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Improve idl parsing #16

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e869194
added GPLv3 license text
NielsWork Dec 22, 2023
b6c70dc
improve idl parsing
teohan Dec 22, 2023
d57523d
added support for forward declarations
teodor-h-kda Mar 21, 2024
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674 changes: 674 additions & 0 deletions LICENSE
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292 changes: 214 additions & 78 deletions example.py
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Original file line number Diff line number Diff line change
@@ -1,93 +1,229 @@
"""

"""

import json
def test():
from idl_parser import parser
_parser = parser.IDLParser()
idl_str = '''
module my_module {
struct Time {
long sec;
long usec;
};

enum UNION_DESCRIMINATOR_KIND
{
DESCRIMINATOR_UNKNOWN,
DESCRIMINATOR_ULONGLONG,
DESCRIMINATOR_LONGLONG,
DESCRIMINATOR_DOUBLE,
DESCRIMINATOR_STRING,
DESCRIMINATOR_KIND_COUNT
};

union UnionType switch( UNION_DESCRIMINATOR_KIND )
{
case DESCRIMINATOR_UNKNOWN:
case DESCRIMINATOR_KIND_COUNT:
case DESCRIMINATOR_ULONGLONG:
unsigned long long ull_value;
case DESCRIMINATOR_LONGLONG:
long long ll_value;
case DESCRIMINATOR_DOUBLE:
double d_value;
case DESCRIMINATOR_STRING:
sequence<char> str_value;
};

typedef sequence<double> DoubleSeq;

struct TimedDoubleSeq {
Time tm;
DoubleSeq data;
};

enum RETURN_VALUE {
RETURN_OK,
RETURN_FAILED,
};

interface DataGetter {
RETURN_VALUE getData(out TimedDoubleSeq data);
};
#ifndef _JAUS_GLOBALLOITERDRIVER_INCLUDED_
#define _JAUS_GLOBALLOITERDRIVER_INCLUDED_

module ext {
@annotation jaus_extends {
string value;
};
@annotation jaus_presence_vector_field {
};
@annotation jaus_recommended_query{
string value;
};
};
struct Empty {};

struct JausAddress
{
uint16 subsystem;
uint8 node;
uint8 component;
};

const JausAddress ANY_JAUS_ADDRESS = {0xff, 0xf, 0xf};

typedef uint16 JausMessageId;

const JausMessageId ANY_JAUS_MESSAGE = 0xff;

struct JausService {
//! Service URI
string<255> uRI;
//! Major version number of the service
@unit("one") uint8 majorVersionNumber;
//! Minor version number of the service
@unit("one") uint8 minorVersionNumber;
};

typedef map<JausAddress, sequence<JausService>> JausServiceMap;

struct HeaderRec
{
short id;
sequence<short, 255> spoolIDRec_;
};


@ext::jaus_extends("events")
module VelocityStateSensor {
struct QueryVelocityStateData {

//! See Report Velocity State Message
@ext::jaus_presence_vector_field @unit("one") uint16 presenceVector;
};

struct QueryVelocityStateExtData {
struct QueryVelocityStateExtRec {

//! Requested presence vector associated with the velocity variant
@ext::jaus_presence_vector_field @unit("one") uint8 velocityVarPresenceVector;

//! Requested presence vector associated with the ReportVelocityStateExtRec
@ext::jaus_presence_vector_field @unit("one") uint16 reportVelocityStateExtRecPresenceVector;
};

QueryVelocityStateExtRec queryVelocityStateExtRec_;
};

struct ReportVelocityStateData {
@ext::jaus_presence_vector(16)
struct ReportVelocityStateRec {
@optional @range(min=-327.68, max=327.67) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double gPSVelocityDown;

//! An RMS value indicating the validity of the velocity data.
@optional @range(min=0.0, max=100.0) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double velocity_RMS;
@optional @range(min=-32.768, max=32.767) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("radian per second") double yawRate;

//! An RMS value indicating the validity of the rotational velocity data.
@optional @range(min=0.0, max=3.141592653589793) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("radian per second") double rate_RMS;

/// {name="Milliseconds", from_index=0, to_index=9, lower_limit=0, upper_limit=999}
/// {name="Seconds", from_index=10, to_index=15, lower_limit=0, upper_limit=59}
/// {name="Minutes", from_index=16, to_index=21, lower_limit=0, upper_limit=59}
/// {name="Hour", from_index=22, to_index=26, lower_limit=0, upper_limit=23}
/// {name="Day", from_index=27, to_index=31, lower_limit=1, upper_limit=31}
//!
@optional uint32 timeStamp;
};

