pairs
switches = indent('\n'.join(['case Value::{}: return "{}";'.format(v[0], v[0]) for v in self.values]), 8)
# Make our if chain
if_chain = indent('\nelse '.join(['if (str == "{}") value = Value::{};'.format(v[0], v[0]) for v in self.values]))
# Get our default value
default_value = dict([reversed(v) for v in self.values])[0]
# Make our fancy enums
header_template = dedent("""\
struct {name} : public ::message::MessageBase<{name}> {{
enum Value {{
{values}
}};
Value value;
// Constructors
{name}();
{name}(int const& v);
{name}(Value const& value);
{name}(std::string const& str);
{name}({protobuf_name} const& p);
// Operators
bool operator <({name} const& other) const;
bool operator >({name} const& other) const;
bool operator <=({name} const& other) const;
bool operator >=({name} const& other) const;
bool operator ==({name} const& other) const;
bool operator !=({name} const& other) const;
bool operator <({name}::Value const& other) const;
bool operator >({name}::Value const& other) const;
bool operator <=({name}::Value const& other) const;
bool operator >=({name}::Value const& other) const;
bool operator ==({name}::Value const& other) const;
bool operator !=({name}::Value const& other) const;
// Conversions
operator Value() const;
operator int() const;
operator std::string() const;
operator {protobuf_name}() const;
friend std::ostream& operator<< (std::ostream& out, const {name}& val);
}};""")
impl_template = dedent("""\
typedef {fqn} T{scope_name};
{fqn}::{name}() : value(Value::{default_value}) {{}}
{fqn}::{name}(int const& v) : value(static_cast<Value>(v)) {{}}
{fqn}::{name}(Value const& value) : value(value) {{}}
{fqn}::{name}(std::string const& str) {{
{if_chain}
else throw std::runtime_error("String " + str + " did not match any enum for {name}");
}}
{fqn}::{name}({protobuf_name} const& p) {{
value = static_cast<Value>(p);
}}
bool {fqn}::operator <({name} const& other) const {{
return value < other.value;
}}
bool {fqn}::operator >({name} const& other) const {{
return value > other.value;
}}
bool {fqn}::operator <=({name} const& other) const {{
return value <= other.value;
}}
bool {fqn}::operator >=({name} const& other) const {{
return value >= other.value;
}}
bool {fqn}::operator ==({name} const& other) const {{
return value == other.value;
}}
bool {fqn}::operator !=({name} const& other) const {{
return value != other.value;
}}
bool {fqn}::operator <({name}::Value const& other) const {{
return value < other;
}}
bool {fqn}::operator >({name}::Value const& other) const {{
return value > other;
}}
bool {fqn}::operator <=({name}::Value const& other) const {{
return value <= other;
}}
bool {fqn}::operator >=({name}::Value const& other) const {{
return value >= other;
}}
bool {fqn}::operator ==({name}::Value const& other) const {{
return value == other;
}}
bool {fqn}::operator !=({name}::Value const& other) const {{
return value != other;
}}
{fqn}::operator Value() const {{
return value;
}}
{fqn}::operator int() const {{
return value;
}}
{fqn}::operator std::string() const {{
switch(value) {{
{switches}
default:
throw std::runtime_error("enum {name}'s value is corrupt, unknown value stored");
}}
}}
{fqn}::operator {protobuf_name}() const {{
return static_cast<{protobuf_name}>(value);
}}
std::ostream& {namespace}::operator<< (std::ostream& out, const {fqn}& val) {{
return out << static_cast<std::string>(val);
}}""")
python_template = dedent("""\
// Local scope for this enum
{{
auto enumclass = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}")
.def(pybind11::init<>())
.def(pybind11::init<int const&>())
.def(pybind11::init<{fqn}::Value const&>())
.def(pybind11::init<std::string const&>())
.def(pybind11::self < pybind11::self)
.def(pybind11::self > pybind11::self)
.def(pybind11::self <= pybind11::self)
.def(pybind11::self >= pybind11::self)
.def(pybind11::self == pybind11::self)
.def(pybind11::self < {fqn}::Value())
.def(pybind11::self > {fqn}::Value())
.def(pybind11::self <= {fqn}::Value())
.def(pybind11::self >= {fqn}::Value())
.def(pybind11::self == {fqn}::Value())
.def_static("include_path", [] {{
return "{include_path}";
}})
.def("_emit", [] ({fqn}& msg, pybind11::capsule capsule) {{
// Extract our reactor from the capsule
NUClear::Reactor* reactor = capsule;
// Do the emit
reactor->powerplant.emit_shared<NUClear::dsl::word::emit::Local>(msg.shared_from_this());
}});
pybind11::enum_<{fqn}::Value>(enumclass, "Value")
{value_list}
.export_values();
}}""")
return header_template.format(
name=self.name,
protobuf_name='::'.join(('.protobuf' + self.fqn).split('.')),
values=values
), impl_template.format(
fqn='::'.join(self.fqn.split('.')),
