def visit_Call(self, node):
callvisitor = topics_in_file.FuncCallVisitor()
callvisitor.visit(node.func)
# moveToPose
if self.move_to_pose_cmd in callvisitor.name:
# save value to self.pose_cmd_frame_dict
process_node_arg(self.pose_cmd_frame_dict, callvisitor.name.split('.')[0], node, 1, self.scopes)
self.generic_visit(node)
def visit_Call(self, node):
callvisitor = topics_in_file.FuncCallVisitor()
callvisitor.visit(node.func)
if callvisitor.name in self.msgTypeList:
####################
### Instantiation ##
####################
# Twist msg
if 'Twist' in callvisitor.name and len(node.args) == 2:
self.save_vel_instantiation(node.args)
self.generic_visit(node)
def save_vel_instantiation(self, node_args_list):
attribute_field = ['x','y','z']
# for twist msg
if isinstance(node_args_list[0], ast.Call): # instantiate with Vector3
callvisitor_twist_linear = topics_in_file.FuncCallVisitor()
callvisitor_twist_linear.visit(node_args_list[0].func)
for idx, ast_value_obj in enumerate(node_args_list[0].args):
# lienar x, y, z
self.out_of_bound_list.extend(check_and_save_attribute_and_value_to_dict(None, ast_value_obj, self.var_names_list, self.msg_fields_dict, \
scope=self.scopes[0], attribute_list=['linear', attribute_field[idx]], limits_dict=self.limits_dict,\
call_func_list=self.possible_subcall_func_list, call_func_hist=['Twist', [0, 'Vector3'], idx]))
# TODO: get line number and replace later?
if isinstance(node_args_list[1], ast.Call): # instantiate with Vector3
callvisitor_twist_angular = topics_in_file.FuncCallVisitor()
callvisitor_twist_angular.visit(node_args_list[1].func)
for idx, ast_value_obj in enumerate(node_args_list[1].args):
# angular x, y, z
self.out_of_bound_list.extend(check_and_save_attribute_and_value_to_dict(None, ast_value_obj, self.var_names_list, self.msg_fields_dict, \
scope=self.scopes[0], attribute_list=['angular', attribute_field[idx]], limits_dict=self.limits_dict,\
call_func_list=self.possible_subcall_func_list, call_func_hist=['Twist', [1, 'Vector3'], idx]))
def attribute_in_var_names_list(ast_attribute_obj, var_names_list):
"""
This function checks if part of a given attribute is in the var_names_list.
It splits the attribute and returns a list if that's the case.
"""
attributevisitor = topics_in_file.FuncCallVisitor()
attributevisitor.visit(ast_attribute_obj)
parameters_logger.log(2, "Attribute name: {0}".format(attributevisitor.name))
# check if part of attribute is a msgType Object
if any([x in attributevisitor.name for x in var_names_list]):
parameters_logger.log(2, "Save Parameter: TRUE in var_names_list:{0}".format(var_names_list))
attribute_name_list = attributevisitor.name.replace(x+'.','').split('.')
return True, attribute_name_list
else:
parameters_logger.log(2, "Save Parameter: FALSE in var_names_list:{0}".format(var_names_list))
return False, []
def process_node_arg(target_dict, dict_key, node, arg_idx, scopes):
if isinstance(node.args[arg_idx], ast.Str):
target_dict[dict_key] = node.args[arg_idx].s #original
elif isinstance(node.args[arg_idx],ast.Name):
if scopes[0].find(node.args[arg_idx].id):
target_dict[dict_key] = node.args[arg_idx].id #original
else:
moveit_logger.warning('Cannot find variable:{0} in scopes!'.format(node.args[arg_idx].id))
elif isinstance(node.args[arg_idx],ast.Attribute):
attr_value_visitor = topics_in_file.FuncCallVisitor()
attr_value_visitor.visit(node.args[arg_idx])
attr_name = attr_value_visitor.name
if scopes[0].find(attr_name):
target_dict[dict_key] = scopes[0].find(attr_name) #original
elif isinstance(node.args[0],ast.Add):
pass
def visit_Assign(self, node):
# FIXIT: skips Subscript objects, cannot use codegen
#if isinstance(node.targets[0], ast.Subscript):
# continue
#moveit_logger.log(2, codegen.to_source(node))
moveit_logger.log(2, "------")
moveit_logger.log(2, "node targets:{0}, node value: {1}".format(node.targets, node.value))
# save variables 'a = 1' to scope (Name -> Num)
if len(node.targets) == 1 and isinstance(node.targets[0], ast.Name) \
and isinstance(node.value, ast.Num):
self.scopes[0].add(node.targets[0].id, node.value.n)
# save variables 'a = [1,2,3]' to scope (Name -> List)
elif len(node.targets) == 1 and isinstance(node.targets[0], ast.Name) \
and isinstance(node.value, ast.List)\
and (isinstance(node.value.ctx, ast.Load) or isinstance(node.value.ctx, ast.Store)):
listVisitor = topics_in_file.ListVisitor(self.scopes[0])
listVisitor.visit(node.value)
self.scopes[0].add(node.targets[0].id, listVisitor._name)
# save variables 'a = "hello" to scope (Name -> str)
elif len(node.targets) == 1 and isinstance(node.targets[0], ast.Name) \
and isinstance(node.value, ast.Str):
self.scopes[0].add(node.targets[0].id, node.value.s)
# check if it is MoveGroupInterface Instantiation
elif isinstance(node.value, ast.Call):
callvisitor = topics_in_file.FuncCallVisitor()
callvisitor.visit(node.value.func)
if callvisitor.name in self.interface_list:
# store name to look for in the tree
namevisitor = topics_in_file.FuncCallVisitor()
namevisitor.visit(node.targets[0])
# save value to self.interface_dict
process_node_arg(self.interface_dict, namevisitor.name, node.value, 0, self.scopes)
