def _make_buildifier_command():
"""Returns a list starting with the buildifier executable, followed by any
required default arguments."""
return [
find_data(_BUILDIFIER), "-add_tables={}".format(find_data(_TABLES))
]
def generate_code(named_vector_filename,
include_prefix=None,
vector_hh_filename=None,
vector_cc_filename=None,
translator_hh_filename=None,
translator_cc_filename=None,
lcm_filename=None):
cxx_include_path = os.path.dirname(named_vector_filename) + "/gen"
if cxx_include_path.startswith("external/"):
# Drake is being used from within a different workspace, so we have to
# strip the "external/drake/" from the named_vector_filename. (The
# name after "external" will vary depending on what name the workspace
# gave us, so we can't hard-code it to "drake".)
cxx_include_path = "/".join(cxx_include_path.split("/")[2:])
if include_prefix:
cxx_include_path = os.path.join(include_prefix, cxx_include_path)
snake, _ = os.path.splitext(os.path.basename(named_vector_filename))
screaming_snake = snake.upper()
camel = "".join([x.capitalize() for x in snake.split("_")])
# Load the vector's details from protobuf.
# In the future, this can be extended for nested messages.
with open(named_vector_filename, "r") as f:
vec = named_vector_pb2.NamedVector()
google.protobuf.text_format.Merge(f.read(), vec)
fields = [{
'name': el.name,
'doc': el.doc,
'default_value': el.default_value,
'doc_units': el.doc_units,
'min_value': el.min_value,
'max_value': el.max_value,
} for el in vec.element]
if vec.namespace:
namespace_list = vec.namespace.split("::")
else:
namespace_list = []
# Default some field attributes if they are missing.
for item in fields:
if len(item['default_value']) == 0:
print("error: a default_value for {}.{} is required".format(
snake, item['name']))
if len(item['doc_units']) == 0:
item['doc_units'] = DEFAULT_CTOR_FIELD_UNKNOWN_DOC_UNITS
# The C++ namespace open & close dance is as requested in the protobuf.
opening_namespace = "".join(
["namespace " + x + "{\n" for x in namespace_list])
closing_namespace = "".join(
["} // namespace " + x + "\n" for x in reversed(namespace_list)])
# The context provides string substitutions for the C++ code blocks in the
# literal strings throughout this program.
context = dict()
context.update(cxx_include_path=cxx_include_path)
context.update(camel=camel)
context.update(indices=camel + 'Indices')
context.update(snake=snake)
context.update(screaming_snake=screaming_snake)
context.update(opening_namespace=opening_namespace)
context.update(closing_namespace=closing_namespace)
context.update(lcm_package="drake")
# This is a specially-formatted code block to warn users not to edit.
# This disclaimer text is special-cased by our review tool, reviewable.io.
disclaimer = "// GENERATED FILE " + "DO NOT EDIT"
context.update(generated_code_warning='\n'.join(
[disclaimer, "// See drake/tools/lcm_vector_gen.py."]))
cxx_names = []
if vector_hh_filename:
with open(vector_hh_filename, 'w') as hh:
cxx_names.append(hh.name)
put(hh, VECTOR_HH_PREAMBLE % context, 2)
generate_indices(hh, context, fields)
put(hh, '', 1)
generate_indices_names_accessor_decl(hh, context)
put(hh, VECTOR_CLASS_BEGIN % context, 2)
generate_default_ctor(hh, context, fields)
generate_set_to_named_variables(hh, context, fields)
generate_do_clone(hh, context, fields)
generate_accessors(hh, context, fields)
put(hh, GET_COORDINATE_NAMES % context, 2)
generate_is_valid(hh, context, fields)
generate_calc_inequality_constraint(hh, context, fields)
put(hh, VECTOR_CLASS_END % context, 2)
put(hh, VECTOR_HH_POSTAMBLE % context, 1)
if vector_cc_filename:
with open(vector_cc_filename, 'w') as cc:
cxx_names.append(cc.name)
put(cc, VECTOR_CC_PREAMBLE % context, 2)
generate_indices_storage(cc, context, fields)
put(cc, '', 1)
generate_indices_names_accessor_impl(cc, context, fields)
put(cc, VECTOR_CC_POSTAMBLE % context, 1)
if translator_hh_filename:
with open(translator_hh_filename, 'w') as hh:
cxx_names.append(hh.name)
put(hh, TRANSLATOR_HH_PREAMBLE % context, 2)
put(hh, TRANSLATOR_CLASS_DECL % context, 2)
put(hh, TRANSLATOR_HH_POSTAMBLE % context, 1)
if translator_cc_filename:
with open(translator_cc_filename, 'w') as cc:
cxx_names.append(cc.name)
put(cc, TRANSLATOR_CC_PREAMBLE % context, 2)
generate_allocate_output_vector(cc, context, fields)
generate_deserialize(cc, context, fields)
generate_serialize(cc, context, fields)
put(cc, TRANSLATOR_CC_POSTAMBLE % context, 1)
if lcm_filename:
with open(lcm_filename, 'w') as lcm:
put(lcm, LCMTYPE_PREAMBLE % context, 2)
for field in fields:
put(lcm, " double {}; // {}".format(field['name'],
field['doc']), 1)
put(lcm, LCMTYPE_POSTAMBLE % context, 1)
if cxx_names:
# Run clang-format over all C++ files. Inserting a .clang-format
# settings file is problematic when formatting within bazel-genfiles,
# so instead we pass its contents on the command line.
with open(find_data(".clang-format"), "r") as f:
yaml_data = yaml.load(f, Loader=yaml.Loader)
style = str(yaml_data)
# For some reason, clang-format really wants lowercase booleans.
style = style.replace("False", "false").replace("True", "true")
subprocess.check_call(
[get_clang_format_path(), "--style=" + style, "-i"] + cxx_names)
def generate_code(
named_vector_filename,
include_prefix=None,
vector_hh_filename=None,
vector_cc_filename=None,
translator_hh_filename=None,
translator_cc_filename=None,
lcm_filename=None):
cxx_include_path = os.path.dirname(named_vector_filename) + "/gen"
if cxx_include_path.startswith("external/"):
# Drake is being used from within a different workspace, so we have to
# strip the "external/drake/" from the named_vector_filename. (The
# name after "external" will vary depending on what name the workspace
# gave us, so we can't hard-code it to "drake".)
cxx_include_path = "/".join(cxx_include_path.split("/")[2:])
if include_prefix:
cxx_include_path = os.path.join(include_prefix, cxx_include_path)
snake, _ = os.path.splitext(os.path.basename(named_vector_filename))
screaming_snake = snake.upper()
camel = "".join([x.capitalize() for x in snake.split("_")])
# Load the vector's details from protobuf.
# In the future, this can be extended for nested messages.
with open(named_vector_filename, "r") as f:
vec = named_vector_pb2.NamedVector()
google.protobuf.text_format.Merge(f.read(), vec)
fields = [{
'name': el.name,
'doc': el.doc,
'default_value': el.default_value,
'doc_units': el.doc_units,
'min_value': el.min_value,
'max_value': el.max_value,
} for el in vec.element]
if vec.namespace:
namespace_list = vec.namespace.split("::")
else:
namespace_list = []
# Default some field attributes if they are missing.
for item in fields:
if len(item['default_value']) == 0:
print("error: a default_value for {}.{} is required".format(
snake, item['name']))
if len(item['doc_units']) == 0:
item['doc_units'] = DEFAULT_CTOR_FIELD_UNKNOWN_DOC_UNITS
# The C++ namespace open & close dance is as requested in the protobuf.
opening_namespace = "".join(["namespace " + x + "{\n"
for x in namespace_list])
closing_namespace = "".join(["} // namespace " + x + "\n"
for x in reversed(namespace_list)])
# The context provides string substitutions for the C++ code blocks in the
# literal strings throughout this program.
context = dict()
context.update(cxx_include_path=cxx_include_path)
context.update(camel=camel)
context.update(indices=camel + 'Indices')
context.update(snake=snake)
context.update(screaming_snake=screaming_snake)
context.update(opening_namespace=opening_namespace)
context.update(closing_namespace=closing_namespace)
context.update(lcm_package="drake")
# This is a specially-formatted code block to warn users not to edit.
# This disclaimer text is special-cased by our review tool, reviewable.io.
disclaimer = "// GENERATED FILE " + "DO NOT EDIT"
context.update(generated_code_warning='\n'.join([
disclaimer, "// See drake/tools/lcm_vector_gen.py."]))