ReportVelocityStateRec reportVelocityStateRec_;
};

struct ReportVelocityStateExtData {
struct ReportVelocityStateExtSeq {
struct VelocityVehicleXYZRec {
@optional @range(min=-327.68, max=327.67) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double gPSVelocityDown;
};

struct VelocityLocalXYZRec {
@optional @range(min=-327.68, max=327.67) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double gPSVelocityDown;
};

struct VelocityNEDRec {
@optional @range(min=-327.68, max=327.67) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double gPSVelocityDown;
};

union VelocityVar switch(uint8) {
case 0: VelocityVehicleXYZRec VelocityVehicleXYZRec_;
case 1: VelocityLocalXYZRec VelocityLocalXYZRec_;
case 2: VelocityNEDRec VelocityNEDRec_;
};

@ext::jaus_presence_vector(16)
struct ReportVelocityStateExtRec {

//! An RMS value indicating the validity of the velocity data.
@optional @range(min=0.0, max=100.0) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double velocity_RMS;
@optional @range(min=-32.768, max=32.767) @bit_bound(32) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("radian per second") double yawRate;

//! An RMS value indicating the validity of the rotational velocity data.
@optional @range(min=0.0, max=100.0) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("radian per second") double rate_RMS;

//! Scalar speed measured relative to fixed coordinate system
@optional @range(min=-327.68, max=327.67) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double speedOverGround;

//! Scalar speed measured relative to medium, such as air or water currents
@optional @range(min=-327.68, max=327.67) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double speedRelativeToMedium;
@optional @range(min=-1000.0, max=1000.0) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("rotations per minute") double rotationsPerMinute;
@optional @range(min=-327.68, max=327.67) @bit_bound(16) @ext::jaus_integer @ext::jaus_integer_function("round") @unit("meter per second") double indicatedSpeed;

//! UTC POSIX-style time in seconds since 1 January 1970
@unit("second") uint32 gPSFixTimeSeconds;

//! Nanoseconds component of POSIX-style time
@unit("one") uint32 gPSFixTimeNanoSeconds;
};

VelocityVar velocityVar_;
ReportVelocityStateExtRec reportVelocityStateExtRec_;
};

ReportVelocityStateExtSeq reportVelocityStateExtSeq_;
};


@topic(name="QueryVelocityState", qosprofile="jaus_query", id=0x2404)
//!
//! This message shall cause the receiving component to reply to the requestor with a ID 4404h:
//! ReportVelocityState
//! (Deprecated) message. A logical AND shall be performed on the requested presence vector and
//! that representing
//! the available fields from the responder. The resulting message shall contain the fields
//! indicated by the result
//! of this logical AND operation.
//!
struct QueryVelocityState {
@key JausAddress source;
JausAddress destination;
@default(0x2404) int32 id;
QueryVelocityStateData value;
};



@topic(name="QueryVelocityStateExt", qosprofile="jaus_query", id=0x24A4)
//!
//! This message shall cause the receiving component to reply to the requestor with a ID 44A4h:
//! ReportVelocityStateExt
//! message. A logical AND shall be performed on the requested presence vector and that
//! representing the available
//! fields from the responder. The resulting message shall contain the fields indicated by the
//! result of this logical
//! AND operation.
//!
struct QueryVelocityStateExt {
@key JausAddress source;
JausAddress destination;
@default(0x24A4) int32 id;
QueryVelocityStateExtData value;
};



@topic(name="ReportVelocityState", qosprofile="jaus_report", id=0x4404)
//!
//! This message is used to provide the receiver the linear velocity and rotational rate of the
//! platform.
//!
struct ReportVelocityState {
@key JausAddress source;
JausAddress destination;
@default(0x4404) int32 id;
ReportVelocityStateData value;
};



@topic(name="ReportVelocityStateExt", qosprofile="jaus_report", id=0x44A4)
@ext::jaus_recommended_query("QueryGlobalLoiter")
//!
//! This message is used to provide the receiver the linear velocity and rotational rate of the
//! platform. All times are in Coordinated Universal Time (UTC).
//!
struct ReportVelocityStateExt {
@key JausAddress source;
JausAddress destination;
@default(0x44A4) int32 id;
ReportVelocityStateExtData value;
};


