generate_initializers.py

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#!/usr/bin/env python
from __future__ import print_function
import sys
import os
import re


def to_camel_cased(name):
    r = re.compile(r"([_\/:][a-z]|[_\/:][0-9])")
    ret = ""
    first = True
    tokens = r.split(name, 1)
    while True:
        if len(tokens) > 1:
            if tokens[1][0] == "_":
                if first:
                    ret += (
                        tokens[0][0].upper()
                        + tokens[0][1:].lower()
                        + tokens[1][1].upper()
                    )
                else:
                    ret += tokens[0].lower() + tokens[1][1].upper()
            else:
                if first:
                    ret += (
                        tokens[0][0].upper()
                        + tokens[0][1:].lower()
                        + tokens[1][0]
                        + tokens[1][1].upper()
                    )
                else:
                    ret += tokens[0].lower() + tokens[1][0] + tokens[1][1].upper()
            tokens = r.split(tokens[2], 1)
        else:
            if first:
                if len(tokens) > 1:
                    ret += tokens[0][0].upper() + tokens[0][1:].lower() + tokens[1][0]
                else:
                    ret += tokens[0][0].upper() + tokens[0][1:].lower()
            else:
                ret += tokens[0].lower()
            return ret
        first = False


def to_underscores(name, num_pass=0):
    r = re.compile(r"([A-Za-z][0-9]|[0-9][A-z]|[a-z][A-Z]|[A-Z][A-Z][a-z]|[_\/:][A-z])")
    ret = ""
    tokens = r.split(name, 1)
    while True:
        if len(tokens) > 1:
            if (
                tokens[1][0] == "/"
                or tokens[1][0] == ":"
                or tokens[1][0] == "_"
                or tokens[1][1] == "_"
            ):
                ret += tokens[0].lower() + tokens[1][0].lower() + tokens[1][1:].lower()
            else:
                ret += (
                    tokens[0].lower()
                    + tokens[1][0].lower()
                    + "_"
                    + tokens[1][1:].lower()
                )
            tokens = r.split(tokens[2], 1)
        else:
            ret += tokens[0].lower()
            if num_pass < 1:
                return to_underscores(ret, num_pass + 1)
            else:
                return ret


def eprint(*args, **kwargs):
    print(*args, file=sys.stderr, **kwargs)


def eprint(msg):
    sys.stderr.write(msg + "\n")
    sys.exit(2)


def constructor_argument_list(data):
    ret = ""
    for d in data:
        if "Required" in d:
            ret += (
                " " + d["Type"] + " _" + (d["Name"]) + default_argument_value(d) + ","
            )
    return ret[0:-1]


def constructor_list(data):
    ret = ""
    for d in data:
        if "Required" in d:
            ret += ",\n        " + (d["Name"]) + "(_" + (d["Name"]) + ") "
    return ret


def default_value(data):
    if data["Value"] is None:
        return ""
    elif data["Value"] == "{}":
        return ""
    else:
        return data["Value"]


def default_argument_value(data):
    if data["Value"] == None:
        return ""
    else:
        return " = " + data["Value"]


def is_required(data):
    if data["Required"]:
        return "true"
    else:
        return "false"


def default_constructor_list(data):
    ret = ""
    for d in data:
        if "Required" in d and not d["Required"]:
            ret += ",\n        " + (d["Name"]) + "(" + default_value(d) + ") "
    return ret


def needs_default_constructor(data):
    for d in data:
        if d["Required"]:
            return True
    return False


def declaration(data):
    if "Required" in data:
        return "    " + data["Type"] + " " + (data["Name"]) + ";\n"
    else:
        return ""