namespace='::'.join(self.package.split('.')),
name=self.name,
protobuf_name='::'.join(('.protobuf' + self.fqn).split('.')),
default_value=default_value,
if_chain=if_chain,
switches=switches,
scope_name=scope_name,
), python_template.format(
fqn='::'.join(self.fqn.split('.')),
name=self.name,
include_path=self.include_path,
value_list=indent('\n'.join('.value("{name}", {fqn}::{name})'.format(name=v[0], fqn=self.fqn.replace('.', '::')) for v in self.values), 8)
)
def generate_cpp(self):
header_template = dedent("""\
class {oneof_name} : public enable_shared_from_this {{
public:
{oneof_name}() : {initialiser_list}, val_index(0) {{}}
template <typename T, size_t index>
class Proxy {{
public:
Proxy({oneof_name}* oneof) : oneof(oneof) {{}}
template <typename U = T>
Proxy& operator=(U&& t) {{
oneof->data = std::make_shared<T>(std::forward<U>(t));
oneof->val_index = index;
return *this;
}}
bool operator==(const Proxy<T, index>& other) const {{ return get() == other.get(); }}
operator T&() {{ return get(); }}
operator const T&() const {{ return get(); }}
const T& get() const {{
if (oneof->val_index == index) {{
return *std::static_pointer_cast<T>(oneof->data);
}}
throw std::range_error("This is not the one of you were looking for.");
}}
T& get() {{
if (oneof->val_index == index) {{
return *std::static_pointer_cast<T>(oneof->data);
}}
throw std::range_error("This is not the one of you were looking for.");
}}
private:
{oneof_name}* oneof;
}};
bool operator==(const {oneof_name}& other) const {{
if (val_index == other.val_index) {{
switch (val_index) {{
{cases}
default: return false;
}}
}}
return false;
}}
void reset() {{
val_index = 0;
data.reset();
}}
{member_list}
size_t val_index;
private:
std::shared_ptr<void> data;
}};
""")
impl_template = dedent("""\
""")
python_template = dedent("""\
// Local scope for this message
{{
// Use our context and assign a new one to a shadow
auto shadow = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}");
// Shadow our context with our new context and declare our subclasses
auto& context = shadow;
// Declare the functions on our class (which may use the ones in the subclasses)
context
{bindings}
}}""")
binding_template = dedent("""\
context.def_property("{field_name}",
[](const {fqn}& oneof) -> const {type_name}& {{
return oneof.{field_name};
}},
[](const {fqn}& oneof, const {type_name}& value) -> void {{
oneof.{field_name} = value;
}});
""")
python_bindings = [
binding_template.format(field_name=v.name,
type_name=v.cpp_type,
fqn=self.fqn.replace('.', '::'))
for v in self.fields
]
member_list = [
'Proxy<{}, {}> {};'.format(v.cpp_type, v.number, v.name)
for v in self.fields
]
initialiser_list = ['{}(this)'.format(v.name) for v in self.fields]
cases = [
'case {0}: return {1} == other.{1};'.format(v.number, v.name)
for v in self.fields
]
return (header_template.format(
oneof_name=self.name,
member_list=indent('\n'.join(member_list), 4),
initialiser_list=', '.join(initialiser_list),
cases=indent('\n'.join(cases), 16)), impl_template,
python_template.format(bindings='\n\n'.join(python_bindings),
fqn=self.fqn.replace('.', '::'),
name=self.name))
def generate_cpp(self):
# Make our value pairs
values = indent('\n'.join(['{} = {}'.format(v[0], v[1]) for v in self.values]), 8)
values = ',\n'.join([v for v in values.splitlines()])
# Make our switch statement pairs
switches = indent('\n'.join(['case Value::{}: return "{}";'.format(v[0], v[0]) for v in self.values]), 8)
# Make our if chain
if_chain = indent('\n'.join(['if (str == "{}") value = Value::{};'.format(v[0], v[0]) for v in self.values]))
# Get our default value
default_value = dict([reversed(v) for v in self.values])[0]
# Make our fancy enums
header_template = dedent("""\
struct {name} : public ::message::MessageBase<{name}> {{
enum Value {{
{values}
}};
Value value;
// Constructors
{name}();
{name}(int const& v);
{name}(Value const& value);
{name}(std::string const& str);
{name}({protobuf_name} const& p);
// Operators
bool operator <({name} const& other) const;
bool operator >({name} const& other) const;
bool operator <=({name} const& other) const;
bool operator >=({name} const& other) const;
bool operator ==({name} const& other) const;
bool operator <({name}::Value const& other) const;
bool operator >({name}::Value const& other) const;
bool operator <=({name}::Value const& other) const;
bool operator >=({name}::Value const& other) const;
bool operator ==({name}::Value const& other) const;
// Conversions
operator Value() const;
operator int() const;
operator std::string() const;
operator {protobuf_name}() const;
}};""")
impl_template = dedent("""\
{fqn}::{name}() : value(Value::{default_value}) {{}}
