def _PythonToCtype(data, c_type):
"""Populate a ctypes data type with a Python structure."""
if c_type is actuator_util.Vec3:
# Handle Vec3.
assert len(data) == 3
c_data = c_type()
c_data.x = data[0]
c_data.y = data[1]
c_data.z = data[2]
return c_data
elif hasattr(c_type, '_length_'):
# Handle arrays.
length = getattr(c_type, '_length_')
assert len(data) == length
c_data = c_type()
for i in range(length):
c_data[i] = _PythonToCtype(data[i], getattr(c_type, '_type_'))
elif hasattr(c_type, '_fields_'):
# Handle structures.
fields = autogen_util.GetCFields(c_type)
assert set(data.keys()) == {field for field, _ in fields}
c_data = c_type()
for field, field_type in fields:
setattr(c_data, field, _PythonToCtype(data[field], field_type))
else:
c_data = c_type(data)
return c_data
def FindChildTypes(parent):
"""Return name of all the substructures on which a parent struct depends."""
struct_lst = []
ctype_lst = []
for _, field_type in autogen_util.GetCFields(parent):
if isinstance(field_type, type(ctypes.Array)):
t = field_type()._type_
else:
t = field_type
if isinstance(t, type(ctypes.Structure)):
struct_lst.append(t.__name__)
slst, clst = FindChildTypes(t)
struct_lst += slst
ctype_lst += clst
# Matches any of the fundamental c types
elif isinstance(t, type(ctypes.c_double)):
ctype_lst.append(t.__name__)
return struct_lst, ctype_lst
def WritePackFunc(f, s, is_static, name=None):
"""Writes a pack function."""
if not name:
name = ConvTypeToStr(s)[0]
f.write('\n'
'\n%ssize_t %s(const %s *in, size_t num, uint8_t *out) {'
'\n size_t byte_ind = 0U, elmt_ind;'
'\n for (elmt_ind = 0U; elmt_ind < num; ++elmt_ind) {'
% (GetStaticStr(is_static), GenPackFuncName(name),
name))
for field_name, field_type in autogen_util.GetCFields(s):
type_str, num, dim = ConvTypeToStr(field_type)
if field_name in s._enums_:
type_str = s._enums_[field_name]
f.write('\n byte_ind += %s(&in[elmt_ind].%s%s, %d, &out[byte_ind]);'
% (GenPackFuncName(type_str), field_name, '[0]'*dim, num))
f.write('\n }'
'\n return byte_ind;'
'\n}')
def GetTypePackedSize(t):
if isinstance(t, type(ctypes.c_double)):
if t == ctypes.c_double:
return 8
elif t == ctypes.c_float:
return 4
elif t == ctypes.c_int8:
return 1
elif t == ctypes.c_int16:
return 2
elif t == ctypes.c_int32:
return 4
elif t == ctypes.c_int64:
return 8
elif t == ctypes.c_int:
return 4
elif t == ctypes.c_uint8:
return 1
elif t == ctypes.c_uint16:
return 2
elif t == ctypes.c_uint32:
return 4
elif t == ctypes.c_uint64:
return 8
elif t == ctypes.c_uint:
return 4
elif t == ctypes.c_char:
return 1
elif t == ctypes.c_bool:
return 1
else:
raise ValueError('Unrecognized type: %s' % t)
elif isinstance(t, type(ctypes.Structure)):
num_bytes = 0
for (_, field_type) in autogen_util.GetCFields(t):
num_bytes += GetTypePackedSize(field_type)
return num_bytes
elif isinstance(t, type(ctypes.Array)):
return GetTypePackedSize(t()._type_) * len(t())
else:
raise ValueError('Unrecognized type: %s' % t)
def GetRequiredTypes(t):
"""Get types whose loading functions are required to load a given type.
Args:
t: A type.
Returns:
A set of types whose loading functions are required to implement
the loading function for t.
"""
types = set()
if _IsArrayType(t):
scalar_type = _ArrayCTypeScalarType(t)
types = {scalar_type}
types = types.union(GetRequiredTypes(scalar_type))
elif _IsStructType(t):
fields = autogen_util.GetCFields(t)
types = {f_type for (_, f_type) in fields}
types = types.union(
*[GetRequiredTypes(f_type) for (_, f_type) in fields])
return types
def _MessageStructToDtype(ctype):
"""Construct a numpy dtype from a ctypes type.