cxx_names = []
if vector_hh_filename:
with open(vector_hh_filename, 'w') as hh:
cxx_names.append(hh.name)
put(hh, VECTOR_HH_PREAMBLE % context, 2)
generate_indices(hh, context, fields)
put(hh, '', 1)
generate_indices_names_accessor_decl(hh, context)
put(hh, VECTOR_CLASS_BEGIN % context, 2)
generate_default_ctor(hh, context, fields)
generate_copy_and_assign(hh, context)
generate_set_to_named_variables(hh, context, fields)
generate_do_clone(hh, context, fields)
generate_accessors(hh, context, fields)
put(hh, GET_COORDINATE_NAMES % context, 2)
generate_is_valid(hh, context, fields)
generate_get_element_bounds(hh, context, fields)
put(hh, VECTOR_CLASS_END % context, 2)
put(hh, VECTOR_HH_POSTAMBLE % context, 1)
if vector_cc_filename:
with open(vector_cc_filename, 'w') as cc:
cxx_names.append(cc.name)
put(cc, VECTOR_CC_PREAMBLE % context, 2)
generate_indices_storage(cc, context, fields)
put(cc, '', 1)
generate_indices_names_accessor_impl(cc, context, fields)
put(cc, VECTOR_CC_POSTAMBLE % context, 1)
if translator_hh_filename:
with open(translator_hh_filename, 'w') as hh:
cxx_names.append(hh.name)
put(hh, TRANSLATOR_HH_PREAMBLE % context, 2)
put(hh, TRANSLATOR_CLASS_DECL % context, 2)
put(hh, TRANSLATOR_HH_POSTAMBLE % context, 1)
if translator_cc_filename:
with open(translator_cc_filename, 'w') as cc:
cxx_names.append(cc.name)
put(cc, TRANSLATOR_CC_PREAMBLE % context, 2)
generate_allocate_output_vector(cc, context, fields)
generate_deserialize(cc, context, fields)
generate_serialize(cc, context, fields)
put(cc, TRANSLATOR_CC_POSTAMBLE % context, 1)
if lcm_filename:
with open(lcm_filename, 'w') as lcm:
put(lcm, LCMTYPE_PREAMBLE % context, 2)
for field in fields:
put(lcm, " double {}; // {}".format(field['name'],
field['doc']), 1)
put(lcm, LCMTYPE_POSTAMBLE % context, 1)
if cxx_names:
# Run clang-format over all C++ files. Inserting a .clang-format
# settings file is problematic when formatting within bazel-genfiles,
# so instead we pass its contents on the command line.
with open(find_data(".clang-format"), "r") as f:
yaml_data = yaml.load(f, Loader=yaml.Loader)
style = str(yaml_data)
# For some reason, clang-format really wants lowercase booleans.
style = style.replace("False", "false").replace("True", "true")
subprocess.check_call(
[get_clang_format_path(), "--style=" + style, "-i"] + cxx_names)
def generate_code(
named_vector_filename,
vector_hh_filename=None,
vector_cc_filename=None,
translator_hh_filename=None,
translator_cc_filename=None,
lcm_filename=None):
cxx_include_path = os.path.dirname(named_vector_filename) + "/gen"
# TODO(#6996) Do this unconditionally once #6996 shuffle is finished.
if not cxx_include_path.startswith("drake/"):
# TODO(jwnimmer-tri) For use outside of Drake, this include_prefix
# should probably be configurable, instead of hard-coded here.
cxx_include_path = "drake/" + cxx_include_path
snake, _ = os.path.splitext(os.path.basename(named_vector_filename))
screaming_snake = snake.upper()
camel = "".join([x.capitalize() for x in snake.split("_")])
# Load the vector's details from protobuf.
# In the future, this can be extended for nested messages.
with open(named_vector_filename, "r") as f:
vec = named_vector_pb2.NamedVector()
google.protobuf.text_format.Merge(f.read(), vec)
fields = [{
'name': el.name,
'doc': el.doc,
'default_value': el.default_value,
'doc_units': el.doc_units,
'min_value': el.min_value,
'max_value': el.max_value,
} for el in vec.element]
if vec.namespace:
namespace_list = vec.namespace.split("::")
else:
namespace_list = []
# Default some field attributes if they are missing.
for item in fields:
if len(item['default_value']) == 0:
item['default_value'] = DEFAULT_CTOR_FIELD_DEFAULT_VALUE
if len(item['doc_units']) == 0:
item['doc_units'] = DEFAULT_CTOR_FIELD_UNKNOWN_DOC_UNITS
# The C++ namespace open & close dance is as requested in the protobuf.
opening_namespace = "".join(["namespace " + x + "{\n"
for x in namespace_list])
closing_namespace = "".join(["} // namespace " + x + "\n"
for x in reversed(namespace_list)])
# The context provides string substitutions for the C++ code blocks in the
# literal strings throughout this program.
context = dict()
context.update(cxx_include_path=cxx_include_path)
context.update(camel=camel)
context.update(indices=camel + 'Indices')
context.update(snake=snake)
context.update(screaming_snake=screaming_snake)
context.update(opening_namespace=opening_namespace)
context.update(closing_namespace=closing_namespace)
context.update(lcm_package="drake")
