def do_pass(plant):
""" This pass follows the links up to the nodes which are the one defining
the actual channels.
"""
# Collect the needed information and the nodes to consider.
v = AstVisitor({'node' : node,
'linux' : sys,
'lynxsecure' : hypervisor,
'certikos' : hypervisor,
'lynxsecure_vm' : machine,
'certikos_vm' : machine,
'machine' : machine },
onleaf=follow_links(AstVisitor.leaf_bf), #@UndefinedVariable
kind='bf')
# Create a dict having ast nodes as keys (qnames),
plantinfo = tools.DictfromField('_qname')()
plantinfo.nodes = []
plantinfo.topics = []
plantinfo.machines = []
plantinfo.plant = plant
v.visit(plant, plantinfo)
channels.do_pass(plantinfo)
return plantinfo
def gen(ast):
name_dag = dict()
decls = dict()
defs = dict()
d = dict({
'assgns': '',
'vdecls': '',
'include_user_module_header': '',
'post_init_hook': ''
})
visitor = AstVisitor({'module_settings': module_settings},
default=collect_node,
onleaf=collect_leaf,
kind='red')
visitor.visit(ast, (name_dag, decls, defs, d))
names_sccs = tarjan(name_dag)
d['header_defsdecls'] = ''
#First declare the types
for scc in names_sccs:
#write all typedefs first to allow circular refs
if len(scc) > 1:
#For now, since types are not recursive, we should not have scc.
# internal_error("We have a scc of size {}".format(len(scc)))
pass
for tname in scc:
tdecl = decls.get(tname, None)
if tdecl:
d['header_defsdecls'] += tdecl
#write the definitions
for tname in scc:
tdef = defs.get(tname, None)
if tdef:
str
d['header_defsdecls'] += tdef
d['asttype'] = qn.c_typename(ast)
d['astvalue'] = qn.c_varname(ast)
d['astinit'] = qn.c_modinit(ast)
d['astfun'] = qn.c_astfun(ast)
d['ast_includes'] = d['includes_init'] = ''
for n in infos.loaded_modules:
d['ast_includes'] += '\n#include "{}"'.format(qn.file_ast(n))
d['includes_init'] += '\n {}();'.format(qn.c_modinit(n))
d['ast_h_filename'] = qn.file_ast(ast, '.h')
d['ast_c_filename'] = qn.file_ast(ast, '.c')
return (d['ast_c_filename'], cpp_template.format(**d), d['ast_h_filename'],
header_template.format(**d))
def do_pass(ast, root_namespace):
""" Transform alias nodes into leafs of type Alias,
behaving like the Ident it points to.
This has to be done with a frozen ast or extra care is needed after this.
"""
def _alias(visitor, node, _):
internal_assert(len(node._children) == 1, "incorrect alias node")
ident = node._children[0]
internal_assert(isinstance(ident, Ident), "incorrect alias node")
a = Alias(node._qname, node._location, ident)
return a, _
visitor = AstVisitor({'_alias': _alias}, inplace=True, kind='mapacc')
visitor.visit(ast, ())
update_idents(ast, root_namespace)
def reduce(astnode, filter_pred):
def default(visitor, n, _):
t = types.of(n)
if isinstance(t, str): # Basic value
return language.interpret_value(t, n._val), _
else:
return (str(n._qname), visitor.visit(filter_pred(n._children),
_)[0]), _
def array(visitor, a, _):
return (str(a._qname), [visitor.visit(x, _)[0]
for x in a['VALUES']]), _
def struct(visitor, s, _):
return (str(s._qname),
{x._name: visitor.visit(x, _)[0]
for x in s['FIELDS']}), _
visitor = AstVisitor(
{
'array': array,
'struct': struct,
'topic': struct
},
default=default,
onleaf=follow_links(AstVisitor.leaf_mapacc), #@UndefinedVariable
kind='mapacc')
return visitor.visit(astnode, ())[0]
def gen_launchfiles(plantinfo, package_name, package_folder):
""" This pass is in charge of generating the launch files specific to a plant.
The corresponding package is supposed to be already generated.