This function exists because numpy's dtype constructor squeezes
multidimensional arrays and converts ctypes.c_char to length one
strings (see see b/26933384).
This function does not respect the underlying ctype's alignment.
In the context of _MessageStructToH5T this is fine, as we later
pack the structure.
Args:
ctype: Type to convert.
Returns:
A numpy.dtype. This type may not have the correct offsets.
Raises:
InvalidCtypeException: if a type is encountered that isn't a
Structure, Array, c_char, or a member of the _ALLOWED_BASIC_CTYPES.
"""
if isinstance(ctype, type(ctypes.Structure)):
names, fields = zip(*autogen_util.GetCFields(ctype))
field_dtypes = [_MessageStructToDtype(f) for f in fields]
return numpy.dtype(zip(names, field_dtypes))
elif type(ctype) is type(ctypes.Array):
return numpy.dtype((_MessageStructToDtype(getattr(ctype, '_type_')),
(getattr(ctype, '_length_'),)))
elif ctype == ctypes.c_char:
# Numpy converts ctypes.c_char to 'S1', i.e. a string of length
# one. This is generally not desired, and in particular, causes
# MATLAB to expect scalar characters to be null-terminated strings
# (see b/26933384). This branch is added to force character
# arrays to be regarded as byte arrays.
return 'u1'
elif ctype in _ALLOWED_BASIC_CTYPES:
return numpy.dtype(ctype)
else:
raise InvalidCtypeException('Invalid ctypes type.', ctype)
def _NativeStructToH5T(ctype):
"""Creates an HDF5 Type object from a ctypes type.
This function exists as h5t.py_create does not respect field
alignment, and the conversion of ctypes.c_char to length one strings
is undesired.
Args:
ctype: Type to convert.
Returns:
HDF5 type object with correct size and offsets.
Raises:
InvalidCtypeException: if a type is encountered that isn't a
Structure, Array, c_char, or a member of the _ALLOWED_BASIC_CTYPES.
"""
if isinstance(ctype, type(ctypes.Structure)):
t = h5py.h5t.create(h5py.h5t.COMPOUND, ctypes.sizeof(ctype))
for (field_name, field_type) in autogen_util.GetCFields(ctype):
t.insert(field_name, getattr(ctype, field_name).offset,
_NativeStructToH5T(field_type))
return t
elif type(ctype) is type(ctypes.Array):
return h5py.h5t.array_create(
_NativeStructToH5T(getattr(ctype, '_type_')),
(getattr(ctype, '_length_'),))
elif ctype == ctypes.c_char:
# The py_create function, like numpy's dtype constructor, converts
# characters into strings. This branch is added to force
# character arrays to be regarded as byte arrays.
return h5py.h5t.py_create(ctypes.c_uint8)
elif ctype in _ALLOWED_BASIC_CTYPES:
return h5py.h5t.py_create(ctype)
else:
raise InvalidCtypeException('Invalid ctypes type.', ctype)
def MatchesCStruct(pytype, pyclass, parent=''):
"""Checks if the Python type matches an equivalent C type.
This will display in bold any fields that are in one of pytype and
pyclass but not the other.
Args:
pytype: Python dictionary to be compared to a C struct.
pyclass: ctypes Python class equivalent to a C struct.
parent: A string used in recursive calls to the function to keep
track of the parent fields so they may be displayed.
Returns:
True if the dictionary and ctypes Python class match,
otherwise False.
"""
def Bold(s):
return '\033[1m' + s + '\033[0m'
if hasattr(pyclass, '_fields_'):
fields = autogen_util.GetCFields(pyclass)
# If we are at a leaf struct (like Vec3 or Quat), the pytype can
# use an array rather than a dictionary.
if (isinstance(pytype, list) and len(pytype) == len(fields)
and all([c == ctypes.c_double for (_, c) in fields])):
all_floats = True
for i in range(len(pytype)):
if not isinstance(pytype[i], float):
print Bold('%s[%d] must be a float.' % (parent, i))
all_floats = False
return all_floats
diff = set(pytype) ^ {k for (k, _) in fields}
if diff:
print Bold(parent + '.{' + ', '.join(diff) +
'}') + ' are different.'