{fqn}::{name}(int const& v) : value(static_cast<Value>(v)) {{}}
{fqn}::{name}(Value const& value) : value(value) {{}}
{fqn}::{name}(std::string const& str) {{
{if_chain}
throw std::runtime_error("String did not match any enum for {name}");
}}
{fqn}::{name}({protobuf_name} const& p) {{
value = static_cast<Value>(p);
}}
bool {fqn}::operator <({name} const& other) const {{
return value < other.value;
}}
bool {fqn}::operator >({name} const& other) const {{
return value > other.value;
}}
bool {fqn}::operator <=({name} const& other) const {{
return value <= other.value;
}}
bool {fqn}::operator >=({name} const& other) const {{
return value >= other.value;
}}
bool {fqn}::operator ==({name} const& other) const {{
return value == other.value;
}}
bool {fqn}::operator <({name}::Value const& other) const {{
return value < other;
}}
bool {fqn}::operator >({name}::Value const& other) const {{
return value > other;
}}
bool {fqn}::operator <=({name}::Value const& other) const {{
return value <= other;
}}
bool {fqn}::operator >=({name}::Value const& other) const {{
return value >= other;
}}
bool {fqn}::operator ==({name}::Value const& other) const {{
return value == other;
}}
{fqn}::operator Value() const {{
return value;
}}
{fqn}::operator int() const {{
return value;
}}
{fqn}::operator std::string() const {{
switch(value) {{
{switches}
default:
throw std::runtime_error("enum {name}'s value is corrupt, unknown value stored");
}}
}}
{fqn}::operator {protobuf_name}() const {{
return static_cast<{protobuf_name}>(value);
}}""")
python_template = dedent("""\
// Local scope for this enum
{{
auto enumclass = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}")
.def(pybind11::init<>())
.def(pybind11::init<int const&>())
.def(pybind11::init<{fqn}::Value const&>())
.def(pybind11::init<std::string const&>())
.def(pybind11::self < pybind11::self)
.def(pybind11::self > pybind11::self)
.def(pybind11::self <= pybind11::self)
.def(pybind11::self >= pybind11::self)
.def(pybind11::self == pybind11::self)
.def(pybind11::self < {fqn}::Value())
.def(pybind11::self > {fqn}::Value())
.def(pybind11::self <= {fqn}::Value())
.def(pybind11::self >= {fqn}::Value())
.def(pybind11::self == {fqn}::Value())
.def_static("include_path", [] {{
return "{include_path}";
}});
pybind11::enum_<{fqn}::Value>(enumclass, "Value")
{value_list}
.export_values();
}}""")
return header_template.format(
name=self.name,
protobuf_name='::'.join(('.protobuf' + self.fqn).split('.')),
values=values
), impl_template.format(
fqn='::'.join(self.fqn.split('.')),
name=self.name,
protobuf_name='::'.join(('.protobuf' + self.fqn).split('.')),
default_value=default_value,
if_chain=if_chain,
switches=switches
), python_template.format(
fqn='::'.join(self.fqn.split('.')),
name=self.name,
include_path=self.include_path,
value_list=indent('\n'.join('.value("{name}", {fqn}::{name})'.format(name=v[0], fqn=self.fqn.replace('.', '::')) for v in self.values), 8)
)
def generate_protobuf_constructor(self):
# Fully qualified c++ name
cpp_fqn = '::'.join(self.fqn.split('.'))
# Protobuf name
protobuf_name = '::'.join(('.protobuf' + self.fqn).split('.'))
# If we are empty it's easy
if not self.fields:
return (
'{}(const {}&);'.format(self.name, protobuf_name),
'{}::{}(const {}&) {{}}'.format(cpp_fqn, self.name, protobuf_name)
)
else:
lines = ['{}::{}(const {}& proto) {{'.format(cpp_fqn, self.name, protobuf_name)]
for v in self.fields:
if v.pointer:
print('TODO HANDLE POINTER CASES')
elif v.map_type:
if v.type[1].bytes_type:
lines.append(indent('for (auto& _v : proto.{}()) {{'.format(v.name)))
lines.append(
indent(
'{0}[_v.first].insert(std::end({0}[_v.first]), std::begin(_v.second), std::end(_v.second));'.
format(v.name), 8
)
)
lines.append(indent('}'))
elif v.type[1].special_cpp_type:
lines.append(indent('for (auto& _v : proto.{}()) {{'.format(v.name.lower())))
lines.append(indent('message::conversion::convert({}[_v.first], _v.second);'.format(v.name), 8))
lines.append(indent('}'))
else: # Basic and other types are handled the same
lines.append(
indent(
'{0}.insert(std::begin(proto.{1}()), std::end(proto.{1}()));'.format(
v.name, v.name.lower()
), 8
)
)
elif v.repeated:
if v.bytes_type:
lines.append(indent('{0}.resize(proto.{0}_size());'.format(v.name.lower())))
lines.append(indent('for (size_t _i = 0; _i < {0}.size(); ++_i) {{'.format(v.name)))
lines.append(
indent(
'{0}[_i].insert(std::end({0}[_i]), std::begin(proto.{1}(_i)), std::end(proto.{1}(_i)));'.
format(v.name, v.name.lower()), 8
)
)
lines.append(indent('}'))
elif v.special_cpp_type:
if v.array_size > 0:
lines.append(
indent(
'for (size_t _i = 0; _i < {0}.size() && _i < size_t(proto.{1}_size()); ++_i) {{'.
