open62541/tools/nodeset_compiler/backend_open62541_nodes.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

###
### Author:  Chris Iatrou (ichrispa@core-vector.net)
### Version: rev 13
###
### This program was created for educational purposes and has been
### contributed to the open62541 project by the author. All licensing
### terms for this source is inherited by the terms and conditions
### specified for by the open62541 project (see the projects readme
### file for more information on the LGPL terms and restrictions).
###
### This program is not meant to be used in a production environment. The
### author is not liable for any complications arising due to the use of
### this program.
###

from nodes import *
from backend_open62541_datatypes import *
import re
import logging

import sys
if sys.version_info[0] >= 3:
    # strings are already parsed to unicode
    def unicode(s):
        return s

logger = logging.getLogger(__name__)

#################
# Generate Code #
#################

def generateNodeIdPrintable(node):
    if isinstance(node.id, NodeId):
        CodePrintable = node.__class__.__name__ + "_" + str(node.id)
    else:
        CodePrintable = node.__class__.__name__ + "_unknown_nid"

    return re.sub('[^0-9a-z_]+', '_', CodePrintable.lower())

def generateNodeValueInstanceName(node, parent, arrayIndex):
    return generateNodeIdPrintable(parent) + "_" + str(node.alias) + "_" + str(arrayIndex)

def generateReferenceCode(reference):
    if reference.isForward:
        return "retVal |= UA_Server_addReference(server, %s, %s, %s, true);" % \
               (generateNodeIdCode(reference.source),
                generateNodeIdCode(reference.referenceType),
                generateExpandedNodeIdCode(reference.target))
    else:
        return "retVal |= UA_Server_addReference(server, %s, %s, %s, false);" % \
               (generateNodeIdCode(reference.source),
                generateNodeIdCode(reference.referenceType),
                generateExpandedNodeIdCode(reference.target))

def generateReferenceTypeNodeCode(node):
    code = []
    code.append("UA_ReferenceTypeAttributes attr = UA_ReferenceTypeAttributes_default;")
    if node.isAbstract:
        code.append("attr.isAbstract = true;")
    if node.symmetric:
        code.append("attr.symmetric  = true;")
    if node.inverseName != "":
        code.append("attr.inverseName  = UA_LOCALIZEDTEXT(\"\", \"%s\");" % \
                    node.inverseName)
    return code

def generateObjectNodeCode(node):
    code = []
    code.append("UA_ObjectAttributes attr = UA_ObjectAttributes_default;")
    if node.eventNotifier:
        code.append("attr.eventNotifier = true;")
    return code

def setNodeDatatypeRecursive(node, nodeset):

    if not isinstance(node, VariableNode) and not isinstance(node, VariableTypeNode):
        raise RuntimeError("DataType can only be set for VariableNode and VariableTypeNode")

    if node.dataType is not None:
        return

    # If BaseVariableType
    if node.id == NodeId("ns=0;i=62"):
        if node.dataType is None:
            # Set to default BaseDataType
            node.dataType = NodeId("ns=0;i=24")
        return

    if isinstance(node, VariableNode) and not isinstance(node, VariableTypeNode):
        typeDefNode = nodeset.getNodeTypeDefinition(node)
        if typeDefNode is None:
            # Use the parent type.
            raise RuntimeError("Cannot get node for HasTypeDefinition of VariableNode " + node.browseName.name + " " + str(node.id))

        setNodeDatatypeRecursive(typeDefNode, nodeset)

        node.dataType = typeDefNode.dataType
    else:
        # Use the parent type.
        if node.parent is None:
            raise RuntimeError("Parent node not defined for " + node.browseName.name + " " + str(node.id))

        setNodeDatatypeRecursive(node.parent, nodeset)
        node.dataType = node.parent.dataType

def setNodeValueRankRecursive(node, nodeset):

    if not isinstance(node, VariableNode) and not isinstance(node, VariableTypeNode):
        raise RuntimeError("ValueRank can only be set for VariableNode and VariableTypeNode")

