forked from Archive/PX4-Autopilot
483 lines
18 KiB
Python
483 lines
18 KiB
Python
import sys
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import re
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import math
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import textwrap
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class ModuleDocumentation(object):
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"""
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documentation for a single module
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"""
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valid_categories = ['driver', 'estimator', 'controller', 'system',
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'communication', 'command']
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max_line_length = 80 # wrap lines that are longer than this
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def __init__(self, function_calls, scope):
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"""
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:param function_calls: list of tuples (function_name, [str(arg)])
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"""
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self._name = ''
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self._category = ''
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self._doc_string = ''
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self._usage_string = ''
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self._first_command = True
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self._scope = scope
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self._options = '' # all option chars
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self._all_values = [] # list of all values
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self._all_commands = []
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for func_name, args in function_calls:
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attribute_name = '_handle_'+func_name.lower()
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try:
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f = getattr(self, attribute_name)
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f(args)
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except AttributeError:
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raise Exception('unhandled function: PRINT_MODULE_'+func_name)
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self._usage_string = self._wrap_long_lines(self._usage_string, 17)
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def _handle_description(self, args):
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assert(len(args) == 1) # description
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self._doc_string = self._get_string(args[0])
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def _handle_usage_name(self, args):
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assert(len(args) == 2) # executable_name, category
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self._name = self._get_string(args[0])
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self._category = self._get_string(args[1])
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self._usage_string = "%s <command> [arguments...]\n" % self._name
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self._usage_string += " Commands:\n"
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def _handle_usage_name_simple(self, args):
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assert(len(args) == 2) # executable_name, category
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self._name = self._get_string(args[0])
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self._category = self._get_string(args[1])
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self._usage_string = "%s [arguments...]\n" % self._name
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def _handle_usage_command_descr(self, args):
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assert(len(args) == 2) # name, description
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name = self._get_string(args[0])
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self._all_commands.append(name)
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if self._first_command:
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self._first_command = False
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else:
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self._usage_string += "\n"
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if self._is_string(args[1]):
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description = self._get_string(args[1])
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self._usage_string += " %-13s %s\n" % (name, description)
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else:
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self._usage_string += " %s\n" % name
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def _handle_usage_command(self, args):
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assert(len(args) == 1) # name
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args.append('nullptr')
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self._handle_usage_command_descr(args)
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def _handle_usage_default_commands(self, args):
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assert(len(args) == 0)
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self._handle_usage_command(['"stop"'])
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self._handle_usage_command_descr(['"status"', '"print status info"'])
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def _handle_usage_param_int(self, args):
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assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
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option_char = self._get_option_char(args[0])
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default_val = int(args[1])
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description = self._get_string(args[4])
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if self._is_bool_true(args[5]):
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self._usage_string += " [-%s <val>] %s\n" % (option_char, description)
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self._usage_string += " default: %i\n" % default_val
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else:
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self._usage_string += " -%s <val> %s\n" % (option_char, description)
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def _handle_usage_param_float(self, args):
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assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
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option_char = self._get_option_char(args[0])
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default_val = self._get_float(args[1])
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description = self._get_string(args[4])
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if self._is_bool_true(args[5]):
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self._usage_string += " [-%s <val>] %s\n" % (option_char, description)
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self._usage_string += " default: %.1f\n" % default_val
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else:
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self._usage_string += " -%s <val> %s\n" % (option_char, description)
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def _handle_usage_param_flag(self, args):
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assert(len(args) == 3) # option_char, description, is_optional
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option_char = self._get_option_char(args[0])
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description = self._get_string(args[1])
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if self._is_bool_true(args[2]):
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self._usage_string += " [-%c] %s\n" % (option_char, description)
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else:
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self._usage_string += " -%c %s\n" % (option_char, description)
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def _handle_usage_param_string(self, args):
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assert(len(args) == 5) # option_char, default_val, values, description, is_optional
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option_char = self._get_option_char(args[0])
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description = self._get_string(args[3])
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if self._is_bool_true(args[4]):
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self._usage_string += " [-%c <val>] %s\n" % (option_char, description)
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else:
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self._usage_string += " -%c <val> %s\n" % (option_char, description)
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if self._is_string(args[2]):
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values = self._get_string(args[2])
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self._all_values.append(values)
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if self._is_string(args[1]):
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default_val = self._get_string(args[1])
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self._usage_string += " values: %s, default: %s\n" %(values, default_val)
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else:
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self._usage_string += " values: %s\n" % values
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else:
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if self._is_string(args[1]):
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default_val = self._get_string(args[1])
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self._usage_string += " default: %s\n" % default_val
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def _handle_usage_param_comment(self, args):
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assert(len(args) == 1) # comment
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comment = self._get_string(args[0])
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self._usage_string += self._wrap_long_lines("\n %s\n" % comment, 1)
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def _handle_usage_arg(self, args):
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assert(len(args) == 3) # values, description, is_optional
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values = self._get_string(args[0])
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self._all_values.append(values)
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description = self._get_string(args[1])
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if self._is_bool_true(args[2]):
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values += ']'
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self._usage_string += " [%-10s %s\n" % (values, description)
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else:
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self._usage_string += " %-11s %s\n" % (values, description)
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def _get_string(self, string):
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return string[1:-1] # remove the " at start & end
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def _get_float(self, string):
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f = string
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if f[-1] == 'f':
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f = f[:-1]
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return float(f)