format(v.name, v.name.lower())
)
)
lines.append(
indent(
'message::conversion::convert({0}[_i], proto.{1}(_i));'.format(
v.name, v.name.lower()
), 8
)
)
lines.append(indent('}'))
else:
# Add the top of our for loop for the repeated field
lines.append(indent('{0}.resize(proto.{1}_size());'.format(v.name, v.name.lower())))
lines.append(indent('for (size_t _i = 0; _i < {0}.size(); ++_i) {{'.format(v.name)))
lines.append(
indent(
'message::conversion::convert({0}[_i], proto.{1}(_i));'.format(
v.name, v.name.lower()
), 8
)
)
lines.append(indent('}'))
else: # Basic and other types are handled the same
if v.array_size > 0:
lines.append(
indent(
'for (size_t _i = 0; _i < {0}.size() && _i < size_t(proto.{1}_size()); ++_i) {{'.
format(v.name, v.name.lower())
)
)
lines.append(indent('{0}[_i] = proto.{1}(_i);'.format(v.name, v.name.lower()), 8))
lines.append(indent('}'))
else:
lines.append(
indent(
'{0}.insert(std::end({0}), std::begin(proto.{1}()), std::end(proto.{1}()));'.format(
v.name, v.name.lower()
)
)
)
elif v.one_of:
lines.append(indent('switch (proto.{}_case()) {{').format(v.name.lower()))
for oneof_field in v.oneof_fields:
lines.append(indent('case {}: {{'.format(oneof_field.number), 8))
if oneof_field.bytes_type:
lines.append(
indent(
dedent(
"""\
{0}.{1} = {2};
{0}.{1}.insert(std::end({0}.{1}), std::begin(proto.{3}()), std::end(proto.{3}()));"""
.format(
v.name, oneof_field.name, oneof_field.default_value,
oneof_field.name.lower()
)
), 12
)
)
elif oneof_field.special_cpp_type:
lines.append(
indent(
dedent(
"""\
{0}.{1} = {2};
message::conversion::convert({0}.{1}, proto.{3}());""".format(
v.name, oneof_field.name, oneof_field.default_value,
oneof_field.name.lower()
)
), 12
)
)
else: # Basic and other types are handled the same
lines.append(
indent(
'{0}.{1} = proto.{2}();'.format(v.name, oneof_field.name, oneof_field.name.lower()),
12
)
)
lines.append(indent('} break;', 8))
lines.append(indent('default: object.reset(); break;', 8))
lines.append(indent('}'))
else:
if v.bytes_type:
lines.append(
indent(
'{0}.insert(std::end({0}), std::begin(proto.{1}()), std::end(proto.{1}()));'.format(
v.name, v.name.lower()
)
)
)
elif v.special_cpp_type:
lines.append(
indent('message::conversion::convert({}, proto.{}());'.format(v.name, v.name.lower()))
)
else: # Basic and other types are handled the same
lines.append(indent('{} = proto.{}();'.format(v.name, v.name.lower())))
lines.append('}')
return '{}(const {}& proto);'.format(self.name, protobuf_name), '\n'.join(lines)
def generate_cpp(self):
# Make our value pairs
fields = indent('\n'.join(['{}'.format(v.generate_cpp_header()) for v in self.fields]))
# Generate our protobuf class name
protobuf_type = '::'.join(('.protobuf' + self.fqn).split('.'))
# Generate our enums c++
enums = [e.generate_cpp() for e in self.enums]
enum_headers = indent('\n\n'.join([e[0] for e in enums]))
enum_impls = ('\n\n'.join([e[1] for e in enums]))
enum_python = ('\n\n'.join([e[2] for e in enums]))
# Generate our submessage c++
submessages = [s.generate_cpp() for s in self.submessages]
submessage_headers = indent('\n\n'.join([s[0] for s in submessages]))
submessage_impls = ('\n\n'.join([s[1] for s in submessages]))
submessage_python = ('\n\n'.join([s[2] for s in submessages]))
# Get our function code
default_constructor = self.generate_default_constructor()
rule_of_five = self.generate_rule_of_five()
protobuf_constructor = self.generate_protobuf_constructor()
protobuf_converter = self.generate_protobuf_converter()
equality_operator = self.generate_equality_operator()
constructor_headers = indent(
'\n\n'.join([default_constructor[0], rule_of_five[0], protobuf_constructor[0], equality_operator[0]])
)
constructor_impl = '\n\n'.join([default_constructor[1], protobuf_constructor[1], equality_operator[1]])
converter_headers = indent('\n\n'.join([protobuf_converter[0]]))
converter_impl = '\n\n'.join([protobuf_converter[1]])
header_template = dedent(
"""\
struct {name} : public ::message::MessageBase<{name}> {{
// Protobuf type
using protobuf_type = {protobuf_type};
// Enum Definitions
{enums}
// Submessage Definitions
{submessages}
// Constructors
{constructors}
// Converters
{converters}
// Fields
{fields}
}};"""
)
impl_template = dedent(
"""\
// Constructors
{constructors}
// Converters
{converters}
// Subenums
{enums}
// Submessages
{submessages}"""
)
python_template = dedent(
"""\
// Local scope for this message
{{
// Use our context and assign a new one to a shadow
auto shadow = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}");
// Shadow our context with our new context and declare our subclasses
auto& context = shadow;
{enums}
{submessages}
// Declare the functions on our class (which may use the ones in the subclasses)
context
{constructor}
{message_members};
context.def_static("include_path", [] {{
return "{include_path}";
}});
// Build our emitter function that is used to emit this object
context.def("_emit", [] ({fqn}& msg, pybind11::capsule capsule) {{
// Extract our reactor from the capsule
NUClear::Reactor* reactor = capsule;
// Do the emit
