backend_open62541.py 11 KB

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  1. #!/usr/bin/env/python
  2. # -*- coding: utf-8 -*-
  3. ###
  4. ### Authors:
  5. ### - Chris Iatrou (ichrispa@core-vector.net)
  6. ### - Julius Pfrommer
  7. ### - Stefan Profanter (profanter@fortiss.org)
  8. ###
  9. ### This program was created for educational purposes and has been
  10. ### contributed to the open62541 project by the author. All licensing
  11. ### terms for this source is inherited by the terms and conditions
  12. ### specified for by the open62541 project (see the projects readme
  13. ### file for more information on the LGPL terms and restrictions).
  14. ###
  15. ### This program is not meant to be used in a production environment. The
  16. ### author is not liable for any complications arising due to the use of
  17. ### this program.
  18. ###
  19. from __future__ import print_function
  20. import string
  21. from os.path import basename
  22. import logging
  23. import codecs
  24. import os
  25. try:
  26. from StringIO import StringIO
  27. except ImportError:
  28. from io import StringIO
  29. logger = logging.getLogger(__name__)
  30. from nodes import *
  31. from nodeset import *
  32. from backend_open62541_nodes import generateNodeCode_begin, generateNodeCode_finish, generateReferenceCode
  33. # Kahn's algorithm: https://algocoding.wordpress.com/2015/04/05/topological-sorting-python/
  34. def sortNodes(nodeset):
  35. # Ensure that every reference has an inverse reference in the target
  36. for u in nodeset.nodes.values():
  37. for ref in u.references:
  38. back = Reference(ref.target, ref.referenceType, ref.source, not ref.isForward)
  39. nodeset.nodes[ref.target].references.add(back) # ref set does not make a duplicate entry
  40. # reverse hastypedefinition references to treat only forward references
  41. hasTypeDef = NodeId("ns=0;i=40")
  42. for u in nodeset.nodes.values():
  43. for ref in u.references:
  44. if ref.referenceType == hasTypeDef:
  45. ref.isForward = not ref.isForward
  46. # Only hierarchical types...
  47. relevant_refs = nodeset.getRelevantOrderingReferences()
  48. # determine in-degree of unfulfilled references
  49. L = [node for node in nodeset.nodes.values() if node.hidden] # ordered list of nodes
  50. R = {node.id: node for node in nodeset.nodes.values() if not node.hidden} # remaining nodes
  51. in_degree = {id: 0 for id in R.keys()}
  52. for u in R.values(): # for each node
  53. for ref in u.references:
  54. if not ref.referenceType in relevant_refs:
  55. continue
  56. if nodeset.nodes[ref.target].hidden:
  57. continue
  58. if ref.isForward:
  59. continue
  60. in_degree[u.id] += 1
  61. # Print ReferenceType and DataType nodes first. They may be required even
  62. # though there is no reference to them. For example if the referencetype is
  63. # used in a reference, it must exist. A Variable node may point to a
  64. # DataTypeNode in the datatype attribute and not via an explicit reference.