def parser(type_in):
    parser = ""
    if type_in == "std::string":
        return "boost::any_cast<" + type_in + ">(prop.Get())"
    elif type_in == "exotica::Initializer" or type_in == "Initializer":
        return "prop.IsInitializerVectorType()?boost::any_cast<std::vector<exotica::Initializer>>(prop.Get()).at(0):boost::any_cast<exotica::Initializer>(prop.Get())"
    elif (
        type_in == "std::vector<Initializer>"
        or type_in == "std::vector<exotica::Initializer>"
    ):
        return "boost::any_cast<std::vector<exotica::Initializer>>(prop.Get())"
    elif type_in == "Eigen::VectorXd":
        parser = "ParseVector<double,Eigen::Dynamic>"
    elif type_in == "Eigen::Vector4d":
        parser = "ParseVector<double,4>"
    elif type_in == "Eigen::Vector3d":
        parser = "ParseVector<double,3>"
    elif type_in == "Eigen::Vector2d":
        parser = "ParseVector<double,2>"
    elif type_in == "Eigen::VectorXi":
        parser = "ParseVector<int,Eigen::Dynamic>"
    elif type_in == "bool":
        parser = "ParseBool"
    elif type_in == "double":
        parser = "ParseDouble"
    elif type_in == "int":
        parser = "ParseInt"
    elif type_in == "std::vector<std::string>":
        parser = "ParseList"
    elif type_in == "std::vector<int>":
        parser = "ParseIntList"
    elif type_in == "std::vector<bool>":
        parser = "ParseBoolList"
    else:
        eprint("Unknown data type '" + type_in + "'")
        sys.exit(2)

    return (
        "prop.IsStringType()?"
        + parser
        + "(boost::any_cast<std::string>(prop.Get())):boost::any_cast<"
        + type_in
        + ">(prop.Get())"
    )


def copy(data):
    if "Required" in data:
        return (
            '        ret.properties_.emplace("'
            + data["Name"]
            + '", Property("'
            + data["Name"]
            + '", '
            + is_required(data)
            + ", boost::any("
            + (data["Name"])
            + ")));\n"
        )
    else:
        return ""


def add(data):
    if "Required" in data:
        return (
            '        if (other.HasProperty("'
            + data["Name"]
            + '")) { const Property& prop = other.properties_.at("'
            + data["Name"]
            + '"); if(prop.IsSet()) {'
            + (data["Name"])
            + " = "
            + parser(data["Type"])
            + ";} }\n"
        )
    else:
        return ""


def check(data, name):
    if "Required" in data and data["Required"]:
        return (
            '        if(!other.HasProperty("'
            + data["Name"]
            + '") || !other.properties_.at("'
            + data["Name"]
            + '").IsSet()) ThrowPretty("Initializer '
            + name
            + " requires property "
            + data["Name"]
            + ' to be set!");\n'
        )
    else:
        return ""


def construct(namespace, class_name_orig, data, include):
    class_name = class_name_orig + "Initializer"
    ret = (
        """// This file was automatically generated. Do not edit this file!
#ifndef INITIALIZER_"""
        + namespace.upper()
        + "_"
        + to_underscores(class_name).upper()
        + """_H
#define INITIALIZER_"""
        + namespace.upper()
        + "_"
        + to_underscores(class_name).upper()
        + """_H

#include <exotica_core/property.h>

namespace exotica
{
inline std::vector<Initializer> Get"""
        + to_camel_cased(namespace)
        + """Initializers();
}

namespace exotica
{

class """
        + class_name
        + " : public InitializerBase"
        + """
{
public:
    static std::string GetContainerName() { return """
        + '"exotica/'
        + class_name_orig
        + '"'
        + """; }

    """
    )
    if needs_default_constructor(data):
        ret += (
            class_name
            + "() : InitializerBase()"
            + default_constructor_list(data)
            + """
    {
    }

    """
        )
    ret += (
        class_name
        + "("
        + constructor_argument_list(data)
        + ") : InitializerBase()"
        + constructor_list(data)
        + """
    {
    }

    """
        + class_name
        + """(const Initializer& other) : """
        + class_name
        + """()
    {
"""
    )
    for d in data:
        ret += add(d)
    ret += (
        """    }

    virtual ~"""
        + class_name
        + """()
    {
    }

    virtual Initializer GetTemplate() const
    {
        return (Initializer)"""
        + class_name
        + """();
    }

    virtual std::vector<Initializer> GetAllTemplates() const
    {
        return Get"""
        + to_camel_cased(namespace)
        + """Initializers();
    }

    virtual void Check(const Initializer& other) const
    {
"""
    )
    for d in data:
        ret += check(d, class_name)
    ret += """    }

    operator Initializer()
    {
        Initializer ret(GetContainerName());
"""
    for d in data:
        ret += copy(d)
    ret += """        return ret;
    }