reactor->powerplant.emit_shared<NUClear::dsl::word::emit::Local>(msg.shared_from_this());
}});
}}"""
)
python_constructor_args = ['{}& self'.format(self.fqn.replace('.', '::'))]
python_constructor_args.extend(['{} const& _{}'.format(t.cpp_type, t.name) for t in self.fields])
python_members = '\n'.join(
'.def_readwrite("{field}", &{fqn}::{field})'.format(field=f.name, fqn=self.fqn.replace('.', '::'))
for f in self.fields
)
python_constructor_default_args = ['']
python_constructor_default_args.extend([
'pybind11::arg("{}") = {}'.format(
t.name, t.default_value if t.default_value else '{}()'.format(t.cpp_type)
) for t in self.fields
])
python_constructor = dedent(
"""\
.def("__init__", [] ({args}) {{
new (&self) {name}({vars});
}}{default_args})"""
).format(
name=self.fqn.replace('.', '::'),
args=', '.join(python_constructor_args),
vars=', '.join('_{}'.format(t.name) for t in self.fields),
default_args=', '.join(python_constructor_default_args)
)
return header_template.format(
name=self.name,
enums=enum_headers,
submessages=submessage_headers,
constructors=constructor_headers,
protobuf_type=protobuf_type,
converters=converter_headers,
fields=fields
), impl_template.format(
constructors=constructor_impl, converters=converter_impl, enums=enum_impls, submessages=submessage_impls
), python_template.format(
constructor=indent(python_constructor, 8),
message_members=indent(python_members, 8),
include_path=self.include_path,
fqn=self.fqn.replace('.', '::'),
name=self.name,
submessages=indent(submessage_python),
enums=indent(enum_python)
)
def generate_cpp(self):
# Make our value pairs
fields = indent('\n'.join(['{}'.format(v.generate_cpp_header()) for v in self.fields]))
# Generate our protobuf class name
protobuf_type = '::'.join(('.protobuf' + self.fqn).split('.'))
# Generate our enums c++
enums = [e.generate_cpp() for e in self.enums]
enum_headers = indent('\n\n'.join([e[0] for e in enums]))
enum_impls = ('\n\n'.join([e[1] for e in enums]))
enum_python = ('\n\n'.join([e[2] for e in enums]))
# Generate our submessage c++
submessages = [s.generate_cpp() for s in self.submessages]
submessage_headers = indent('\n\n'.join([s[0] for s in submessages]))
submessage_impls = ('\n\n'.join([s[1] for s in submessages]))
submessage_python = ('\n\n'.join([s[2] for s in submessages]))
# Get our function code
default_constructor = self.generate_default_constructor()
protobuf_constructor = self.generate_protobuf_constructor()
protobuf_converter = self.generate_protobuf_converter()
constructor_headers = indent('\n\n'.join([default_constructor[0], protobuf_constructor[0]]))
constructor_impl = '\n\n'.join([default_constructor[1], protobuf_constructor[1]])
converter_headers = indent('\n\n'.join([protobuf_converter[0]]))
converter_impl = '\n\n'.join([protobuf_converter[1]])
header_template = dedent("""\
struct alignas(16) {name} : public ::message::MessageBase<{name}> {{
// Protobuf type
using protobuf_type = {protobuf_type};
// Enum Definitions
{enums}
// Submessage Definitions
{submessages}
// Constructors
{constructors}
// Converters
{converters}
// Fields
{fields}
}};""")
impl_template = dedent("""\
// Constructors
{constructors}
// Converters
{converters}
// Subenums
{enums}
// Submessages
{submessages}""")
python_template = dedent("""\
// Local scope for this message
{{
// Use our context and assign a new one to a shadow
auto shadow = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}");
// Shadow our context with our new context and declare our subclasses
auto& context = shadow;
{submessages}
{enums}
// Declare the functions on our class (which may use the ones in the subclasses)
context
{constructor}
{message_members};
context.def_static("include_path", [] {{
return "{include_path}";
}});
}}""")
python_members = '\n'.join('.def_readwrite("{field}", &{fqn}::{field})'.format(field=f.name, fqn=self.fqn.replace('.', '::')) for f in self.fields)
python_constructor = dedent("""\
.def("__init__", [] ({name}& self, {args}) {{
new (&self) {name}({vars});
}}, {default_args})""").format(
name=self.fqn.replace('.', '::'),
args=', '.join('{} const& {}'.format(t.cpp_type, t.name) for t in self.fields),
vars=', '.join(t.name for t in self.fields),
default_args=', '.join('pybind11::arg("{}") = {}'.format(t.name, t.default_value if t.default_value else '{}()'.format(t.cpp_type)) for t in self.fields)
)
return header_template.format(
name=self.name,
enums=enum_headers,
submessages=submessage_headers,
constructors=constructor_headers,
protobuf_type=protobuf_type,
converters=converter_headers,
fields=fields
), impl_template.format(
constructors=constructor_impl,
converters=converter_impl,
enums=enum_impls,
submessages=submessage_impls
), python_template.format(
constructor=indent(python_constructor, 8),
message_members=indent(python_members, 8),
include_path=self.include_path,
fqn=self.fqn.replace('.', '::'),
name=self.name,
submessages=indent(submessage_python),
enums=indent(enum_python)
)
def generate_cpp(self):
define = '{}_H'.format('_'.join([s.upper() for s in self.name[:-6].strip().split('/')]))
parts = self.package.split('.')