    if node.valueRank is not None:
        return

    # If BaseVariableType
    if node.id == NodeId("ns=0;i=62"):
        if node.valueRank is None:
            # BaseVariableType always has -2
            node.valueRank = -2
        return

    if isinstance(node, VariableNode) and not isinstance(node, VariableTypeNode):
        typeDefNode = nodeset.getNodeTypeDefinition(node)
        if typeDefNode is None:
            # Use the parent type.
            raise RuntimeError("Cannot get node for HasTypeDefinition of VariableNode " + node.browseName.name + " " + str(node.id))

        setNodeValueRankRecursive(typeDefNode, nodeset)

        if typeDefNode.valueRank is not None and typeDefNode.valueRank > -1:
            node.valueRank = typeDefNode.valueRank
        else:
            # Default value
            node.valueRank = -1
    else:
        # Check if parent node limits the value rank
        setNodeValueRankRecursive(node.parent, nodeset)


        if node.parent.valueRank is not None and node.parent.valueRank > -1:
            node.valueRank = node.parent.valueRank
        else:
            # Default value
            node.valueRank = -1


def generateCommonVariableCode(node, nodeset):
    code = []
    codeCleanup = []
    codeGlobal = []

    if node.valueRank is None:
        # Set the constrained value rank from the type/parent node
        setNodeValueRankRecursive(node, nodeset)
        code.append("/* Value rank inherited */")

    code.append("attr.valueRank = %d;" % node.valueRank)
    if node.valueRank > 0:
        code.append("attr.arrayDimensionsSize = %d;" % node.valueRank)
        code.append("UA_UInt32 arrayDimensions[{}];".format(node.valueRank))
        if len(node.arrayDimensions) == node.valueRank:
            for idx, v in enumerate(node.arrayDimensions):
                code.append("arrayDimensions[{}] = {};".format(idx, int(str(v))))
        else:
            for dim in range(0, node.valueRank):
                code.append("arrayDimensions[{}] = 0;".format(dim))
        code.append("attr.arrayDimensions = &arrayDimensions[0];")

    if node.dataType is None:
        # Inherit the datatype from the HasTypeDefinition reference, as stated in the OPC UA Spec:
        # 6.4.2
        # "Instances inherit the initial values for the Attributes that they have in common with the
        # TypeDefinitionNode from which they are instantiated, with the exceptions of the NodeClass and
        # NodeId."
        setNodeDatatypeRecursive(node, nodeset)
        code.append("/* DataType inherited */")

    dataTypeNode = nodeset.getBaseDataType(nodeset.getDataTypeNode(node.dataType))

    if dataTypeNode is None:
        raise RuntimeError("Cannot get BaseDataType for dataType : " + str(node.dataType) + " of node " + node.browseName.name + " " + str(node.id))

    code.append("attr.dataType = %s;" % generateNodeIdCode(node.dataType))

    if dataTypeNode.isEncodable():
        if node.value is not None:
            [code1, codeCleanup1, codeGlobal1] = generateValueCode(node.value, nodeset.nodes[node.id], nodeset)
            code += code1
            codeCleanup += codeCleanup1
            codeGlobal += codeGlobal1
            if node.valueRank is not None and node.valueRank > 0 and len(node.arrayDimensions) == node.valueRank and len(node.value.value) > 0:
                numElements = 1
                hasZero = False
                for v in node.arrayDimensions:
                    dim = int(unicode(v))
                    if dim > 0:
                        numElements = numElements * dim
                    else:
                        hasZero = True
                if hasZero == False and len(node.value.value) == numElements:
                    code.append("attr.value.arrayDimensionsSize = attr.arrayDimensionsSize;")
                    code.append("attr.value.arrayDimensions = attr.arrayDimensions;")
                    logger.warning("printing arrayDimensions")
                else:
                    logger.error("Dimension with size 0 or value count mismatch detected, ArrayDimensions won't be copied to the Value attribute.")
    elif node.value is not None:
        raise RuntimeError("Cannot encode dataTypeNode: " + dataTypeNode.browseName.name + " for value of node " + node.browseName.name + " " + str(node.id))

    return [code, codeCleanup, codeGlobal]