"""
    for d in data:
        ret += declaration(d)
    ret += (
        "};"
        + """

}

#include <"""
        + namespace
        + "/"
        + namespace
        + """_initializers_numerator.h>

"""
    )
    for i in include:
        ret += "#include <" + i + ".h>\n"
    ret += """
#endif"""
    return ret


def parse_line(line, line_number, function_name):
    # ignore lines with comments, otherwise comments including ';' will not be recognised
    if line.startswith("//"):
        return None

    last = line.find(";")
    if last >= 0:
        line = line[0:last].strip()
    else:
        last = line.find("//")
        if last >= 0:
            line = line[0:last].strip()
        else:
            line = line.strip()

    if len(line) == 0:
        return None

    if line.startswith("include"):
        return {
            "Include": line[7:].strip().strip(">").strip("<").strip('"'),
            "Code": line.strip(),
        }
    if line.startswith("extend"):
        return {
            "Extends": line[6:].strip().strip(">").strip("<").strip('"'),
            "Code": line.strip(),
        }
    if line.startswith("class"):
        return {
            "ClassName": line[5:].strip().strip(">").strip("<").strip('"'),
            "Code": line.strip(),
        }

    if last == -1:
        eprint("Can't find ';' in '" + function_name + "', on line " + str(line_number))
        sys.exit(2)

    required = True
    if line.startswith("Required"):
        required = True
    elif line.startswith("Optional"):
        required = False
    else:
        eprint(
            "Can't parse 'Required/Optional' tag in '"
            + function_name
            + "', on line "
            + str(line_number)
        )
        sys.exit(2)

    value = None
    field_type = ""
    name = ""
    if not required:
        eq = line.find("=")
        has_default_arg = not (eq == -1)
        if has_default_arg:
            value = line[eq + 1 : last]
        else:
            # we need this to get the parameter name
            eq = last
        name_start = line[0:eq].strip().rfind(" ")
        name = line[name_start:eq].strip()
        field_type = line[9:name_start].strip()
        if not has_default_arg:
            eprint("Optional parameter '" + name + "' requires a default argument!")
    else:
        name_start = line[0:last].strip().rfind(" ")
        name = line[name_start:last].strip()
        field_type = line[9:name_start].strip()

    return {"Required": required, "Type": field_type, "Name": name, "Value": value}


def parse_file(file_name):
    with open(file_name) as f:
        lines = f.readlines()
    data = []
    include = []
    extends = []
    names = []
    i = 0
    optionalOnly = False
    for l in lines:
        i = i + 1
        d = parse_line(l, i, file_name)
        if d != None:
            if "Required" in d:
                if d["Required"] == False:
                    optionalOnly = True
                else:
                    if optionalOnly:
                        eprint(
                            "Required properties_ have to come before Optional ones, in '"
                            + file_name
                            + "', on line "
                            + str(i)
                        )
                        sys.exit(2)
                data.append(d)
            if "Include" in d:
                include.append(d["Include"])
            if "Extends" in d:
                extends.append(d["Extends"])
            if "ClassName" in d:
                names.append(d["ClassName"])
    if len(names) != 1:
        eprint("Could not parse initializer class name in '" + file_name + "'!")
        eprint(names)
        sys.exit(2)
    return {"Data": data, "Include": include, "Extends": extends, "ClassName": names[0]}


def contains_data(type_name, name, list_in):
    for d in list_in:
        if d["Type"] == type_name and d["Name"] == name:
            return d["Class"]
    return False


def contains_include(name, list_in):
    for d in list_in:
        if d == name:
            return True
    return False


def contains_extends(name, list_in):
    for d in list_in:
        if d == name:
            return True
    return False