ns_open = '\n'.join(['namespace {} {{'.format(x) for x in parts])
ns_close = '\n'.join('}' * len(parts))
# Generate our enums c++
enums = [e.generate_cpp() for e in self.enums]
enum_headers = indent('\n\n'.join([e[0] for e in enums]))
enum_impls = ('\n\n'.join([e[1] for e in enums]))
enum_python = ('\n\n'.join([e[2] for e in enums]))
# Generate our enums c++
messages = [m.generate_cpp() for m in self.messages]
message_headers = indent('\n\n'.join([m[0] for m in messages]))
message_impls = ('\n\n'.join([m[1] for m in messages]))
message_python = ('\n\n'.join([m[2] for m in messages]))
# By default include some useful headers
includes = {
'1<cstdint>',
'2<string>',
'2<map>',
'2<vector>',
'2<array>',
'2<memory>',
'4"{}"'.format(self.name[:-6] + '.pb.h'),
'5"message/MessageBase.h"'
}
# We use a dirty hack here of putting a priority on each header
# to make the includes be in a better order
for d in self.dependencies:
if d in ['Vector.proto', 'Matrix.proto']:
includes.add('4"message/conversion/proto_matrix.h"')
elif d in ['EnhancedMessage.proto']:
pass # We don't need to do anything for these ones
elif d in ['Transform.proto']:
includes.add('4"message/conversion/proto_transform.h"')
elif d in ['google/protobuf/timestamp.proto', 'google/protobuf/duration.proto']:
includes.add('4"message/conversion/proto_time.h"')
elif d in ['google/protobuf/struct.proto']:
includes.add('4"utility/include/proto_struct.h"')
else:
includes.add('4"{}"'.format(d[:-6] + '.h'))
# Don't forget to remove the first character
includes = '\n'.join(['#include {}'.format(i[1:]) for i in sorted(list(includes))])
header_template = dedent("""\
#ifndef {define}
#define {define}
{includes}
{openNamespace}
// Enum Definitions
{enums}
// Message Definitions
{messages}
{closeNamespace}
#endif // {define}
""")
impl_template = dedent("""\
{include}
// Enum Implementations
{enums}
// Message Implementations
{messages}
""")
python_template = dedent("""\
#include <pybind11/pybind11.h>
#include <pybind11/complex.h>
#include <pybind11/stl.h>
#include <pybind11/chrono.h>
#include <pybind11/operators.h>
#include <pybind11/eigen.h>
{include}
void init_{filename}(pybind11::module& module) {{
// Go down to our submodule as required as context
pybind11::module context = module{submodules};
{messages}
{enums}
}}
""")
python_submodules = ''.join('.def_submodule("{}")'.format(m) for m in self.fqn.split('.')[2:])
return header_template.format(
define=define,
includes=includes,
openNamespace=ns_open,
enums=enum_headers,
messages=message_headers,
closeNamespace=ns_close
), impl_template.format(
include='#include "{}"'.format(self.name[:-6] + '.h'),
enums=enum_impls,
messages=message_impls
), python_template.format(
include='#include "{}"'.format(self.name[:-6] + '.h'),
messages=indent(message_python),
enums=indent(enum_python),
filename=re.sub(r'[^A-Za-z0-9]', '_', self.name),
submodules=python_submodules
)
def generate_cpp(self):
header_template = dedent(
"""\
class {oneof_name} : public enable_shared_from_this {{
public:
{oneof_name}() : {initialiser_list}, val_index(0) {{}}
template <typename T, size_t index>
class Proxy {{
public:
Proxy({oneof_name}* oneof) : oneof(oneof) {{}}
template <typename U = T>
Proxy& operator=(U&& t) {{
oneof->data = std::make_shared<T>(std::forward<U>(t));
oneof->val_index = index;
return *this;
}}
bool operator==(const Proxy<T, index>& other) const {{ return get() == other.get(); }}
operator T&() {{ return get(); }}
operator const T&() const {{ return get(); }}
const T& get() const {{
if (oneof->val_index == index) {{
return *std::static_pointer_cast<T>(oneof->data);
}}
throw std::range_error("This is not the one of you were looking for.");
}}
T& get() {{
if (oneof->val_index == index) {{
return *std::static_pointer_cast<T>(oneof->data);
}}
throw std::range_error("This is not the one of you were looking for.");
}}
private:
{oneof_name}* oneof;
}};
bool operator==(const {oneof_name}& other) const {{
if (val_index == other.val_index) {{
switch (val_index) {{
{cases}
default: return false;
}}
}}
return false;
}}
void reset() {{
val_index = 0;
data.reset();
}}
{member_list}
size_t val_index;
private:
std::shared_ptr<void> data;
}};
"""
)
impl_template = dedent("""\
""")
python_template = dedent(
"""\
// Local scope for this message
{{
// Use our context and assign a new one to a shadow
auto shadow = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}");
// Shadow our context with our new context and declare our subclasses
auto& context = shadow;
// Declare the functions on our class (which may use the ones in the subclasses)
context
{bindings}
}}"""
)
binding_template = dedent(
"""\
context.def_property("{field_name}",
[](const {fqn}& oneof) -> const {type_name}& {{
return oneof.{field_name};
}},
[](const {fqn}& oneof, const {type_name}& value) -> void {{
oneof.{field_name} = value;
}});
"""
)
python_bindings = [
binding_template.format(field_name=v.name, type_name=v.cpp_type, fqn=self.fqn.replace('.', '::'))
for v in self.fields
]
member_list = ['Proxy<{}, {}> {};'.format(v.cpp_type, v.number, v.name) for v in self.fields]
initialiser_list = ['{}(this)'.format(v.name) for v in self.fields]
cases = ['case {0}: return {1} == other.{1};'.format(v.number, v.name) for v in self.fields]
return (
header_template.format(
oneof_name=self.name,
member_list=indent('\n'.join(member_list), 4),
initialiser_list=', '.join(initialiser_list),
cases=indent('\n'.join(cases), 16)
), impl_template,
python_template.format(
bindings='\n\n'.join(python_bindings), fqn=self.fqn.replace('.', '::'), name=self.name
)
)
def generate_cpp(self):
define = "{}_H".format("_".join(
[s.upper() for s in self.name[:-6].strip().split("/")]))
parts = self.package.split(".")
