def run_parser(source_dirs, search_dirs):
try:
types = dsdl.parse_namespaces(source_dirs, search_dirs)
except dsdl.DsdlException as ex:
logger.info('Parser failure', exc_info=True)
die(ex)
return types
def run_parser(source_dirs, search_dirs):
try:
types = dsdl.parse_namespaces(source_dirs, search_dirs)
except dsdl.DsdlException as ex:
logger.info('Parser failure', exc_info=True)
die(ex)
return types
def load_dsdl(paths):
"""Loads the DSDL files under the given directory/directories, and creates
types for each of them in the current module's namespace.
Also adds entries for all datatype (ID, kind)s to the DATATYPES
dictionary, which maps datatype (ID, kind)s to their respective type
classes."""
global DATATYPES, TYPENAMES
if isinstance(paths, basestring):
paths = [paths]
root_namespace = Namespace()
dtypes = dsdl.parse_namespaces(paths, [])
for dtype in dtypes:
namespace, _, typename = dtype.full_name.rpartition(".")
root_namespace._path(namespace).__dict__[typename] = dtype
TYPENAMES[dtype.full_name] = dtype
if dtype.default_dtid:
DATATYPES[(dtype.default_dtid, dtype.kind)] = dtype
# Add the base CRC to each data type capable of being transmitted
dtype.base_crc = dsdl.common.crc16_from_bytes(
struct.pack("<Q", dtype.get_data_type_signature()))
logging.debug(
"DSDL Load {: >30} DTID: {: >4} base_crc:{: >8}".format(
typename, dtype.default_dtid, hex(dtype.base_crc)))
def create_instance_closure(closure_type):
def create_instance(*args, **kwargs):
return transport.CompoundValue(closure_type,
tao=True,
*args,
**kwargs)
return create_instance
dtype.__call__ = create_instance_closure(dtype)
namespace = root_namespace._path("uavcan")
for top_namespace in namespace._namespaces():
MODULE.__dict__[str(top_namespace)] = namespace.__dict__[top_namespace]
MODULE.__dict__["thirdparty"] = Namespace()
for ext_namespace in root_namespace._namespaces():
if str(ext_namespace) != "uavcan":
MODULE.thirdparty.__dict__[str(ext_namespace)] = \
root_namespace.__dict__[ext_namespace]
def load_dsdl(paths):
"""Loads the DSDL files under the given directory/directories, and creates
types for each of them in the current module's namespace.
Also adds entries for all datatype (ID, kind)s to the DATATYPES
dictionary, which maps datatype (ID, kind)s to their respective type
classes."""
global DATATYPES, TYPENAMES
if isinstance(paths, basestring):
paths = [paths]
root_namespace = Namespace()
dtypes = dsdl.parse_namespaces(paths, [])
for dtype in dtypes:
namespace, _, typename = dtype.full_name.rpartition(".")
root_namespace._path(namespace).__dict__[typename] = dtype
TYPENAMES[dtype.full_name] = dtype
if dtype.default_dtid:
DATATYPES[(dtype.default_dtid, dtype.kind)] = dtype
# Add the base CRC to each data type capable of being transmitted
dtype.base_crc = dsdl.common.crc16_from_bytes(
struct.pack("<Q", dtype.get_data_type_signature()))
logging.debug("DSDL Load {: >30} DTID: {: >4} base_crc:{: >8}".
format(typename, dtype.default_dtid,
hex(dtype.base_crc)))
def create_instance_closure(closure_type):
def create_instance(*args, **kwargs):
return transport.CompoundValue(closure_type, tao=True, *args,
**kwargs)
return create_instance
dtype.__call__ = create_instance_closure(dtype)
namespace = root_namespace._path("uavcan")
for top_namespace in namespace._namespaces():
MODULE.__dict__[str(top_namespace)] = namespace.__dict__[top_namespace]
MODULE.__dict__["thirdparty"] = Namespace()
for ext_namespace in root_namespace._namespaces():
if str(ext_namespace) != "uavcan":
MODULE.thirdparty.__dict__[str(ext_namespace)] = \
root_namespace.__dict__[ext_namespace]
def load_dsdl(*paths, **args):
"""
Loads the DSDL files under the given directory/directories, and creates
types for each of them in the current module's namespace.
If the exclude_dist argument is not present, or False, the DSDL
definitions installed with this package will be loaded first.
Also adds entries for all datatype (ID, kind)s to the DATATYPES
dictionary, which maps datatype (ID, kind)s to their respective type
classes.
