mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-01 13:38:38 -04:00
AP_Scripting: Generator: support depends
This commit is contained in:
Iampete1
Andrew Tridgell
parent
05fb14e5d9
commit
2a75432fa2
@ -56,6 +56,7 @@ struct header {
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struct header *next;
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char *name; // name of the header to include (not sanatized)
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int line; // line of the file declared on
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char *dependency;
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};
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struct generator_state {
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@ -255,6 +256,12 @@ void *allocate(const size_t size) {
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return data;
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}
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// lazy helper that allocates a storage buffer and does strcpy for us
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void string_copy(char **dest, const char * src) {
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*dest = (char *)allocate(strlen(src) + 1);
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strcpy(*dest, src);
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}
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void handle_header(void) {
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trace(TRACE_HEADER, "Parsing a header");
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@ -279,6 +286,22 @@ void handle_header(void) {
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node->line = state.line_num;
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node->name = (char *)allocate(strlen(name) + 1);
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strcpy(node->name, name);
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// add depedns
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char * key_word = next_token();
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char *depends = NULL;
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if (key_word != NULL) {
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if (strcmp(key_word, keyword_depends) == 0) {
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depends = strtok(NULL, "");
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if (depends == NULL) {
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error(ERROR_HEADER, "Expected a depends string for %s", name);
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}
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string_copy(&(node->dependency), depends);
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} else {
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error(ERROR_HEADER, "Received an unsupported keyword on a header: %s", key_word);
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}
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}
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headers = node;
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trace(TRACE_HEADER, "Added header %s", name);
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@ -340,27 +363,12 @@ struct userdata {
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enum userdata_type ud_type;
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uint32_t operations; // bitset of enum operation_types
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int flags; // flags from the userdata_flags enum
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char *dependency;
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};
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static struct userdata *parsed_userdata;
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static struct userdata *parsed_ap_objects;
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struct dependency {
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struct dependency * next;
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char *symbol; // dependency symbol to check
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char *value; // value to target
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char *error_msg; // message if the check fails
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};
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static struct dependency *parsed_dependencies;
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// lazy helper that allocates a storage buffer and does strcpy for us
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void string_copy(char **dest, const char * src) {
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*dest = (char *)allocate(strlen(src) + 1);
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strcpy(*dest, src);
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}
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void sanatize_name(char **dest, char *src) {
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*dest = (char *)allocate(strlen(src) + 1);
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strcpy(*dest, src);
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@ -829,8 +837,17 @@ void handle_singleton(void) {
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handle_method(node->name, &(node->methods));
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} else if (strcmp(type, keyword_enum) == 0) {
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handle_userdata_enum(node);
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} else if (strcmp(type, keyword_depends) == 0) {
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if (node->dependency != NULL) {
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error(ERROR_SINGLETON, "Singletons only support a single depends");
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}
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char *depends = strtok(NULL, "");
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if (depends == NULL) {
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error(ERROR_DEPENDS, "Expected a depends string for %s",node->name);
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}
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string_copy(&(node->dependency), depends);
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} else {
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error(ERROR_SINGLETON, "Singletons only support aliases, methods or semaphore keyowrds (got %s)", type);
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error(ERROR_SINGLETON, "Singletons only support aliases, methods, semaphore or depends keywords (got %s)", type);
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}
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// ensure no more tokens on the line
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@ -901,36 +918,6 @@ void handle_ap_object(void) {
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}
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}
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void handle_depends(void) {
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trace(TRACE_DEPENDS, "Adding a dependency");
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char *symbol = next_token();
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if (symbol == NULL) {
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error(ERROR_DEPENDS, "Expected a name symbol for the dependency");
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}
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// read value
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char *value = next_token();
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if (value == NULL) {
