def idsl_pool(self):
if hasattr(self, '__idsl_pool'):
return self.__idsl_pool
else:
idsl_pool = IDSLPool(self.imports, [])
interface_list = self.requires + self.implements + self.subscribesTo + \
self.publishes
for interface_required in interface_list:
if not idsl_pool.module_providing_interface(
interface_required.name):
raise rcExceptions.InterfaceNotFound(
interface_required.name, idsl_pool.interfaces())
self.__idsl_pool = idsl_pool
return idsl_pool
from parseIDSL import * import rcExceptions import sys component = CDSLParsing.fromFile(inputFile, includeDirectories=includeDirectories) imports = ''.join( [ imp+'#' for imp in component['imports'] ] ) # verification pool = IDSLPool(imports, includeDirectories) interface_list = component['requires'] + component['implements'] + component['subscribesTo'] + component['publishes'] for interface_required in interface_list: interface_required = interface_required if type(interface_required) == str else interface_required[0] if not pool.moduleProviding(interface_required): raise rcExceptions.InterfaceNotFound(interface_required, pool.interfaces()) if component['language'].lower() == 'cpp': # # Check output directory # if not os.path.exists(outputPath): creaDirectorio(outputPath) # Create directories within the output directory try: creaDirectorio(outputPath+"/bin") creaDirectorio(outputPath+"/etc") creaDirectorio(outputPath+"/src") except: print 'There was a problem creating a directory' sys.exit(1)
def main():
parser = MyParser(
description=
'This application create components files from cdsl files or .ice from idsl\n'
'\ta) to generate code from a CDSL file: ' +
sys.argv[0].split('/')[-1] + ' INPUT_FILE.CDSL OUTPUT_PATH\n' +
'\tb) to generate a new CDSL file: ' +
sys.argv[0].split('/')[-1] + ' NEW_COMPONENT_DESCRIPTOR.CDSL',
formatter_class=argparse.RawTextHelpFormatter)
parser.add_argument("-I",
"--include_dirs",
nargs='*',
help="Include directories",
action=FullPaths,
default=[])
parser.add_argument("-d",
'--diff',
dest='diff',
choices=DIFF_TOOLS,
action='store')
parser.add_argument("input_file", help="The input dsl file")
parser.add_argument("output_path",
nargs='?',
help="The path to put the files")
args = parser.parse_args()
if args.output_path is None:
if args.input_file.endswith(".cdsl"):
generateDummyCDSL(args.input_file)
generateDummySMDSL("statemachine.smdsl")
sys.exit(0)
else:
print(args.output_path, args.input_file)
print(parser.error("No output path with non .cdsl file"))
sys.exit(-1)
inputFile = args.input_file
outputPath = args.output_path
sys.path.append('/opt/robocomp/python')
new_existing_files = {}
if inputFile.endswith(".cdsl"):
component = DSLFactory().from_file(
inputFile, includeDirectories=args.include_dirs)
imports = ''.join([imp + '#' for imp in component['imports']])
# verification
pool = IDSLPool(imports, args.include_dirs)
interface_list = component['requires'] + component[
'implements'] + component['subscribesTo'] + component['publishes']
for interface_required in interface_list:
interface_required = interface_required if isinstance(
interface_required, str) else interface_required[0]
if not pool.moduleProviding(interface_required):
raise rcExceptions.InterfaceNotFound(interface_required,
pool.interfaces())
if component['language'].lower(
) == 'cpp' or component['language'].lower() == 'cpp11':
#
# Check output directory
#
if not os.path.exists(outputPath):
create_directory(outputPath)
# Create directories within the output directory
try:
create_directory(outputPath + "/bin")
create_directory(outputPath + "/etc")
create_directory(outputPath + "/src")
except:
print('There was a problem creating a directory')
sys.exit(1)
pass
#
# Generate regular files
#
files = [
'CMakeLists.txt', 'DoxyFile', 'README-STORM.txt', 'README.md',
'etc/config', 'src/main.cpp', 'src/CMakeLists.txt',
'src/CMakeListsSpecific.txt', 'src/commonbehaviorI.h',
'src/commonbehaviorI.cpp', 'src/genericmonitor.h',
'src/genericmonitor.cpp', 'src/config.h',
'src/specificmonitor.h', 'src/specificmonitor.cpp',
'src/genericworker.h', 'src/genericworker.cpp',
'src/specificworker.h', 'src/specificworker.cpp',
'src/mainUI.ui'
]
specificFiles = [
'src/specificworker.h', 'src/specificworker.cpp',
'src/CMakeListsSpecific.txt', 'src/mainUI.ui',
'src/specificmonitor.h', 'src/specificmonitor.cpp',
'README.md', 'etc/config'
]
for f in files:
ofile = outputPath + '/' + f
if f in specificFiles and os.path.exists(ofile):
print('Not overwriting specific file "' + ofile +
'", saving it to ' + ofile + '.new')
new_existing_files[os.path.abspath(
ofile)] = os.path.abspath(ofile) + '.new'
ofile += '.new'
ifile = "/opt/robocomp/share/robocompdsl/templateCPP/" + f
if f != 'src/mainUI.ui' or component['gui'] is not None:
print('Generating', ofile)
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs) + " -o " + ofile + " " + ifile
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
#
# Generate interface-dependent files
#
for ima in component['implements']:
im = ima
if type(im) != type(''):
im = im[0]
if communicationIsIce(ima):
for f in ["SERVANT.H", "SERVANT.CPP"]:
ofile = outputPath + '/src/' + im.lower(
) + 'I.' + f.split('.')[-1].lower()
print('Generating ', ofile, ' (servant for', im + ')')
# Call cog
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -D theInterface=" + im + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templateCPP/" + f