  65. Q = {node for node in R.values() if in_degree[node.id] == 0 and
  66. (isinstance(node, ReferenceTypeNode) or isinstance(node, DataTypeNode))}
  67. while Q:
  68. u = Q.pop() # choose node of zero in-degree and 'remove' it from graph
  69. L.append(u)
  70. del R[u.id]
  71. for ref in u.references:
  72. if not ref.referenceType in relevant_refs:
  73. continue
  74. if nodeset.nodes[ref.target].hidden:
  75. continue
  76. if not ref.isForward:
  77. continue
  78. in_degree[ref.target] -= 1
  79. if in_degree[ref.target] == 0:
  80. Q.add(R[ref.target])
  81. # Order the remaining nodes
  82. Q = {node for node in R.values() if in_degree[node.id] == 0}
  83. while Q:
  84. u = Q.pop() # choose node of zero in-degree and 'remove' it from graph
  85. L.append(u)
  86. del R[u.id]
  87. for ref in u.references:
  88. if not ref.referenceType in relevant_refs:
  89. continue
  90. if nodeset.nodes[ref.target].hidden:
  91. continue
  92. if not ref.isForward:
  93. continue
  94. in_degree[ref.target] -= 1
  95. if in_degree[ref.target] == 0:
  96. Q.add(R[ref.target])
  97. # reverse hastype references
  98. for u in nodeset.nodes.values():
  99. for ref in u.references:
  100. if ref.referenceType == hasTypeDef:
  101. ref.isForward = not ref.isForward
  102. if len(L) != len(nodeset.nodes.values()):
  103. print(len(L))
  104. stillOpen = ""
  105. for id in in_degree:
  106. if in_degree[id] == 0:
  107. continue
  108. node = nodeset.nodes[id]
  109. stillOpen += node.browseName.name + "/" + str(node.id) + " = " + str(in_degree[id]) + \
  110. " " + str(node.references) + "\r\n"
  111. raise Exception("Node graph is circular on the specified references. Still open nodes:\r\n" + stillOpen)
  112. return L
  113. ###################
  114. # Generate C Code #
  115. ###################
  116. def generateOpen62541Code(nodeset, outfilename, generate_ns0=False, internal_headers=False, typesArray=[], encode_binary_size=32000):
  117. outfilebase = basename(outfilename)
  118. # Printing functions
  119. outfileh = codecs.open(outfilename + ".h", r"w+", encoding='utf-8')
  120. outfilec = StringIO()
  121. def writeh(line):
  122. print(unicode(line), end='\n', file=outfileh)
  123. def writec(line):
  124. print(unicode(line), end='\n', file=outfilec)
  125. additionalHeaders = ""
  126. if len(typesArray) > 0:
  127. for arr in set(typesArray):
  128. if arr == "UA_TYPES":
  129. continue
  130. additionalHeaders += """#include "%s_generated.h"\n""" % arr.lower()
  131. # Print the preamble of the generated code
  132. writeh("""/* WARNING: This is a generated file.
  133. * Any manual changes will be overwritten. */
  134. #ifndef %s_H_
  135. #define %s_H_
  136. """ % (outfilebase.upper(), outfilebase.upper()))
  137. if internal_headers:
  138. writeh("""
  139. #ifdef UA_NO_AMALGAMATION
  140. # include "ua_server.h"
  141. # include "ua_types_encoding_binary.h"
  142. #else
  143. # include "open62541.h"
  144. /* The following declarations are in the open62541.c file so here's needed when compiling nodesets externally */
  145. # ifndef UA_Nodestore_remove //this definition is needed to hide this code in the amalgamated .c file
  146. typedef UA_StatusCode (*UA_exchangeEncodeBuffer)(void *handle, UA_Byte **bufPos,
  147. const UA_Byte **bufEnd);
  148. UA_StatusCode
  149. UA_encodeBinary(const void *src, const UA_DataType *type,
  150. UA_Byte **bufPos, const UA_Byte **bufEnd,
  151. UA_exchangeEncodeBuffer exchangeCallback,
  152. void *exchangeHandle) UA_FUNC_ATTR_WARN_UNUSED_RESULT;
  153. UA_StatusCode
  154. UA_decodeBinary(const UA_ByteString *src, size_t *offset, void *dst,
  155. const UA_DataType *type, size_t customTypesSize,
  156. const UA_DataType *customTypes) UA_FUNC_ATTR_WARN_UNUSED_RESULT;
  157. size_t
  158. UA_calcSizeBinary(void *p, const UA_DataType *type);
  159. const UA_DataType *
  160. UA_findDataTypeByBinary(const UA_NodeId *typeId);
  161. # endif // UA_Nodestore_remove
  162. #endif
  163. %s
  164. """ % (additionalHeaders))
  165. else:
  166. writeh("""
  167. #include "open62541.h"
  168. """)
  169. writeh("""
  170. _UA_BEGIN_DECLS
  171. extern UA_StatusCode %s(UA_Server *server);
  172. _UA_END_DECLS
  173. #endif /* %s_H_ */""" % \
  174. (outfilebase, outfilebase.upper()))
  175. writec("""/* WARNING: This is a generated file.