# assign target is an attribute (Attribute -> ???)
elif isinstance(node.targets[0], ast.Attribute):
moveit_logger.debug('NEEDS TO BE DONE: assign target is a Attribute. node target[0]: {0}'.format(node.targets[0]))
# assign target is a tuple (Tuple -> ???)
elif isinstance(node.targets[0], ast.Tuple):
moveit_logger.debug('NEEDS TO BE DONE: assign target is a Tuple. node target[0]: {0}'.format(node.targets[0]))
# assign target is a list
elif isinstance(node.value, ast.ListComp):
moveit_logger.debug('NEEDS TO BE DONE: assign target is a listComp. node target[0]: {0}'.format(node.targets[0]))
else:
if len(node.targets) == 1:
moveit_logger.debug("This assignment is not handled: target: {0}, value: {1}".format(\
type(node.targets[0]), type(node.value)))
else:
moveit_logger.debug("This assignment is not handled: target: {0}, value: {1}".format(\
type(node.targets), type(node.value)))
def visit_Assign(self, node):
# FIXIT: skips Subscript objects, cannot use codegen
#if isinstance(node.targets[0], ast.Subscript):
# continue
#parameters_logger.log(2, codegen.to_source(node))
parameters_logger.log(2, "------")
parameters_logger.log(2, "node targets:{0}, node value: {1}".format(node.targets, node.value))
# save variables 'a = 1' to scope (Name -> Num)
if len(node.targets) == 1 and isinstance(node.targets[0], ast.Name) \
and isinstance(node.value, ast.Num):
self.scopes[0].add(node.targets[0].id, node.value.n)
# save variables 'a = [1,2,3]' to scope (Name -> List)
elif len(node.targets) == 1 and isinstance(node.targets[0], ast.Name) \
and isinstance(node.value, ast.List)\
and (isinstance(node.value.ctx, ast.Load) or isinstance(node.value.ctx, ast.Store)):
listVisitor = topics_in_file.ListVisitor(self.scopes[0])
listVisitor.visit(node.value)
self.scopes[0].add(node.targets[0].id, listVisitor._name)
# save variables 'a = "hello" to scope (Name -> str)
elif len(node.targets) == 1 and isinstance(node.targets[0], ast.Name) \
and isinstance(node.value, ast.Str):
self.scopes[0].add(node.targets[0].id, node.value.s)
# check if it is initializing a msgType object (new Func Obj with msg_type)
elif isinstance(node.value, ast.Call):
callvisitor = topics_in_file.FuncCallVisitor()
callvisitor.visit(node.value.func)
if callvisitor.name in self.msgTypeList:
# store name to look for in the tree
namevisitor = topics_in_file.FuncCallVisitor()
namevisitor.visit(node.targets[0])
if namevisitor.name not in self.var_names_list:
self.var_names_list.append(namevisitor.name)
parameters_logger.debug(node.value.args)
####################
### Instantiation ##
####################
# Twist msg
if 'Twist' in callvisitor.name and len(node.value.args) == 2:
self.save_vel_instantiation(node.value.args)
# assign target is an attribute (Attribute -> ???)
elif isinstance(node.targets[0], ast.Attribute):
# check if first part of attribute is a msgType Object
self.out_of_bound_list.extend(check_and_save_attribute_and_value_to_dict(node.targets[0], node.value, self.var_names_list, \
self.msg_fields_dict, self.scopes[0], limits_dict=self.limits_dict,\
call_func_list=self.possible_subcall_func_list))