return False
for k, c in fields:
if not MatchesCStruct(pytype[k], c, parent + '.' + k):
return False
return True
elif hasattr(pyclass, '_length_'):
if isinstance(pytype, str):
if getattr(pyclass, '_type_') is not ctypes.c_char:
print Bold(parent) + ' should not be a string.\n'
return False
elif len(pytype) + 1 > getattr(pyclass, '_length_'):
# Strings can be shorter than the allotted array (but require
# room for null termination).
print Bold(parent) + ' has the wrong length.\n'
return False
else:
return True
else:
expected_length = getattr(pyclass, '_length_')
try:
actual_length = len(pytype)
except TypeError:
print(
Bold(parent) +
' is expected to be an array of length %d.' %
expected_length)
return False
if actual_length != expected_length:
print(
Bold(parent) +
' has the wrong length (expected %d, actual %d).\n' %
(expected_length, actual_length))
return False
else:
expected_type = getattr(pyclass, '_type_')
return all([
MatchesCStruct(pytype[i], expected_type,
'%s[%d]' % (parent, i))
for i in xrange(len(pytype))
])
else:
# Check that scalar types are properly specified.
if pyclass == ctypes.c_double and not isinstance(pytype, float):
print Bold(parent + ' must be a float.')
return False
elif pyclass == ctypes.c_int and not isinstance(pytype, int):
print Bold(parent + ' must be an int.')
return False
elif pyclass == ctypes.c_bool and not isinstance(pytype, bool):
print Bold(parent + ' must be a bool.')
return False
return True
def _GetStruct(type_id, path):
"""Recursively parse a ctypes structure to build a (path, type) list."""
out = []
for field_name, field_type in autogen_util.GetCFields(type_id):
out.extend(_GetType(field_type, path + '.' + field_name))
return out
def GetLoadFunc(t):
"""Generate the JSON loading implementation for a given type.
Args:
t: A type.
Returns:
A pair containing C code. The first element is a string with the prototype
of the function and the second element is a list of strings giving the lines
of C code.
Raises:
TypeError: The given type is a string type, a fundamental type, or unknown.
"""
prototype = _GetLoadFunctionPrototype(t)
body = [] # This will be an array strings corresponding to lines of code.
if _IsArrayType(t):
(_, _, args) = _GetTypeInfo(t)
body = [
'if (JSONLoadArrayCheck(obj, len0) < 0) return -1;',
'int32_t status;'
]
sub_dim = ['len%d' % d for d in range(1, len(args))]
if sub_dim:
# TODO: Check for overflow?
body += ['uint32_t stride = %s;' % ' * '.join(sub_dim)]
dst = '&s[i*stride]'
else:
dst = 's[i]'
scalar_type = _ArrayCTypeScalarType(t)
body += [
'for (uint32_t i = 0U; i < len0; ++i) {', ' ' + _GetLoadFuncCall(
scalar_type, 'json_array_get(obj, i)', dst, 'status', sub_dim),
' if (status == -1) {', ' JSONLoadPrintIndexError(i);',
' return -1;', ' }', '}', 'return 0;'
]
elif _IsStructType(t):
fields = autogen_util.GetCFields(t)
body = [
'if (s == NULL) return -1;',
'if (JSONLoadStructCheck(obj, %uU) < 0) return -1;' % len(fields),
'json_t *value;', 'int32_t status;', ''
]
for (f_name, f_type) in fields:
body += [
'value = JSONLoadStructGet(obj, "%s");' % f_name,
'if (value == NULL) return -1;',
_GetLoadFuncCall(f_type, 'value', 's->%s' % f_name,
'status'), 'if (status == -1) {',
' JSONLoadPrintKeyError("%s");' % f_name, ' return -1;', '}',
''
]
body += ['return 0;']
# These functions are hand written in the files json_load_basic.{c,h}.
elif _IsFundamentalType(t) or _IsStringType(t):
raise TypeError('Cannot generate load function for type %s.' % str(t))
else:
raise TypeError('Unknown type: %s.' % str(t))
return (prototype, ['' if not line else ' ' + line for line in body])