# This is a specially-formatted code block to warn users not to edit.
# This disclaimer text is special-cased by our review tool, reviewable.io.
disclaimer = "// GENERATED FILE " + "DO NOT EDIT"
context.update(generated_code_warning='\n'.join([
disclaimer, "// See drake/tools/lcm_vector_gen.py."]))
cxx_names = []
if vector_hh_filename:
with open(vector_hh_filename, 'w') as hh:
cxx_names.append(hh.name)
put(hh, VECTOR_HH_PREAMBLE % context, 2)
generate_indices(hh, context, fields)
put(hh, '', 1)
generate_indices_names_accessor_decl(hh, context)
put(hh, VECTOR_CLASS_BEGIN % context, 2)
generate_default_ctor(hh, context, fields)
generate_do_clone(hh, context, fields)
generate_accessors(hh, context, fields)
put(hh, GET_COORDINATE_NAMES % context, 2)
generate_is_valid(hh, context, fields)
generate_calc_inequality_constraint(hh, context, fields)
put(hh, VECTOR_CLASS_END % context, 2)
put(hh, VECTOR_HH_POSTAMBLE % context, 1)
if vector_cc_filename:
with open(vector_cc_filename, 'w') as cc:
cxx_names.append(cc.name)
put(cc, VECTOR_CC_PREAMBLE % context, 2)
generate_indices_storage(cc, context, fields)
put(cc, '', 1)
generate_indices_names_accessor_impl(cc, context, fields)
put(cc, VECTOR_CC_POSTAMBLE % context, 1)
if translator_hh_filename:
with open(translator_hh_filename, 'w') as hh:
cxx_names.append(hh.name)
put(hh, TRANSLATOR_HH_PREAMBLE % context, 2)
put(hh, TRANSLATOR_CLASS_DECL % context, 2)
put(hh, TRANSLATOR_HH_POSTAMBLE % context, 1)
if translator_cc_filename:
with open(translator_cc_filename, 'w') as cc:
cxx_names.append(cc.name)
put(cc, TRANSLATOR_CC_PREAMBLE % context, 2)
generate_allocate_output_vector(cc, context, fields)
generate_deserialize(cc, context, fields)
generate_serialize(cc, context, fields)
put(cc, TRANSLATOR_CC_POSTAMBLE % context, 1)
if lcm_filename:
with open(lcm_filename, 'w') as lcm:
put(lcm, LCMTYPE_PREAMBLE % context, 2)
for field in fields:
put(lcm, " double {}; // {}".format(field['name'],
field['doc']), 1)
put(lcm, LCMTYPE_POSTAMBLE % context, 1)
# Run clang-format over all C++ files.
for one_filename in cxx_names:
# The clang-format tool has no way to specify a config file, other than
# putting a dotfile somehwere in a parent dir of the target. Because
# our output is in genfiles but the dotfile is in runfiles, we won't
# automatically find it. We'll resolve that by temporarily symlinking
# the dotfile into place.
dotfile = find_data(".clang-format")
temp_dotfile = os.path.join(
os.path.dirname(one_filename), ".clang-format")
assert not os.path.exists(temp_dotfile)
os.symlink(dotfile, temp_dotfile)
subprocess.check_call([
get_clang_format_path(), "--style=file", "-i", one_filename])
os.unlink(temp_dotfile)
def test_find(self):
filename = find_data("tools/lint/test/find_data_test.txt")
self.assertTrue(os.path.exists(filename))
with open(filename, "r") as contents:
lines = contents.readlines()
self.assertListEqual(lines, ["Sample data for unit find_data_test.\n"])
def test_find(self):
filename = find_data("tools/lint/test/find_data_test.txt")
self.assertTrue(os.path.exists(filename))
with open(filename, "r") as contents:
lines = contents.readlines()
self.assertListEqual(lines, ["Sample data for unit find_data_test.\n"])
def _make_buildifier_command():
"""Returns a list starting with the buildifier executable, followed by any
required default arguments."""
return [
find_data(_BUILDIFIER),
"-add_tables={}".format(find_data(_TABLES))]