  176. * Any manual changes will be overwritten. */
  177. #include "%s.h"
  178. """ % (outfilebase))
  179. # Loop over the sorted nodes
  180. logger.info("Reordering nodes for minimal dependencies during printing")
  181. sorted_nodes = sortNodes(nodeset)
  182. logger.info("Writing code for nodes and references")
  183. functionNumber = 0
  184. parentreftypes = getSubTypesOf(nodeset, nodeset.getNodeByBrowseName("HierarchicalReferences"))
  185. parentreftypes = list(map(lambda x: x.id, parentreftypes))
  186. printed_ids = set()
  187. for node in sorted_nodes:
  188. printed_ids.add(node.id)
  189. parentref = node.popParentRef(parentreftypes)
  190. if not node.hidden:
  191. writec("\n/* " + str(node.displayName) + " - " + str(node.id) + " */")
  192. code_global = []
  193. code = generateNodeCode_begin(node, nodeset, generate_ns0, parentref, encode_binary_size, code_global)
  194. if code is None:
  195. writec("/* Ignored. No parent */")
  196. nodeset.hide_node(node.id)
  197. continue
  198. else:
  199. if len(code_global) > 0:
  200. writec("\n".join(code_global))
  201. writec("\n")
  202. writec("\nstatic UA_StatusCode function_" + outfilebase + "_" + str(functionNumber) + "_begin(UA_Server *server, UA_UInt16* ns) {")
  203. if isinstance(node, MethodNode):
  204. writec("#ifdef UA_ENABLE_METHODCALLS")
  205. writec(code)
  206. # Print inverse references leading to this node
  207. for ref in node.references:
  208. if ref.target not in printed_ids:
  209. continue
  210. if node.hidden and nodeset.nodes[ref.target].hidden:
  211. continue
  212. writec(generateReferenceCode(ref))
  213. if node.hidden:
  214. continue
  215. writec("return retVal;")
  216. if isinstance(node, MethodNode):
  217. writec("#else")
  218. writec("return UA_STATUSCODE_GOOD;")
  219. writec("#endif /* UA_ENABLE_METHODCALLS */")
  220. writec("}");
  221. writec("\nstatic UA_StatusCode function_" + outfilebase + "_" + str(functionNumber) + "_finish(UA_Server *server, UA_UInt16* ns) {")
  222. if isinstance(node, MethodNode):
  223. writec("#ifdef UA_ENABLE_METHODCALLS")
  224. writec("return " + generateNodeCode_finish(node))
  225. if isinstance(node, MethodNode):
  226. writec("#else")
  227. writec("return UA_STATUSCODE_GOOD;")
  228. writec("#endif /* UA_ENABLE_METHODCALLS */")
  229. writec("}");
  230. functionNumber = functionNumber + 1
  231. writec("""
  232. UA_StatusCode %s(UA_Server *server) {
  233. UA_StatusCode retVal = UA_STATUSCODE_GOOD;""" % (outfilebase))
  234. # Generate namespaces (don't worry about duplicates)
  235. writec("/* Use namespace ids generated by the server */")
  236. writec("UA_UInt16 ns[" + str(len(nodeset.namespaces)) + "];")
  237. for i, nsid in enumerate(nodeset.namespaces):
  238. nsid = nsid.replace("\"", "\\\"")
  239. writec("ns[" + str(i) + "] = UA_Server_addNamespace(server, \"" + nsid + "\");")
  240. for i in range(0, functionNumber):
  241. writec("retVal |= function_" + outfilebase + "_" + str(i) + "_begin(server, ns);")
  242. for i in reversed(range(0, functionNumber)):
  243. writec("retVal |= function_" + outfilebase + "_" + str(i) + "_finish(server, ns);")
  244. writec("return retVal;\n}")
  245. outfileh.flush()
  246. os.fsync(outfileh)
  247. outfileh.close()
  248. fullCode = outfilec.getvalue()
  249. outfilec.close()
  250. outfilec = codecs.open(outfilename + ".c", r"w+", encoding='utf-8')
  251. outfilec.write(fullCode)
  252. outfilec.flush()
  253. os.fsync(outfilec)
  254. outfilec.close()