"""
global DATATYPES, TYPENAMES
paths = list(paths)
# Try to prepend the built-in DSDL files
# TODO: why do we need try/except here?
# noinspection PyBroadException
try:
if not args.get("exclude_dist", None):
dsdl_path = pkg_resources.resource_filename(__name__, "dsdl_files") # @UndefinedVariable
paths = [os.path.join(dsdl_path, "uavcan")] + paths
except Exception:
pass
root_namespace = Namespace()
dtypes = dsdl.parse_namespaces(paths)
for dtype in dtypes:
namespace, _, typename = dtype.full_name.rpartition(".")
root_namespace._path(namespace).__dict__[typename] = dtype
TYPENAMES[dtype.full_name] = dtype
if dtype.default_dtid:
DATATYPES[(dtype.default_dtid, dtype.kind)] = dtype
# Add the base CRC to each data type capable of being transmitted
dtype.base_crc = dsdl.crc16_from_bytes(struct.pack("<Q", dtype.get_data_type_signature()))
logger.debug("DSDL Load {: >30} DTID: {: >4} base_crc:{: >8}"
.format(typename, dtype.default_dtid, hex(dtype.base_crc)))
def create_instance_closure(closure_type, _mode=None):
# noinspection PyShadowingNames
def create_instance(*args, **kwargs):
if _mode:
assert '_mode' not in kwargs, 'Mode cannot be supplied to service type instantiation helper'
kwargs['_mode'] = _mode
return transport.CompoundValue(closure_type, *args, **kwargs)
return create_instance
dtype._instantiate = create_instance_closure(dtype)
if dtype.kind == dtype.KIND_SERVICE:
dtype.Request = create_instance_closure(dtype, _mode='request')
dtype.Response = create_instance_closure(dtype, _mode='response')
namespace = root_namespace._path("uavcan")
for top_namespace in namespace._namespaces():
MODULE.__dict__[str(top_namespace)] = namespace.__dict__[top_namespace]
MODULE.__dict__["thirdparty"] = Namespace()
for ext_namespace in root_namespace._namespaces():
if str(ext_namespace) != "uavcan":
# noinspection PyUnresolvedReferences
MODULE.thirdparty.__dict__[str(ext_namespace)] = root_namespace.__dict__[ext_namespace]
def load_dsdl(*paths, **args):
"""
Loads the DSDL files under the given directory/directories, and creates
types for each of them in the current module's namespace.
If the exclude_dist argument is not present, or False, the DSDL
definitions installed with this package will be loaded first.
Also adds entries for all datatype (ID, kind)s to the DATATYPES
dictionary, which maps datatype (ID, kind)s to their respective type
classes.
"""
global DATATYPES, TYPENAMES
paths = list(paths)
# Try to prepend the built-in DSDL files
# TODO: why do we need try/except here?
# noinspection PyBroadException
try:
if not args.get("exclude_dist", None):
dsdl_path = pkg_resources.resource_filename(__name__, "dsdl_files") # @UndefinedVariable
paths = [os.path.join(dsdl_path, "uavcan")] + paths
custom_path = os.path.join(os.path.expanduser("~"), "uavcan_vendor_specific_types")
if os.path.isdir(custom_path):
paths += [f for f in [os.path.join(custom_path, f) for f in os.listdir(custom_path)]
if os.path.isdir(f)]
except Exception:
pass
root_namespace = Namespace()
dtypes = dsdl.parse_namespaces(paths)
for dtype in dtypes:
namespace, _, typename = dtype.full_name.rpartition(".")
root_namespace._path(namespace).__dict__[typename] = dtype
TYPENAMES[dtype.full_name] = dtype
if dtype.default_dtid:
DATATYPES[(dtype.default_dtid, dtype.kind)] = dtype
# Add the base CRC to each data type capable of being transmitted
dtype.base_crc = dsdl.crc16_from_bytes(struct.pack("<Q", dtype.get_data_type_signature()))
logger.debug("DSDL Load {: >30} DTID: {: >4} base_crc:{: >8}"
.format(typename, dtype.default_dtid, hex(dtype.base_crc)))
def create_instance_closure(closure_type, _mode=None):
# noinspection PyShadowingNames
def create_instance(*args, **kwargs):
if _mode:
assert '_mode' not in kwargs, 'Mode cannot be supplied to service type instantiation helper'
kwargs['_mode'] = _mode
return transport.CompoundValue(closure_type, *args, **kwargs)
return create_instance
dtype._instantiate = create_instance_closure(dtype)
if dtype.kind == dtype.KIND_SERVICE:
dtype.Request = create_instance_closure(dtype, _mode='request')
dtype.Response = create_instance_closure(dtype, _mode='response')
namespace = root_namespace._path("uavcan")
for top_namespace in namespace._namespaces():
MODULE.__dict__[str(top_namespace)] = namespace.__dict__[top_namespace]
MODULE.__dict__["thirdparty"] = Namespace()
for ext_namespace in root_namespace._namespaces():
if str(ext_namespace) != "uavcan":
# noinspection PyUnresolvedReferences
MODULE.thirdparty.__dict__[str(ext_namespace)] = root_namespace.__dict__[ext_namespace]
#!/usr/bin/env python3
import sys
import logging
logging.basicConfig(stream=sys.stderr, level='DEBUG', format='%(levelname)s: %(message)s')
from uavcan import dsdl
parsed = dsdl.parse_namespaces(['uavcan','com','ardupilot', 'dronecan']);
if parsed:
logging.info('%d data types parsed successfully', len(parsed))