def generateVariableNodeCode(node, nodeset):
    code = []
    codeCleanup = []
    codeGlobal = []
    code.append("UA_VariableAttributes attr = UA_VariableAttributes_default;")
    if node.historizing:
        code.append("attr.historizing = true;")
    code.append("attr.minimumSamplingInterval = %f;" % node.minimumSamplingInterval)
    code.append("attr.userAccessLevel = %d;" % node.userAccessLevel)
    code.append("attr.accessLevel = %d;" % node.accessLevel)
    # in order to be compatible with mostly OPC UA client
    # force valueRank = -1 for scalar VariableNode
    if node.valueRank == -2 and node.value is not None and len(node.value.value) == 1:
        node.valueRank = -1
    [code1, codeCleanup1, codeGlobal1] = generateCommonVariableCode(node, nodeset)
    code += code1
    codeCleanup += codeCleanup1
    codeGlobal += codeGlobal1

    return [code, codeCleanup, codeGlobal]

def generateVariableTypeNodeCode(node, nodeset):
    code = []
    codeCleanup = []
    codeGlobal = []
    code.append("UA_VariableTypeAttributes attr = UA_VariableTypeAttributes_default;")
    if node.isAbstract:
        code.append("attr.isAbstract = true;")
    [code1, codeCleanup1, codeGlobal1] = generateCommonVariableCode(node, nodeset)
    code += code1
    codeCleanup += codeCleanup1
    codeGlobal += codeGlobal1

    return [code, codeCleanup, codeGlobal]

def lowerFirstChar(inputString):
    return inputString[0].lower() + inputString[1:]

def generateExtensionObjectSubtypeCode(node, parent, nodeset, global_var_code, instanceName=None, isArrayElement=False):
    code = [""]
    codeCleanup = [""]

    logger.debug("Building extensionObject for " + str(parent.id))
    logger.debug("Value    " + str(node.value))
    logger.debug("Encoding " + str(node.encodingRule))

    typeBrowseNode = makeCIdentifier(nodeset.getDataTypeNode(parent.dataType).browseName.name)
    #TODO: review this
    if typeBrowseNode == "NumericRange":
        # in the stack we define a separate structure for the numeric range, but
        # the value itself is just a string
        typeBrowseNode = "String"


    typeString = "UA_" + typeBrowseNode
    if instanceName is None:
        instanceName = generateNodeValueInstanceName(node, parent, 0)
        code.append("UA_STACKARRAY(" + typeString + ", " + instanceName + ", 1);")
    typeArr = nodeset.getDataTypeNode(parent.dataType).typesArray
    typeString = nodeset.getDataTypeNode(parent.dataType).browseName.name.upper()
    typeArrayString = typeArr + "[" + typeArr + "_" + typeString + "]"
    code.append("UA_init({ref}{instanceName}, &{typeArrayString});".format(ref="&" if isArrayElement else "",
                                                                           instanceName=instanceName,
                                                                           typeArrayString=typeArrayString))

    # Assign data to the struct contents
    # Track the encoding rule definition to detect arrays and/or ExtensionObjects
    encFieldIdx = 0
    for subv in node.value:
        encField = node.encodingRule[encFieldIdx]
        encFieldIdx = encFieldIdx + 1
        memberName = lowerFirstChar(encField[0])
        if isinstance(subv, list):
            if len(subv) == 0:
                continue
            logger.info("ExtensionObject contains array")
            memberName = lowerFirstChar(encField[0])
            encTypeString = "UA_" + subv[0].__class__.__name__
            code.append("UA_STACKARRAY(" + encTypeString + ", " + instanceName + "_" + memberName+", {0});".format(len(subv)))
            encTypeArr = nodeset.getDataTypeNode(subv[0].__class__.__name__).typesArray
            encTypeArrayString = encTypeArr + "[" + encTypeArr + "_" + subv[0].__class__.__name__.upper() + "]"
            code.append("UA_init({ref}{instanceName}, &{typeArrayString});".format(ref="&" if isArrayElement else "",
                                                                                instanceName=instanceName + "_" + memberName,
                                                                                typeArrayString=encTypeArrayString))