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def _is_string(self, argument):
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return len(argument) > 0 and argument[0] == '"'
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def _is_bool_true(self, argument):
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return len(argument) > 0 and argument == 'true'
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def _get_option_char(self, argument):
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assert(len(argument) == 3) # must have the form: 'p' (assume there's no escaping)
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option_char = argument[1]
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self._options += option_char
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return option_char
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def _wrap_long_lines(self, string, indentation_spaces):
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"""
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wrap long lines in a string
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:param indentation_spaces: number of added spaces on continued lines
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"""
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ret = ''
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for s in string.splitlines():
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ret += textwrap.fill(s, self.max_line_length,
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subsequent_indent=' '*indentation_spaces)+'\n'
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return ret
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def name(self):
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return self._name
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def category(self):
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return self._category
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def scope(self):
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return self._scope
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def documentation(self):
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doc_string = self._doc_string
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# convert '$ cmd' commands into code blocks (e.g. '$ logger start')
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# use lookahead (?=...) so the multiple consecutive command lines work
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doc_string = re.sub(r"\n\$ (.*)(?=\n)", r"\n```\n\1\n```", doc_string)
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# now merge consecutive blocks
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doc_string = re.sub(r"\n```\n```\n", r"\n", doc_string)
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return doc_string
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def usage_string(self):
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usage_string = self._usage_string
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while len(usage_string) > 1 and usage_string[-1] == '\n':
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usage_string = usage_string[:-1]
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return usage_string
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def options(self):
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"""
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get all the -p options as string of chars
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"""
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return self._options
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def all_values(self):
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"""
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get a list of all command values
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"""
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return self._all_values
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def all_commands(self):
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"""
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get a list of all commands
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"""
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return self._all_commands
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class SourceParser(object):
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"""
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Parses provided data and stores all found parameters internally.
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"""
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# Regex to extract module doc function calls, starting with PRINT_MODULE_
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re_doc_definition = re.compile(r'PRINT_MODULE_([A-Z_]*)\s*\(')
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def __init__(self):
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self._modules = {} # all found modules: key is the module name
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self._consistency_checks_failure = False # one or more checks failed
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def Parse(self, scope, contents):
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"""
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Incrementally parse program contents and append all found documentations
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to the list.
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"""
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extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))
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start_index = 0
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while start_index < len(contents):
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# skip whitespace
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while start_index < len(contents) and contents[start_index] in [ ' ', '\t']:
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start_index += 1
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end_index = contents.find('\n', start_index)
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if end_index == -1: end_index = len(contents)
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line = contents[start_index:end_index]
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# Ignore empty lines and macro #if's
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if line == "" or line.startswith('#if'):
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start_index = end_index + 1
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continue
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m = self.re_doc_definition.match(contents, start_index, end_index)
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if m:
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func_name = m.group(1)
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end_index_match = m.span()[1]
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next_start_index, arguments = self._parse_arguments(contents, end_index_match)
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extracted_function_calls.append((func_name, arguments))
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start_index = end_index + 1
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if next_start_index > start_index:
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start_index = next_start_index
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continue
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start_index = end_index + 1
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if len(extracted_function_calls) > 0:
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# add the module to the dict
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module_doc = ModuleDocumentation(extracted_function_calls, scope)
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if module_doc.name() == '':
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raise Exception('PRINT_MODULE_USAGE_NAME not given for ' + scope)
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if not module_doc.category() in ModuleDocumentation.valid_categories:
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raise Exception('Invalid/unknown category ' +
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module_doc.category() + ' for ' + scope)
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self._do_consistency_check(contents, scope, module_doc)
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self._modules[module_doc.name()] = module_doc
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return True
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def _do_consistency_check(self, contents, scope, module_doc):
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"""
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check the documentation for consistency with the code (arguments to
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getopt() and others). This is only approximative, but should catch cases
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where an option was added and not documented.
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"""
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# search all option chars in getopt() calls, combine them & compare
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# against the documented set
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getopt_args = re.findall(r"\b(px4_|)getopt\b.*\"([a-zA-Z:]+)\"", contents)
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# there could be several getopt calls and it is not simple to find which
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# command it belongs to, so combine all into a single string
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getopt_args = reduce(lambda a, b: a + b[1], getopt_args, '').replace(':', '')
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# some modules don't use getopt or parse the options in another file,
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# so only check if both lists are not empty
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if len(getopt_args) > 0 and len(module_doc.options()) > 0:
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# sort & remove duplicates
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sorted_getopt_args = ''.join(set(sorted(getopt_args)))
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sorted_module_options = ''.join(set(sorted(module_doc.options())))
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if sorted_getopt_args != sorted_module_options:
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failed = True
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# do one more test: check if strcmp(..."-x"... is used instead
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if len(sorted_getopt_args) < len(sorted_module_options):
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failed = False
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# iterate options that are only in module doc
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for c in set(sorted_module_options) - set(sorted_getopt_args):
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if len(re.findall(r"\bstrcmp\b.*\"-"+c+r"\"", contents)) == 0:
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failed = True
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if failed:
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print("Warning: documentation inconsistency in %s:" % scope)
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print(" Documented options : %s" % sorted_module_options)
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print(" Options found in getopt(): %s" % sorted_getopt_args)
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self._consistency_checks_failure = True
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# now check the commands: search for strcmp(argv[i], "command".