@return: the list of generated file handles
"""
## Do the actual plant pass to generate the needed launch files.
d = dict()
d['source_file'] = str(infos.source_file)
v = AstVisitor(
fun_dict_of((machine, node)),
onleaf=follow_links(AstVisitor.leaf_bf), #@UndefinedVariable
kind='bf')
d['package_path'] = package_folder
d['launch_files'] = []
v.visit(plantinfo.plant, d)
return d['launch_files']
def plant2dot(plantinfo):
qn = str(plantinfo.plant._qname)
# Create the hierarchical graph with all the nodes (no edges for now)
plantd = Dot(qn,
simplify=True,
comment="Generated by radler for {}".format(qn))
v = AstVisitor({'node' : node,
'lynxsecure_vm' : machine,
'certikos_vm' : machine,
'machine' : machine },
onleaf=follow_links(AstVisitor.leaf_bf), #@UndefinedVariable
kind='bf')
v.visit(plantinfo.plant, plantd)
# Add all edges
for cl in plantinfo.channels.values():
for c in cl:
if c.incoming:
plantd.add_edge(Edge(str(c.pub), str(c.sub)))
print(plantd.to_string())
def gen(localroot, msg_list, msg_dir, ast, extra_files=None):
onleaf = AstVisitor.leaf_bf # @UndefinedVariable
visitor = AstVisitor({'node' : _from_node}, kind='bf', onleaf=onleaf)
d = {'module' : ast._name,
'module_lib' : qn.cmake_ast(ast._qname.rootmodule()),
'ast_fun' : qn.c_astfun(ast),
'_localroot' : localroot
}
clear(d, cmake_templates)
clear(d, cmake_msgs_templates)
clear(d, node_templates_cmake_sublevel)
visitor.visit(ast, d)
toload = infos.loaded_modules
loaded_modules = ' '.join(qn.cmake_ast(n) for n in toload)
d['find_modules'] = d['module_lib'] + ' radl_lib roscpp ' + loaded_modules
d['run_modules'] = ' roscpp'
d['ros_modules'] = ' '.join(n.name() for n in toload)
# Trying to be smart make dependencies hard since otherwise we can't blindly
# add any ros package as a message dependency.
# if len(msg_list) > 0:
msg_files = (str(relative_path(m, msg_dir)) for m in msg_list)
d['msg_files'] = listjoin(' ', msg_files)
d['extra_files'] = listjoin(' ', extra_files) if extra_files else ''
d['find_modules'] += ' message_generation'
d['run_modules'] += ' message_runtime'
app(d, cmake_msgs_templates)
app(d, cmake_templates)
write_file(localroot / "CMakeLists.txt", d['cmakeliststxt'])
def collect(package_folder, package_name, ast, generate_all):
""" return a set of struct types to be generated.
It is not to be generated if it has a field EXTERNAL_ROS_DEF,
or if it is already in infos.ros_types.
"""
def _st(visitor, node, s):
""" s is a mapping between names and filepath of messages to generate.
"""
if node._kind == 'topic': #special treatment to add private fields
t = struct_of_topic(types.of(node))
else:
t = types.of(node)
ext_rd = node['EXTERNAL_ROS_DEF']
if ext_rd: #External def to be used
name = ext_rd['FULLNAME']._val
header = ext_rd['HEADER']._val
else:
reg_name = infos.ros_type_of_struct.get(t, None)
if not reg_name: #Msg name and file to create
msgname = qn.rosmsg(node)
s[t] = msg_msg_file(package_folder, msgname)
msgpkg = package_name
infos.ros_type_of_struct[t] = (msgpkg, msgname)
else: #Msg file already created
(msgpkg, msgname) = reg_name
header = msg_cpp_header(msgpkg, msgname)
#keep only the actual string to identify the type and header file
name = msg_cpp_qname(msgpkg, msgname)
#Store our findings in the node for future retrieval
node._ros_msgtype_name = name
node._ros_msgtype_header = header
return visitor.node_red(node, s) #recursive call
if generate_all:
onleaf = onleaf = follow_links(
AstVisitor.leaf_red) # @UndefinedVariable
else:
onleaf = AstVisitor.leaf_red # @UndefinedVariable
visitor = AstVisitor({
'topic': _st,
'struct': _st
},
kind='red',
onleaf=onleaf)
s = visitor.visit(ast, dict())
return s
def _check_and_map_topics_publisher(ast):
""" When there is one and only one publisher per topic, cross ref the publisher
in the topic as topic._publisher"""
def publication(visitor, pub, acc):
""" Publication are not recursives """
node, maping = acc
top = pub['TOPIC']
if top._qname in maping:
error("Topic {} has multiple publisher.".format(top), top._location)
maping[top._qname] = Ident.of(node)
return pub, (node, maping)
def node(visitor, node, acc):
""" set the current node in the accumulator """
_, maping = acc
acc = node, maping
return visitor.node_mapacc(node, acc)
visitor = AstVisitor(locals(), inplace=True)
_, (_, maping) = visitor.visit(ast, (None, {}))
return maping
def _check_and_map_topics_publisher(ast):
""" When there is one and only one publisher per topic, cross ref the publisher
in the topic as topic._publisher"""
def publication(visitor, pub, acc):
""" Publication are not recursives """
node, maping = acc
top = pub['TOPIC']
if top._qname in maping:
error("Topic {} has multiple publisher.".format(top),
top._location)
maping[top._qname] = Ident.of(node)
return pub, (node, maping)
def node(visitor, node, acc):
""" set the current node in the accumulator """
_, maping = acc
acc = node, maping
return visitor.node_mapacc(node, acc)
visitor = AstVisitor(locals(), inplace=True)
_, (_, maping) = visitor.visit(ast, (None, {}))
return maping
def collect(ast):
""" return a set of struct types to be generated.