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error(ERROR_DEPENDS, "Expected a required value for dependency on %s", symbol);
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}
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char *error_msg = strtok(NULL, "");
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if (error_msg == NULL) {
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error(ERROR_DEPENDS, "Expected a error message for dependency on %s", symbol);
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}
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trace(TRACE_SINGLETON, "Allocating new dependency for %s", symbol);
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struct dependency * node = (struct dependency *)allocate(sizeof(struct dependency));
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node->symbol = (char *)allocate(strlen(symbol) + 1);
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strcpy(node->symbol, symbol);
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node->value = (char *)allocate(strlen(value) + 1);
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strcpy(node->value, value);
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node->error_msg = (char *)allocate(strlen(error_msg) + 1);
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strcpy(node->error_msg, error_msg);
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node->next = parsed_dependencies;
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parsed_dependencies = node;
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}
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void sanity_check_userdata(void) {
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struct userdata * node = parsed_userdata;
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while(node) {
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@ -941,20 +928,24 @@ void sanity_check_userdata(void) {
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}
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}
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void emit_headers(FILE *f) {
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struct header *node = headers;
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while (node) {
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fprintf(f, "#include <%s>\n", node->name);
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node = node->next;
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void start_dependency(FILE *f, const char *dependency) {
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if (dependency != NULL) {
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fprintf(f, "#if %s\n", dependency);
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}
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}
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void emit_dependencies(FILE *f) {
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struct dependency *node = parsed_dependencies;
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void end_dependency(FILE *f, const char *dependency) {
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if (dependency != NULL) {
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fprintf(f, "#endif // %s\n", dependency);
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}
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}
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void emit_headers(FILE *f) {
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struct header *node = headers;
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while (node) {
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fprintf(f, "#if !defined(%s) || (%s != %s)\n", node->symbol, node->symbol, node->value);
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fprintf(f, " #error %s\n", node->error_msg);
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fprintf(f, "#endif // !defined(%s) || (%s != %s)\n", node->symbol, node->symbol, node->value);
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start_dependency(f, node->dependency);
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fprintf(f, "#include <%s>\n", node->name);
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end_dependency(f, node->dependency);
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node = node->next;
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}
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}
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@ -962,6 +953,7 @@ void emit_dependencies(FILE *f) {
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void emit_userdata_allocators(void) {
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struct userdata * node = parsed_userdata;
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while (node) {
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start_dependency(source, node->dependency);
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fprintf(source, "int new_%s(lua_State *L) {\n", node->sanatized_name);
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fprintf(source, " luaL_checkstack(L, 2, \"Out of stack\");\n"); // ensure we have sufficent stack to push the return
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fprintf(source, " void *ud = lua_newuserdata(L, sizeof(%s));\n", node->name);
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@ -970,7 +962,9 @@ void emit_userdata_allocators(void) {
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fprintf(source, " luaL_getmetatable(L, \"%s\");\n", node->name);
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fprintf(source, " lua_setmetatable(L, -2);\n");
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fprintf(source, " return 1;\n");
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fprintf(source, "}\n\n");
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fprintf(source, "}\n");
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end_dependency(source, node->dependency);
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fprintf(source, "\n");
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node = node->next;
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}
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}
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@ -978,6 +972,7 @@ void emit_userdata_allocators(void) {
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void emit_ap_object_allocators(void) {
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struct userdata * node = parsed_ap_objects;
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while (node) {
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start_dependency(source, node->dependency);
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fprintf(source, "int new_%s(lua_State *L) {\n", node->sanatized_name);
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fprintf(source, " luaL_checkstack(L, 2, \"Out of stack\");\n"); // ensure we have sufficent stack to push the return
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fprintf(source, " void *ud = lua_newuserdata(L, sizeof(%s *));\n", node->name);
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@ -985,7 +980,9 @@ void emit_ap_object_allocators(void) {
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fprintf(source, " luaL_getmetatable(L, \"%s\");\n", node->name);
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fprintf(source, " lua_setmetatable(L, -2);\n");
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fprintf(source, " return 1;\n");
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fprintf(source, "}\n\n");
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fprintf(source, "}\n");
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end_dependency(source, node->dependency);
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fprintf(source, "\n");