ns_open = "\n".join(["namespace {} {{".format(x) for x in parts])
ns_close = "\n".join("}" * len(parts))
# Generate our enums c++
enums = [e.generate_cpp() for e in self.enums]
enum_headers = indent("\n\n".join([e[0] for e in enums]))
enum_impls = "\n\n".join([e[1] for e in enums])
enum_python = "\n\n".join([e[2] for e in enums])
# Generate our enums c++
messages = [m.generate_cpp() for m in self.messages]
message_headers = indent("\n\n".join([m[0] for m in messages]))
message_impls = "\n\n".join([m[1] for m in messages])
message_python = "\n\n".join([m[2] for m in messages])
# By default include some useful headers
# yapf: disable
includes = {
'1<cstdint>',
'2<string>',
'2<array>',
'2<exception>',
'2<map>',
'2<memory>',
'2<vector>',
'4"{}"'.format(self.name[:-6] + '.pb.h'),
'5"message/MessageBase.h"'
}
# yapf: enable
# We use a dirty hack here of putting a priority on each header
# to make the includes be in a better order
for d in self.dependencies:
if d in ["Vector.proto", "Matrix.proto"]:
includes.add('4"message/conversion/proto_matrix.h"')
elif d in ["Neutron.proto"]:
pass # We don't need to do anything for these ones
elif d in [
"google/protobuf/timestamp.proto",
"google/protobuf/duration.proto"
]:
includes.add('4"message/conversion/proto_time.h"')
else:
includes.add('4"{}"'.format(d[:-6] + ".h"))
# Don't forget to remove the first character
includes = "\n".join(
["#include {}".format(i[1:]) for i in sorted(list(includes))])
header_template = dedent("""\
#ifndef {define}
#define {define}
{includes}
{open_namespace}
// Enum Definitions
{enums}
// Message Definitions
{messages}
{close_namespace}
#endif // {define}
""")
impl_template = dedent("""\
{include}
// Enum Implementations
{enums}
// Message Implementations
{messages}
""")
python_template = dedent("""\
#include <pybind11/pybind11.h>
#include <pybind11/complex.h>
#include <pybind11/stl.h>
#include <pybind11/chrono.h>
#include <pybind11/operators.h>
#include <pybind11/eigen.h>
{include}
void init_{filename}(pybind11::module& module) {{
// Go down to our submodule as required as context
pybind11::module context = module{submodules};
{enums}
{messages}
}}
""")
python_submodules = "".join('.def_submodule("{}")'.format(m)
for m in self.fqn.split(".")[2:])
return (
header_template.format(
define=define,
includes=includes,
open_namespace=ns_open,
enums=enum_headers,
messages=message_headers,
close_namespace=ns_close,
),
impl_template.format(
include='#include "{}"'.format(self.name[:-6] + ".h"),
enums=enum_impls,
messages=message_impls),
python_template.format(
include='#include "{}"'.format(self.name[:-6] + ".h"),
messages=indent(message_python),
enums=indent(enum_python),
filename=re.sub(r"[^A-Za-z0-9]", "_", self.name),
submodules=python_submodules,
),
)
def generate_cpp(self):
# Make our value pairs
values = indent(
'\n'.join(['{} = {}'.format(v[0], v[1]) for v in self.values]), 8)
values = ',\n'.join([v for v in values.splitlines()])
scope_name = '_'.join(self.fqn.split('.'))