It is not to be generated if it has a field EXTERNAL_ROS_DEF,
or if it is already in infos.ros_types.
"""
def _st(visitor, node, s):
""" s is a mapping between names and filepath of messages to generate.
"""
if node._kind == 'topic': #special treatment to add private fields
t = struct_of_topic(types.of(node))
else:
t = types.of(node)
ext_rd = node['EXTERNAL_ROS_DEF']
if ext_rd: #External def to be used
name = ext_rd['FULLNAME']._val
header = ext_rd['HEADER']._val
else:
reg_name = infos.ros_type_of_struct.get(t, None)
if not reg_name: #Msg name and file to create
name = ast._namespace.generate('radl__msg')
#note: the .msg file is different from the header linked to it
s[t] = filepath(qn_msgfile(name, suffix='.msg'))
infos.ros_type_of_struct[t] = name
else: #Msg file already created
name = reg_name
header = qn_file(name, suffix='.h')
#keep only the actual string to identify the type and header file
name = qn_cpp(name)
#Store our findings in the node for future retrieval
node._ros_msgtype_name = name
node._ros_msgtype_header = header
return visitor.node_mapacc(node, s) #recursive call
visitor = AstVisitor({'topic': _st, 'struct': _st})
_, s = visitor.visit(ast, dict())
return s
def collect(ast):
""" return a set of struct types to be generated.
It is not to be generated if it has a field EXTERNAL_ROS_DEF,
or if it is already in infos.ros_types.
"""
def _st(visitor, node, s):
""" s is a mapping between names and filepath of messages to generate.
"""
if node._kind == 'topic': #special treatment to add private fields
t = struct_of_topic(types.of(node))
else:
t = types.of(node)
ext_rd = node['EXTERNAL_ROS_DEF']
if ext_rd: #External def to be used
name = ext_rd['FULLNAME']._val
header = ext_rd['HEADER']._val
else:
reg_name = infos.ros_type_of_struct.get(t, None)
if not reg_name: #Msg name and file to create
name = ast._namespace.generate('radl__msg')
#note: the .msg file is different from the header linked to it
s[t] = filepath(qn_msgfile(name, suffix='.msg'))
infos.ros_type_of_struct[t] = name
else: #Msg file already created
name = reg_name
header = qn_file(name, suffix='.h')
#keep only the actual string to identify the type and header file
name = qn_cpp(name)
#Store our findings in the node for future retrieval
node._ros_msgtype_name = name
node._ros_msgtype_header = header
return visitor.node_mapacc(node, s) #recursive call
visitor = AstVisitor({'topic': _st, 'struct' : _st})
_, s = visitor.visit(ast, dict())
return s
def do_pass(ast):
""" Add a _wd attribute to nodes indicating current user path."""
visitor = AstVisitor(default=_wd, kind='bf')
visitor.visit(ast, Path())
def add(ast):
""" Add a _pwd attribute to nodes indicating current user path."""
visitor = AstVisitor(default=_pwd, mapacc=True)
path = Path()
visitor.visit(ast, path)
def do_pass(ast):
visitor = AstVisitor({'module_settings' : module_settings}, kind='red')
visitor.visit(ast, False)
def do_pass(ast):
v = AstVisitor(fun_dict_of((node, )), kind='bf')
v.visit(ast, ())
def do_pass(ast):
v = AstVisitor(default=onnode, onleaf=onleaf, kind='bf')
v.visit(ast, [])
def do_pass(ast):
visitor = AstVisitor({'struct': onstruct, 'topic': onstruct}, kind='bf')
visitor.visit(ast)