            subArrayIdx = 0
            for val in subv:
                code.append(generateNodeValueCode(instanceName + "_" + memberName + "[" + str(subArrayIdx) + "]" +" = ", val, instanceName,instanceName + "_gehtNed_member", global_var_code, asIndirect=False))
                subArrayIdx = subArrayIdx + 1
            code.append(instanceName + "->" + memberName + " = " + instanceName+"_"+ memberName+";")
            continue
        else:
            logger.debug(
            "Encoding of field " + memberName + " is " + str(subv.encodingRule) + "defined by " + str(encField))
        # Check if this is an array
        accessor = "." if isArrayElement else "->"


        if subv.valueRank is None or subv.valueRank == 0:
            valueName = instanceName + accessor + memberName
            code.append(generateNodeValueCode(valueName + " = " ,
                        subv, instanceName,valueName, global_var_code, asIndirect=False))
        else:
            memberName = lowerFirstChar(encField[0])
            code.append(generateNodeValueCode(instanceName + accessor + memberName + "Size = ", subv, instanceName,valueName, global_var_code, asIndirect=False))

    if not isArrayElement:
        code.append("UA_Variant_setScalar(&attr.value, " + instanceName + ", &" + typeArrayString + ");")

    return [code, codeCleanup]

def getTypeBrowseName(dataTypeNode):
    typeBrowseName = makeCIdentifier(dataTypeNode.browseName.name)
    #TODO: review this
    if typeBrowseName == "NumericRange":
        # in the stack we define a separate structure for the numeric range, but
        # the value itself is just a string
        typeBrowseName = "String"
    return typeBrowseName

def getTypesArrayForValue(nodeset, value):
    typeNode = nodeset.getNodeByBrowseName(value.__class__.__name__)
    if typeNode is None or value.isInternal:
        typesArray = "UA_TYPES"
    else:
        typesArray = typeNode.typesArray
    typeName = makeCIdentifier(value.__class__.__name__.upper())
    return "&" + typesArray + "[" + typesArray + "_" + typeName + "]"


def isArrayVariableNode(node, parentNode):
    return parentNode.valueRank is not None and (parentNode.valueRank != -1 and (parentNode.valueRank >= 0
                                       or (len(node.value) > 1
                                           and (parentNode.valueRank != -2 or parentNode.valueRank != -3))))

def generateValueCode(node, parentNode, nodeset, bootstrapping=True):
    code = []
    codeCleanup = []
    codeGlobal = []
    valueName = generateNodeIdPrintable(parentNode) + "_variant_DataContents"

    # node.value either contains a list of multiple identical BUILTINTYPES, or it
    # contains a single builtintype (which may be a container); choose if we need
    # to create an array or a single variable.
    # Note that some genious defined that there are arrays of size 1, which are
    # distinctly different then a single value, so we need to check that as well
    # Semantics:
    # -3: Scalar or 1-dim
    # -2: Scalar or x-dim | x>0
    # -1: Scalar
    #  0: x-dim | x>0
    #  n: n-dim | n>0
    if (len(node.value) == 0):
        return ["", "", ""]
    if not isinstance(node.value[0], Value):
        return ["", "", ""]

    dataTypeNode = nodeset.getDataTypeNode(parentNode.dataType)