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node = node->next;
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}
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}
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@ -993,10 +990,13 @@ void emit_ap_object_allocators(void) {
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void emit_userdata_checkers(void) {
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struct userdata * node = parsed_userdata;
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while (node) {
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start_dependency(source, node->dependency);
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fprintf(source, "%s * check_%s(lua_State *L, int arg) {\n", node->name, node->sanatized_name);
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fprintf(source, " void *data = luaL_checkudata(L, arg, \"%s\");\n", node->name);
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fprintf(source, " return (%s *)data;\n", node->name);
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fprintf(source, "}\n\n");
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fprintf(source, "}\n");
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end_dependency(source, node->dependency);
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fprintf(source, "\n");
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node = node->next;
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}
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}
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@ -1004,10 +1004,13 @@ void emit_userdata_checkers(void) {
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void emit_ap_object_checkers(void) {
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struct userdata * node = parsed_ap_objects;
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while (node) {
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start_dependency(source, node->dependency);
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fprintf(source, "%s ** check_%s(lua_State *L, int arg) {\n", node->name, node->sanatized_name);
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fprintf(source, " void *data = luaL_checkudata(L, arg, \"%s\");\n", node->name);
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fprintf(source, " return (%s **)data;\n", node->name);
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fprintf(source, "}\n\n");
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fprintf(source, "}\n");
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end_dependency(source, node->dependency);
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fprintf(source, "\n");
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node = node->next;
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}
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}
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@ -1015,8 +1018,10 @@ void emit_ap_object_checkers(void) {
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void emit_userdata_declarations(void) {
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struct userdata * node = parsed_userdata;
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while (node) {
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start_dependency(header, node->dependency);
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fprintf(header, "int new_%s(lua_State *L);\n", node->sanatized_name);
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fprintf(header, "%s * check_%s(lua_State *L, int arg);\n", node->name, node->sanatized_name);
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end_dependency(header, node->dependency);
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node = node->next;
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}
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}
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@ -1316,10 +1321,12 @@ void emit_userdata_fields() {
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struct userdata * node = parsed_userdata;
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while(node) {
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struct userdata_field *field = node->fields;
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start_dependency(source, node->dependency);
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while(field) {
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emit_userdata_field(node, field);
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field = field->next;
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}
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end_dependency(source, node->dependency);
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node = node->next;
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}
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}
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@ -1378,6 +1385,8 @@ int emit_references(const struct argument *arg, const char * tab) {
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void emit_userdata_method(const struct userdata *data, const struct method *method) {
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int arg_count = 1;
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start_dependency(source, data->dependency);
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const char *access_name = data->alias ? data->alias : data->name;
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// bind ud early if it's a singleton, so that we can use it in the range checks
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fprintf(source, "static int %s_%s(lua_State *L) {\n", data->sanatized_name, method->name);
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@ -1636,7 +1645,10 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
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fprintf(source, " return %d;\n", return_count);
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}
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fprintf(source, "}\n\n");
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fprintf(source, "}\n");
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end_dependency(source, data->dependency);
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fprintf(source, "\n");
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}
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const char * get_name_for_operation(enum operator_type op) {
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@ -1722,6 +1734,7 @@ void emit_userdata_methods(struct userdata *node) {
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void emit_userdata_metatables(void) {
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struct userdata * node = parsed_userdata;
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while(node) {
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start_dependency(source, node->dependency);
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fprintf(source, "const luaL_Reg %s_meta[] = {\n", node->sanatized_name);
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struct userdata_field *field = node->fields;
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@ -1745,8 +1758,9 @@ void emit_userdata_metatables(void) {
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}
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fprintf(source, " {NULL, NULL}\n");
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fprintf(source, "};\n\n");
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fprintf(source, "};\n");
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end_dependency(source, node->dependency);
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fprintf(source, "\n");