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# this will also find the value arguments, so append them too to the
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# module doc strings
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commands = re.findall(r"\bstrcmp\b.*argv\[.*\"(.+)\"", contents) + \
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re.findall(r"\bstrcmp\b.*\"(.+)\".*argv\[", contents) + \
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re.findall(r"\bstrcmp\b.*\bverb\b.*\"(.+)\"", contents)
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doc_commands = module_doc.all_commands() + \
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[x for value in module_doc.all_values() for x in value.split('|')]
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for command in commands:
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if len(command) == 2 and command[0] == '-':
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continue # skip options
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if command in ['start', 'stop', 'status']:
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continue # handled in the base class
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if not command in doc_commands:
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print("Warning: undocumented command '%s' in %s" %(command, scope))
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self._consistency_checks_failure = True
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# limit the maximum line length in the module doc string
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max_line_length = 120
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module_doc = module_doc.documentation()
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verbatim_mode = False
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line_nr = 0
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for line in module_doc.split('\n'):
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line_nr += 1
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if line.strip().startswith('```'):
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# ignore preformatted blocks
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verbatim_mode = not verbatim_mode
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elif not verbatim_mode:
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if not 'www.' in line and not 'http' in line:
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if len(line) > max_line_length:
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print('Line too long (%i > %i) in %s:' % (len(line), max_line_length, scope))
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print(' '+line)
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self._consistency_checks_failure = True
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def _parse_arguments(self, contents, start_index):
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"""
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parse function arguments into a list and return a tuple with (index, [str(args)])
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where the index points to the start of the next line.
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example: contents[start_index:] may look like:
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'p', nullptr, "<topic_name>");
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[...]
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"""
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args = []
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next_position = start_index
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current_string = ''
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while next_position < len(contents):
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# skip whitespace
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while next_position < len(contents) and contents[next_position] in [' ', '\t', '\n']:
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next_position += 1
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if next_position >= len(contents):
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continue
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if contents[next_position] == '\"':
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next_position += 1
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string = ''
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string_start = next_position
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while next_position < len(contents):
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if contents[next_position] == '\\': # escaping
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if contents[next_position + 1] != '\n': # skip if continued on next line
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string += contents[next_position:next_position+2].decode('string_escape')
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next_position += 2
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elif contents[next_position] == '"':
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next_position += 1
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break
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else:
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string += contents[next_position]
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next_position += 1
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# store the string, as it could continue in the form "a" "b"
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current_string += string
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elif contents.startswith('//', next_position): # comment
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next_position = contents.find('\n', next_position)
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elif contents.startswith('/*', next_position): # comment
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next_position = contents.find('*/', next_position) + 2
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else:
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if current_string != '':
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args.append('"'+current_string+'"')
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current_string = ''
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if contents.startswith('R\"', next_position): # C++11 raw string literal
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bracket = contents.find('(', next_position)
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identifier = contents[next_position+2:bracket]
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raw_string_end = contents.find(')'+identifier+'"', next_position)
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args.append('"'+contents[next_position+3+len(identifier):raw_string_end]+'"')
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next_position = raw_string_end+len(identifier)+2
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elif contents[next_position] == ')':
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break # finished
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elif contents[next_position] == ',':
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next_position += 1 # skip
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elif contents[next_position] == '(':
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raise Exception('parser error: unsupported "(" in function arguments')
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else:
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# keyword (true, nullptr, ...), number or char (or variable).
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# valid separators are: \n, ,, ), //, /*
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next_arg_pos = contents.find(',', next_position)
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m = re.search(r"\n|,|\)|//|/\*", contents[next_position:])
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if m:
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next_arg_pos = m.start() + next_position
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args.append(contents[next_position:next_arg_pos].strip())
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else:
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raise Exception('parser error')
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next_position = next_arg_pos
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#print(args)
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# find the next line
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next_position = contents.find('\n', next_position)
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if next_position >= 0: next_position += 1
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return next_position, args
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def HasValidationFailure(self):
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return self._consistency_checks_failure
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def GetModuleGroups(self):
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"""
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Returns a dictionary of all categories with a list of associated modules.
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"""
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groups = {}
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for module_name in self._modules:
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module = self._modules[module_name]
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if module.category() in groups:
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groups[module.category()].append(module)
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else:
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groups[module.category()]= [module]
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# sort by module name
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for category in groups:
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group = groups[category]
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groups[category] = sorted(group, key=lambda x: x.name())
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return groups
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