# assign target is a tuple (Tuple -> ???)
elif isinstance(node.targets[0], ast.Tuple):
for idx, item in enumerate(node.targets[0].elts):
if isinstance(item, ast.Attribute):
# check if first part of attribute is a msgType Object
self.out_of_bound_list.extend(check_and_save_attribute_and_value_to_dict(item, node.value.elts[idx], self.var_names_list, \
self.msg_fields_dict, self.scopes[0],limits_dict=self.limits_dict,\
call_func_list=self.possible_subcall_func_list))
# assign target is a list
elif isinstance(node.value, ast.ListComp):
parameters_logger.debug('NEEDS TO BE DONE: assign target is a listComp. node target[0]: {0}'.format(node.targets[0]))
else:
if len(node.targets) == 1:
parameters_logger.debug("This assignment is not handled: target: {0}, value: {1}".format(\
type(node.targets[0]), type(node.value)))
else:
parameters_logger.debug("This assignment is not handled: target: {0}, value: {1}".format(\
type(node.targets), type(node.value)))
# TODO: what if the value is an equation
self.generic_visit(node)
def check_and_save_attribute_and_value_to_dict(ast_attribute_obj, ast_value_obj, var_names_list, msg_fields_dict, \
scope=None, attribute_list=[], limits_dict={}, call_func_list=[], call_func_hist=None):
"""
This function updates msg_fields_dict if attribute(ast_attribute_obj)
matches variables in var_names_list.
The value of the assignment comes from ast_value_obj or scope
ast_attribute_obj: object on the left side of the assignment
ast_value_obj: object on the right side of the assignment
var_names_list: variables that are associated with the msg type of interest
msg_fields_dict: dictionary storing all possible values for the msg type of interest
scope: previously saved variables
attribute_list: a.b to ['a','b'], can be feed into the function to bypass 'attribute_in_var_names_list'
limit_dict: a dictionary of value obj limits
call_func_list: valid func call that we will save parameters e.g.:['JointTrajectoryPoint']
call_func_hist: history of related function call to the variable:
e.g.: Twist(Vector3(-,1,-),....) -> ['Twist', [0, 'Vector3'], 1]
for parameter replacement later
"""
out_of_bound_list = []
result = False
if attribute_list:
result = True
if not result:
result, attribute_list = attribute_in_var_names_list(ast_attribute_obj, var_names_list)
parameters_logger.debug('result:{0}, attribute_list:{1}'.format(result, attribute_list)) # TODO: maybe we want the full list instead? including the name?
if result:
# get all fields and save to dict
if isinstance(ast_value_obj, ast.Num):
dict_insert(msg_fields_dict, attribute_list, ast_value_obj.n)
# check limits
if limits_dict:
out_of_bound_tuple = check_limits_wrapper(attribute_list, ast_value_obj.n, limits_dict)
if out_of_bound_tuple: out_of_bound_list.append(out_of_bound_tuple + (ast_value_obj.n, call_func_hist))
elif isinstance(ast_value_obj, ast.Name) and scope:
if scope.find(ast_value_obj.id):
dict_insert(msg_fields_dict, attribute_list, ast_value_obj.id)
#dict_insert(msg_fields_dict, attribute_list, scope.find(ast_value_obj.id))
# check limits
if limits_dict:
for value in scope.find(ast_value_obj.id):
out_of_bound_tuple = check_limits_wrapper(attribute_list, value, limits_dict)
if out_of_bound_tuple: out_of_bound_list.append(out_of_bound_tuple + (ast_value_obj.id, call_func_hist))
elif isinstance(ast_value_obj, ast.List) and scope:
parameters_logger.debug('List elts: {0}, ctx: {1}'.format(ast_value_obj.elts, ast_value_obj.ctx))
for ast_elts_obj in ast_value_obj.elts:
#recursive for different fields
check_and_save_attribute_and_value_to_dict(None, ast_elts_obj, var_names_list, msg_fields_dict, \
scope=scope, attribute_list=attribute_list, limits_dict=limits_dict,
call_func_list=call_func_list, call_func_hist=call_func_hist)
elif isinstance(ast_value_obj, ast.Call) and scope:
callvisitor = topics_in_file.FuncCallVisitor()
callvisitor.visit(ast_value_obj.func)
# check if the function cal is valid for consideration
if not call_func_list or callvisitor.name in call_func_list:
for ast_args_obj in ast_value_obj.args:
pass
# only dealing with keywords now
for ast_keywords_obj in ast_value_obj.keywords:
check_and_save_attribute_and_value_to_dict(None, ast_keywords_obj.value, var_names_list, msg_fields_dict, \
scope=scope, attribute_list=attribute_list + [ast_keywords_obj.arg], limits_dict=limits_dict,\
call_func_list=call_func_list, call_func_hist=call_func_hist)
parameters_logger.debug("Call Func name:{0}, Args:{1}, Keywords:{2}".format(\
callvisitor.name, ast_value_obj.args, ast_value_obj.keywords))
else:
if not scope:
parameters_logger.warning('scope is None!')
else:
parameters_logger.warning('not sure what to do with this: {0}'.format(type(ast_value_obj)))
return out_of_bound_list