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
for imp in component['subscribesTo']:
im = imp
if type(im) != type(''):
im = im[0]
if communicationIsIce(imp):
for f in ["SERVANT.H", "SERVANT.CPP"]:
ofile = outputPath + '/src/' + im.lower(
) + 'I.' + f.split('.')[-1].lower()
print('Generating ', ofile, ' (servant for', im + ')')
# Call cog
theInterfaceStr = im
if type(theInterfaceStr) == type([]):
theInterfaceStr = str(';'.join(im))
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -D theInterface=" + theInterfaceStr + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templateCPP/" + f
#print(run
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
elif component['language'].lower() == 'python':
#
# Check output directory
#
if not os.path.exists(outputPath):
create_directory(outputPath)
# Create directories within the output directory
try:
create_directory(outputPath + "/etc")
create_directory(outputPath + "/src")
except:
print('There was a problem creating a directory')
sys.exit(1)
pass
needStorm = False
for pub in component['publishes']:
if communicationIsIce(pub):
needStorm = True
for sub in component['subscribesTo']:
if communicationIsIce(sub):
needStorm = True
#
# Generate regular files
#
files = [
'CMakeLists.txt', 'DoxyFile', 'README-STORM.txt', 'README.md',
'etc/config', 'src/main.py', 'src/genericworker.py',
'src/specificworker.py', 'src/mainUI.ui'
]
specificFiles = [
'src/specificworker.py', 'src/mainUI.ui', 'README.md',
'etc/config'
]
for f in files:
if f == 'src/main.py':
ofile = outputPath + '/src/' + component['name'] + '.py'
else:
ofile = outputPath + '/' + f
if f in specificFiles and os.path.exists(ofile):
print('Not overwriting specific file "' + ofile +
'", saving it to ' + ofile + '.new')
new_existing_files[os.path.abspath(
ofile)] = os.path.abspath(ofile) + '.new'
ofile += '.new'
ifile = "/opt/robocomp/share/robocompdsl/templatePython/" + f
ignoreFile = False
if f == 'src/mainUI.ui' and component['gui'] is None:
ignoreFile = True
if f == 'CMakeLists.txt' and component['gui'] is None:
ignoreFile = True
if f == 'README-STORM.txt' and needStorm == False:
ignoreFile = True
if not ignoreFile:
print('Generating', ofile)
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs) + " -o " + ofile + " " + ifile
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
if f == 'src/main.py':
os.chmod(ofile, os.stat(ofile).st_mode | 0o111)
#
# Generate interface-dependent files
#
for imp in component['implements'] + component['subscribesTo']:
if type(imp) != type(''):
im = imp[0]
else:
im = imp
if communicationIsIce(imp):
for f in ["SERVANT.PY"]:
ofile = outputPath + '/src/' + im.lower(
) + 'I.' + f.split('.')[-1].lower()
print('Generating', ofile, ' (servant for', im + ')')
# Call cog
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -D theInterface=" + im + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templatePython/" + f
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
else:
print('Unsupported language', component['language'])
if component['usingROS'] == True:
for imp in component['imports']:
generateROSHeaders(imp, outputPath + "/src", component,
args.include_dirs)
# Code to launch diff tool on .new files to be compared with their old version
if args.diff is not None:
diff_tool, _ = get_diff_tool(prefered=args.diff)
print(
"Executing diff tool for existing files. Close if no change is needed."
)
for o_file, n_file in new_existing_files.items():
if not filecmp.cmp(o_file, n_file):
print([diff_tool, o_file, n_file])
try:
subprocess.call([diff_tool, o_file, n_file])
except KeyboardInterrupt as e:
print(
"Comparasion interrupted. All files have been generated. Check this .new files manually:"
)
for o_file2, n_file2 in new_existing_files.items():
if not filecmp.cmp(o_file2, n_file2):
print("%s %s" % (o_file2, n_file2))
break
except Exception as e:
print("Exception trying to execute %s" % (diff_tool))
print(e.message)
else:
print("Binary equal files %s and %s" % (o_file, n_file))
elif inputFile.endswith(".idsl"):
# idsl = IDSLParsing.fromFileIDSL(inputFile)
print('Generating ICE file ', outputPath)
# Call cog
run = "cog.py -z -d" + " -D theIDSL=" + inputFile + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -o " + outputPath + " /opt/robocomp/share/robocompdsl/TEMPLATE.ICE"
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(outputPath)
w = open(path, 'w')
w.write(text)
w.close()
imports = ''.join( [ imp.split('/')[-1]+'#' for imp in component['imports'] ] )
# verification
import rcExceptions
from parseIDSL import *
pool = IDSLPool(imports)
for interface_required in component['requires'] + component['implements'] + component['subscribesTo'] + component['publishes']:
interface_required = interface_required if type(interface_required) == str else interface_required[0]
if not pool.moduleProviding(interface_required):
raise rcExceptions.InterfaceNotFound(interface_required)
if component['language'].lower() == 'cpp':
#
# Check output directory
#
if not os.path.exists(outputPath):
creaDirectorio(outputPath)
# Create directories within the output directory
try:
creaDirectorio(outputPath+"/bin")
creaDirectorio(outputPath+"/etc")
creaDirectorio(outputPath+"/src")
except:
print 'There was a problem creating a directory'
sys.exit(1)