};
#endif
'''

global_module = _parser.load(idl_str)
my_module = global_module.module_by_name('my_module')
dataGetter = my_module.interface_by_name('DataGetter')
print 'DataGetter interface'
for m in dataGetter.methods:
print '- method:'
print ' name:', m.name
print ' returns:', m.returns.name
print ' arguments:'
for a in m.arguments:
print ' name:', a.name
print ' type:', a.type
print ' direction:', a.direction

doubleSeq = my_module.typedef_by_name('DoubleSeq')
print 'typedef %s %s' % (doubleSeq.type.name, doubleSeq.name)

unionType = my_module.union_by_name('UnionType')
print 'descriminator kind: %s' % unionType.descriminator_kind
for m in unionType.members:
print '- member:'
print ' name:', m.name
print ' type:', m.type.name
print 'descriminator value associations:'
for a in m.descriminator_value_associations:
print ' %s' % a

timedDoubleSeq = my_module.struct_by_name('TimedDoubleSeq')
print 'TimedDoubleSeq'
for m in timedDoubleSeq.members:
print '- member:'
print ' name:', m.name
print ' type:', m.type.name
my_module = global_module.module_by_name('AccelerationStateSensor')

print (json.dumps(global_module.to_dic(), indent=3))

if __name__ == '__main__':
test()
21 changes: 18 additions & 3 deletions idl_parser/const.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,26 @@

class IDLConst(node.IDLNode):

def __init__(self, name, typename, value, parent, filepath=None):
super(IDLConst, self).__init__('IDLConst', name, parent)
def __init__(self, values, parent, filepath=None):
super(IDLConst, self).__init__('IDLConst', values[values.index('=')-1], parent)
value_ = values[values.index('=')+1:]
for i in [',' , '{', '}']:
while True:
if i in value_:
value_.remove(i)
else: break
if len(value_) == 1:
value_ = value_[0].strip('"')
else:
value_ = [v.strip('"') for v in value_]
name_ = values[values.index('=')-1]
typename = ''
for t in values[:values.index(name_)]:
typename = typename + ' ' + t
typename = typename.strip()
self._typename = typename
self._verbose = True
self._value = value
self._value = value_
self._filepath= filepath

def to_simple_dic(self, quiet=False, full_path=False, recursive=False, member_only=False):
Expand Down
7 changes: 4 additions & 3 deletions idl_parser/enum.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
import os, sys, traceback

from . import node
from . import exception
sep = '::'

class IDLEnumValue(node.IDLNode):
Expand Down Expand Up @@ -71,20 +72,20 @@ def parse_tokens(self, token_buf, filepath=None):
ln, fn, kakko = token_buf.pop()
if not kakko == '{':
if self._verbose: sys.stdout.write('# Error. No kakko "{".\n')
raise InvalidIDLSyntaxError()
raise exception.InvalidIDLSyntaxError()

block_tokens = []
while True:
ln, fn, token = token_buf.pop()
if token == None:
if self._verbose: sys.stdout.write('# Error. No kokka "}".\n')
raise InvalidIDLSyntaxError()
raise exception.InvalidIDLSyntaxError()

elif token == '}':
ln, fn, token = token_buf.pop()
if not token == ';':
if self._verbose: sys.stdout.write('# Error. No semi-colon after "}".\n')
raise InvalidIDLSyntaxError()
raise exception.InvalidIDLSyntaxError()

if len(block_tokens) > 0:
self._parse_block(block_tokens)
Expand Down
6 changes: 3 additions & 3 deletions idl_parser/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
from . import node

from . import type as idl_type

from . import exception
sep = '::'

class IDLArgument(node.IDLNode):
Expand Down Expand Up @@ -185,13 +185,13 @@ def parse_tokens(self, token_buf, filepath=None):
ln, fn, token = token_buf.pop()
if token == None:
if self._verbose: sys.stdout.write('# Error. No kokka "}".\n')
raise InvalidIDLSyntaxError()
raise exception.InvalidIDLSyntaxError()

elif token == '}':
ln, fn, token = token_buf.pop()
if not token == ';':
if self._verbose: sys.stdout.write('# Error. No semi-colon after "}".\n')
raise InvalidIDLSyntaxError()
raise exception.InvalidIDLSyntaxError()
break

if token == ';':
Expand Down
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