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node = node->next;
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}
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}
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@ -1754,6 +1768,7 @@ void emit_userdata_metatables(void) {
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void emit_singleton_metatables(struct userdata *head) {
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struct userdata * node = head;
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while(node) {
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start_dependency(source, node->dependency);
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fprintf(source, "const luaL_Reg %s_meta[] = {\n", node->sanatized_name);
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struct method *method = node->methods;
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@ -1763,7 +1778,9 @@ void emit_singleton_metatables(struct userdata *head) {
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}
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fprintf(source, " {NULL, NULL}\n");
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fprintf(source, "};\n\n");
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fprintf(source, "};\n");
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end_dependency(source, node->dependency);
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fprintf(source, "\n");
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node = node->next;
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}
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@ -1772,13 +1789,16 @@ void emit_singleton_metatables(struct userdata *head) {
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void emit_enums(struct userdata * data) {
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while (data) {
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if (data->enums != NULL) {
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start_dependency(source, data->dependency);
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fprintf(source, "struct userdata_enum %s_enums[] = {\n", data->sanatized_name);
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struct userdata_enum *ud_enum = data->enums;
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while (ud_enum != NULL) {
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fprintf(source, " {\"%s\", %s::%s},\n", ud_enum->name, data->name, ud_enum->name);
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ud_enum = ud_enum->next;
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}
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fprintf(source, " {NULL, 0}};\n\n");
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fprintf(source, " {NULL, 0}};\n");
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end_dependency(source, data->dependency);
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fprintf(source, "\n");
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}
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data = data->next;
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}
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@ -1787,11 +1807,13 @@ void emit_enums(struct userdata * data) {
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void emit_metas(struct userdata * data, char * meta_name) {
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fprintf(source, "const struct userdata_meta %s_fun[] = {\n", meta_name);
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while (data) {
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start_dependency(source, data->dependency);
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if (data->enums) {
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fprintf(source, " {\"%s\", %s_meta, %s_enums},\n", data->alias ? data->alias : data->name, data->name, data->sanatized_name);
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} else {
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fprintf(source, " {\"%s\", %s_meta, NULL},\n", data->alias ? data->alias : data->name, data->sanatized_name);
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}
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end_dependency(source, data->dependency);
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data = data->next;
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}
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fprintf(source, "};\n\n");
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@ -1886,7 +1908,9 @@ void emit_sandbox(void) {
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fprintf(source, " const lua_CFunction fun;\n");
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fprintf(source, "} new_userdata[] = {\n");
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while (data) {
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start_dependency(source, data->dependency);
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fprintf(source, " {\"%s\", new_%s},\n", data->name, data->sanatized_name);
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end_dependency(source, data->dependency);
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data = data->next;
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}
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data = parsed_ap_objects;
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@ -1983,8 +2007,6 @@ int main(int argc, char **argv) {
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handle_singleton();
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} else if (strcmp (state.token, keyword_ap_object) == 0){
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handle_ap_object();
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} else if (strcmp (state.token, keyword_depends) == 0){
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handle_depends();
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} else {
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error(ERROR_UNKNOWN_KEYWORD, "Expected a keyword, got: %s", state.token);
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}
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@ -2019,10 +2041,6 @@ int main(int argc, char **argv) {
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fprintf(source, "\n\n");
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emit_dependencies(source);
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fprintf(source, "\n\n");
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emit_argcheck_helper();
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emit_userdata_allocators();
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@ -2062,11 +2080,10 @@ int main(int argc, char **argv) {
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free(file_name);
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fprintf(header, "#pragma once\n");
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fprintf(header, "// auto generated bindings, don't manually edit. See README.md for details.\n");
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fprintf(header, "#include <AP_Vehicle/AP_Vehicle_Type.h> // needed for APM_BUILD_TYPE #if\n");
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emit_headers(header);
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fprintf(header, "#include <AP_Scripting/lua/src/lua.hpp>\n");
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fprintf(header, "#include <new>\n\n");
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emit_dependencies(header);
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fprintf(header, "\n\n");
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emit_userdata_declarations();
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emit_ap_object_declarations();
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