substitution_python.cpp

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// Evaluates $(eval ...) substitutions
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#include "substitution_python.h"
#include "substitution.h"

#include "launch_config.h"

#include <boost/python/exec.hpp>
#include <boost/python/extract.hpp>
#include <boost/python/dict.hpp>
#include <boost/python/make_function.hpp>
#include <boost/python/import.hpp>

#include <boost/lexical_cast.hpp>

namespace py = boost::python;

namespace rosmon
{
namespace launch
{

#if HAVE_PYTHON

template<class F>
py::object make_handler(F f)
{
        return py::make_function(
                f,
                py::default_call_policies(),
                boost::mpl::vector<std::string, const std::string&>()
        );
}

template<class F>
py::object make_handler0(F f)
{
        return py::make_function(
                f,
                py::default_call_policies(),
                boost::mpl::vector<std::string>()
        );
}

template<class F>
py::object make_handler2(F f)
{
        return py::make_function(
                f,
                py::default_call_policies(),
                boost::mpl::vector<std::string, const std::string&, const std::string&>()
        );
}

static py::object toPython(const std::string& value)
{
        if(value == "true" || value == "True")
                return py::object(true);

        if(value == "false" || value == "False")
                return py::object(false);

        try { return py::object(boost::lexical_cast<int>(value)); }
        catch(boost::bad_lexical_cast&) {}

        try { return py::object(boost::lexical_cast<float>(value)); }
        catch(boost::bad_lexical_cast&) {}

        return py::object(value);
}

static py::object pythonArg(const std::string& name, ParseContext& context)
{
        return toPython(substitutions::arg(name, context));
}

static bool g_initialized = false;

std::string evaluatePython(const std::string& input, ParseContext& context)
{
        if(!g_initialized)
        {
                Py_Initialize();
                g_initialized = true;
        }

        py::object main_module = py::import("__main__");
        py::dict global = py::dict(main_module.attr("__dict__"));
        py::dict local;

        // Add arguments
        {
                for(auto& arg : context.arguments())
                {
                        local[arg.first] = toPython(arg.second);
                }
        }

        // Add substitution functions
        {
                local["anon"] = make_handler([&context](const std::string& name){
                        return substitutions::anon(name, context);
                });
                local["arg"] = py::make_function([&context](const std::string& name) -> py::object{
                        return pythonArg(name, context);
                }, py::default_call_policies(), boost::mpl::vector<py::object, const std::string&>());
                local["dirname"] = make_handler0([&context](){
                        return substitutions::dirname(context);
                });
                local["env"] = make_handler(substitutions::env);
                local["optenv"] = make_handler2(substitutions::optenv);

                local["find"] = make_handler(substitutions::find_stupid);
        }

        // Import math
        {
                py::object math = py::import("math");
                py::object mathDict = math.attr("__dict__");
                global.update(mathDict);
        }

        // Lowercase booleans (why, roslaunch?)
        {
                global["true"] = py::object(true);
                global["false"] = py::object(false);
        }

        py::object result;
        try
        {
                result = py::eval(input.c_str(), global, local);
        }
        catch(py::error_already_set&)
        {
                std::stringstream ss;
                ss << "Caught Python exception while evaluating $(eval " << input << "):\n";

                PyObject *e, *v, *t;
                PyErr_Fetch(&e, &v, &t);

                try
                {
                        py::object t = py::extract<py::object>(e);
                        py::object t_name = t.attr("__name__");
                        std::string typestr = py::extract<std::string>(t_name);

                        ss << typestr << ": ";
                }
                catch(py::error_already_set const &)
                {}

                try
                {
                        py::object vo = py::extract<py::object>(v);
                        std::string valuestr = py::extract<std::string>(vo.attr("__str__")());

                        ss << valuestr;
                }
                catch(py::error_already_set const &)
                {
                        ss << "<no str() handler>";
                }

                throw SubstitutionException(ss.str());
        }

#if PY_MAJOR_VERSION >= 3
        if(PyUnicode_Check(result.ptr()))
        {
                if(PyUnicode_READY(result.ptr()) != 0)
                        throw SubstitutionException("Could not read unicode object");

                return std::string(PyUnicode_AsUTF8(result.ptr()));
        }
#else
        if(PyString_Check(result.ptr()))
                return py::extract<std::string>(result);
#endif

        if(PyBool_Check(result.ptr()))
        {
                if(py::extract<bool>(result))
                        return "true";
                else
                        return "false";
        }

#if PY_MAJOR_VERSION >= 3
        if(PyLong_Check(result.ptr()))
                return std::to_string(py::extract<int64_t>(result));
#else
        if(PyInt_Check(result.ptr()) || PyLong_Check(result.ptr()))
        {
                return std::to_string(py::extract<int64_t>(result));
        }
#endif

        if(PyFloat_Check(result.ptr()))
        {
                // std::to_string has low precision here, so use boost::lexical_cast
                return boost::lexical_cast<std::string>(
                        py::extract<float>(result)()
                );
        }

        throw SubstitutionException::format("$(eval '{}'): Got unknown python return type", input);
}

double evaluateROSParamPython(const std::string& input)
{
        if(!g_initialized)
        {
                Py_Initialize();
                g_initialized = true;
        }

        py::object main_module = py::import("__main__");
        py::dict global = py::dict(main_module.attr("__dict__"));
        py::dict local;

        // Import math
        {
                py::object math = py::import("math");
                py::object mathDict = math.attr("__dict__");
                global.update(mathDict);
        }

        py::object result;
        try
        {
                result = py::eval(input.c_str(), global, local);
        }
        catch(py::error_already_set&)
        {
                std::stringstream ss;
                ss << "Caught Python exception while evaluating rosparam expression '" << input << "'):\n";

                PyObject *e, *v, *t;
                PyErr_Fetch(&e, &v, &t);

                try
                {
                        py::object t = py::extract<py::object>(e);
                        py::object t_name = t.attr("__name__");
                        std::string typestr = py::extract<std::string>(t_name);

                        ss << typestr << ": ";
                }
                catch(py::error_already_set const &)
                {}

                try
                {
                        py::object vo = py::extract<py::object>(v);
                        std::string valuestr = py::extract<std::string>(vo.attr("__str__")());

                        ss << valuestr;
                }
                catch(py::error_already_set const &)
                {
                        ss << "<no str() handler>";
                }

                throw SubstitutionException(ss.str());
        }

        try
        {
                return py::extract<double>(result);
        }
        catch(py::error_already_set)
        {
                throw SubstitutionException::format("got strange python type from rosparam python expression (should be numeric): '{}'", input);
        }
}

#else // HAVE_PYTHON

std::string evaluatePython(const std::string& input, ParseContext& context)
{
        throw SubstitutionException(
                "rosmon was built without python support, so I cannot parse $(eval ...) substitution args."
        );
}

double evaluateROSParamPython(const std::string& input)
{
        try
        {
                return boost::lexical_cast<double>(input);
        }
        catch(boost::bad_lexical_cast)
        {
                throw SubstitutionException::format(
                        "rosmon was built without python support, so I cannot parse complex rosparam expressions (expression: {})",
                        input
                );
        }
}

#endif

}
}