# Make our switch statement pairs
switches = indent(
'\n'.join([
'case Value::{}: return "{}";'.format(v[0], v[0])
for v in self.values
]), 8)
# Make our if chain
if_chain = indent('\nelse '.join([
'if (str == "{}") value = Value::{};'.format(v[0], v[0])
for v in self.values
]))
# Get our default value
default_value = dict([reversed(v) for v in self.values])[0]
# Make our fancy enums
header_template = dedent("""\
struct {name} : public ::message::MessageBase<{name}> {{
enum Value {{
{values}
}};
Value value;
// Constructors
{name}();
{name}(int const& v);
{name}(Value const& value);
{name}(std::string const& str);
{name}({protobuf_name} const& p);
// Operators
bool operator <({name} const& other) const;
bool operator >({name} const& other) const;
bool operator <=({name} const& other) const;
bool operator >=({name} const& other) const;
bool operator ==({name} const& other) const;
bool operator !=({name} const& other) const;
bool operator <({name}::Value const& other) const;
bool operator >({name}::Value const& other) const;
bool operator <=({name}::Value const& other) const;
bool operator >=({name}::Value const& other) const;
bool operator ==({name}::Value const& other) const;
bool operator !=({name}::Value const& other) const;
// Conversions
operator Value() const;
operator int() const;
operator std::string() const;
operator {protobuf_name}() const;
friend std::ostream& operator<< (std::ostream& out, const {name}& val);
}};""")
impl_template = dedent("""\
typedef {fqn} T{scope_name};
{fqn}::{name}() : value(Value::{default_value}) {{}}
{fqn}::{name}(int const& v) : value(static_cast<Value>(v)) {{}}
{fqn}::{name}(Value const& value) : value(value) {{}}
{fqn}::{name}(std::string const& str) {{
{if_chain}
else throw std::runtime_error("String " + str + " did not match any enum for {name}");
}}
{fqn}::{name}({protobuf_name} const& p) {{
value = static_cast<Value>(p);
}}
bool {fqn}::operator <({name} const& other) const {{
return value < other.value;
}}
bool {fqn}::operator >({name} const& other) const {{
return value > other.value;
}}
bool {fqn}::operator <=({name} const& other) const {{
return value <= other.value;
}}
bool {fqn}::operator >=({name} const& other) const {{
return value >= other.value;
}}
bool {fqn}::operator ==({name} const& other) const {{
return value == other.value;
}}
bool {fqn}::operator !=({name} const& other) const {{
return value != other.value;
}}
bool {fqn}::operator <({name}::Value const& other) const {{
return value < other;
}}
bool {fqn}::operator >({name}::Value const& other) const {{
return value > other;
}}
bool {fqn}::operator <=({name}::Value const& other) const {{
return value <= other;
}}
bool {fqn}::operator >=({name}::Value const& other) const {{
return value >= other;
}}
bool {fqn}::operator ==({name}::Value const& other) const {{
return value == other;
}}
bool {fqn}::operator !=({name}::Value const& other) const {{
return value != other;
}}
{fqn}::operator Value() const {{
return value;
}}
{fqn}::operator int() const {{
return value;
}}
{fqn}::operator std::string() const {{
switch(value) {{
{switches}
default:
throw std::runtime_error("enum {name}'s value is corrupt, unknown value stored");
}}
}}
{fqn}::operator {protobuf_name}() const {{
return static_cast<{protobuf_name}>(value);
}}
std::ostream& {namespace}::operator<< (std::ostream& out, const {fqn}& val) {{
return out << static_cast<std::string>(val);
}}""")
python_template = dedent("""\
// Local scope for this enum
{{
auto enumclass = pybind11::class_<{fqn}, std::shared_ptr<{fqn}>>(context, "{name}")
.def(pybind11::init<>())
.def(pybind11::init<int const&>())
.def(pybind11::init<{fqn}::Value const&>())
.def(pybind11::init<std::string const&>())
.def(pybind11::self < pybind11::self)
.def(pybind11::self > pybind11::self)
.def(pybind11::self <= pybind11::self)
.def(pybind11::self >= pybind11::self)
.def(pybind11::self == pybind11::self)
.def(pybind11::self < {fqn}::Value())
.def(pybind11::self > {fqn}::Value())
.def(pybind11::self <= {fqn}::Value())
.def(pybind11::self >= {fqn}::Value())
.def(pybind11::self == {fqn}::Value())
.def_static("include_path", [] {{
return "{include_path}";
}})
.def("_emit", [] ({fqn}& msg, pybind11::capsule capsule) {{
// Extract our reactor from the capsule
NUClear::Reactor* reactor = capsule;
// Do the emit
reactor->powerplant.emit_shared<NUClear::dsl::word::emit::Local>(msg.shared_from_this());
}});
pybind11::enum_<{fqn}::Value>(enumclass, "Value")
{value_list}
.export_values();
}}""")
return header_template.format(
name=self.name,
protobuf_name='::'.join(('.protobuf' + self.fqn).split('.')),
values=values), impl_template.format(
fqn='::'.join(self.fqn.split('.')),
namespace='::'.join(self.package.split('.')),
name=self.name,
protobuf_name='::'.join(('.protobuf' + self.fqn).split('.')),
default_value=default_value,
if_chain=if_chain,
switches=switches,
scope_name=scope_name,
), python_template.format(
fqn='::'.join(self.fqn.split('.')),
name=self.name,
include_path=self.include_path,
value_list=indent(
'\n'.join('.value("{name}", {fqn}::{name})'.format(
name=v[0], fqn=self.fqn.replace('.', '::'))
for v in self.values), 8))