def collect_extensions(input_files, search_dirs, content):
    file_content = parse_file(input_files)
    class_name = file_content["ClassName"]
    if "Extends" in file_content:
        for e in file_content["Extends"]:
            if not contains_extends(e, content["Extends"]):
                file_name = None
                ext = e.split("/")
                for d in search_dirs:
                    ff = d + "/share/" + ext[0] + "/init/" + ext[1] + ".in"
                    if os.path.isfile(ff):
                        file_name = ff
                        break
                if not file_name:
                    eprint("Cannot find extension '" + e + "'!")
                content["Extends"].append(e)
                content = collect_extensions(file_name, search_dirs, content)

    if "Data" in file_content:
        for d in file_content["Data"]:
            cls = contains_data(d["Type"], d["Name"], content["Data"])
            if cls:
                for e in content["Data"]:
                    if e["Name"] == d["Name"]:
                        e["Value"] = d["Value"]
            else:
                d["Class"] = class_name
                content["Data"].append(d)
    if "Include" in file_content:
        for i in file_content["Include"]:
            if not contains_include(i, content["Include"]):
                content["Include"].append(i)

    content["ClassName"] = class_name
    return content


def sort_data(data):
    a = []
    b = []
    for d in data:
        if d["Required"]:
            a.append(d)
        else:
            b.append(d)
    return a + b


def generate(input_files, output_files, namespace, search_dirs, devel_dir):
    print("Generating " + output_files)
    content = collect_extensions(
        input_files, search_dirs, {"Data": [], "Include": [], "Extends": []}
    )
    txt = construct(
        namespace, content["ClassName"], sort_data(content["Data"]), content["Include"]
    )
    path = os.path.dirname(output_files)
    if not os.path.exists(path):
        os.makedirs(path)
    with open(output_files, "w") as f:
        f.write(txt)
    return content["ClassName"]


def create_class_init_header(class_inits, file_name):
    ret = (
        """// This file was automatically generated. Do not edit this file!
#ifndef INITIALIZE_PROJECT_HEADER_"""
        + namespace.upper()
        + """_H_$
#define INITIALIZE_PROJECT_HEADER_"""
        + namespace.upper()
        + """_H_$

#include <exotica_core/property.h>
"""
    )
    for init in class_inits:
        ret += "#include <" + namespace + "/" + init[0] + "_initializer.h>\n"
    ret += (
        """

namespace exotica
{

inline std::vector<Initializer> Get"""
        + to_camel_cased(namespace)
        + """Initializers()
{
    std::vector<Initializer> ret;
"""
    )
    for init in class_inits:
        ret += "    ret.push_back(" + init[1] + "Initializer().GetTemplate());\n"
    ret += """   return ret;
}

}

#endif
"""
    path = os.path.dirname(file_name)
    if not os.path.exists(path):
        os.makedirs(path)
    with open(file_name, "w") as f:
        f.write(ret)


if __name__ == "__main__":
    if len(sys.argv) > 5:
        offset = 5
        n = int((len(sys.argv) - offset) / 2)
        namespace = sys.argv[1]
        search_dirs = sys.argv[2].split(":")
        devel_dir = sys.argv[3]
        class_inits_header_file = sys.argv[4]
        if not os.path.exists(devel_dir + "/init"):
            os.makedirs(devel_dir + "/init")

        for i in range(0, n):
            input_files = sys.argv[offset + i]
            class_name = os.path.basename(sys.argv[offset + i][0:-3])
            with open(input_files, "r") as fi:
                with open(devel_dir + "/init/" + class_name + ".in", "w") as f:
                    f.write(fi.read())

        class_inits = []
        for i in range(0, n):
            input_files = sys.argv[offset + i]
            output_files = sys.argv[offset + n + i]
            class_file_name = os.path.basename(sys.argv[offset + i][0:-3])
            class_inits.append(
                (
                    class_file_name,
                    generate(
                        input_files, output_files, namespace, search_dirs, devel_dir
                    ),
                )
            )

        create_class_init_header(class_inits, class_inits_header_file)
    else:
        eprint("Initializer generation failure: invalid arguments!")
        sys.exit(1)