    if isArrayVariableNode(node, parentNode):
        # User the following strategy for all directly mappable values a la 'UA_Type MyInt = (UA_Type) 23;'
        if isinstance(node.value[0], Guid):
            logger.warn("Don't know how to print array of GUID in node " + str(parentNode.id))
        elif isinstance(node.value[0], DiagnosticInfo):
            logger.warn("Don't know how to print array of DiagnosticInfo in node " + str(parentNode.id))
        elif isinstance(node.value[0], StatusCode):
            logger.warn("Don't know how to print array of StatusCode in node " + str(parentNode.id))
        else:
            if isinstance(node.value[0], ExtensionObject):
                code.append("UA_" + getTypeBrowseName(dataTypeNode) + " " + valueName + "[" + str(len(node.value)) + "];")
                for idx, v in enumerate(node.value):
                    logger.debug("Building extObj array index " + str(idx))
                    instanceName = valueName + "[" + str(idx) + "]"
                    [code1, codeCleanup1] = generateExtensionObjectSubtypeCode(v, parent=parentNode, nodeset=nodeset,
                                                                                global_var_code=codeGlobal, instanceName=instanceName,
                                                                               isArrayElement=True)
                    code = code + code1
                    codeCleanup = codeCleanup + codeCleanup1
            else:
                code.append("UA_" + node.value[0].__class__.__name__ + " " + valueName + "[" + str(len(node.value)) + "];")
                for idx, v in enumerate(node.value):
                    instanceName = generateNodeValueInstanceName(v, parentNode, idx)
                    code.append(generateNodeValueCode(
                        valueName + "[" + str(idx) + "] = " , v, instanceName, valueName, codeGlobal))
            code.append("UA_Variant_setArray(&attr.value, &" + valueName +
                        ", (UA_Int32) " + str(len(node.value)) + ", " + "&" +
                        dataTypeNode.typesArray + "["+dataTypeNode.typesArray + "_" + getTypeBrowseName(dataTypeNode).upper() +"]);")
    #scalar value
    else:
        # User the following strategy for all directly mappable values a la 'UA_Type MyInt = (UA_Type) 23;'
        if isinstance(node.value[0], Guid):
            logger.warn("Don't know how to print scalar GUID in node " + str(parentNode.id))
        elif isinstance(node.value[0], DiagnosticInfo):
            logger.warn("Don't know how to print scalar DiagnosticInfo in node " + str(parentNode.id))
        elif isinstance(node.value[0], StatusCode):
            logger.warn("Don't know how to print scalar StatusCode in node " + str(parentNode.id))
        else:
            # The following strategy applies to all other types, in particular strings and numerics.
            if isinstance(node.value[0], ExtensionObject):
                [code1, codeCleanup1] = generateExtensionObjectSubtypeCode(node.value[0], parent=parentNode, nodeset=nodeset, global_var_code=codeGlobal, isArrayElement=False)
                code = code + code1
                codeCleanup = codeCleanup + codeCleanup1
            instanceName = generateNodeValueInstanceName(node.value[0], parentNode, 0)
            if not(isinstance(node.value[0], ExtensionObject)):
                code.append("UA_" + node.value[0].__class__.__name__ + " *" + valueName + " =  UA_" + node.value[
                    0].__class__.__name__ + "_new();")
                code.append("if (!" + valueName + ") return UA_STATUSCODE_BADOUTOFMEMORY;")
                code.append(generateNodeValueCode("*" + valueName + " = " , node.value[0], instanceName, valueName, codeGlobal, asIndirect=True))
                code.append(
                        "UA_Variant_setScalar(&attr.value, " + valueName + ", " +
                        getTypesArrayForValue(nodeset, node.value[0]) + ");")
                if node.value[0].__class__.__name__ == "ByteString":
                    # The data is on the stack, not heap, so we can not delete the ByteString
                    codeCleanup.append("{}->data = NULL;".format(valueName))
                    codeCleanup.append("{}->length = 0;".format(valueName))
                codeCleanup.append("UA_{0}_delete({1});".format(
                    node.value[0].__class__.__name__, valueName))
    return [code, codeCleanup, codeGlobal]

def generateMethodNodeCode(node):
    code = []
    code.append("UA_MethodAttributes attr = UA_MethodAttributes_default;")
    if node.executable:
        code.append("attr.executable = true;")
    if node.userExecutable:
        code.append("attr.userExecutable = true;")
    return code

def generateObjectTypeNodeCode(node):
    code = []
    code.append("UA_ObjectTypeAttributes attr = UA_ObjectTypeAttributes_default;")
    if node.isAbstract:
        code.append("attr.isAbstract = true;")
    return code

def generateDataTypeNodeCode(node):
    code = []
    code.append("UA_DataTypeAttributes attr = UA_DataTypeAttributes_default;")
    if node.isAbstract:
        code.append("attr.isAbstract = true;")
    return code

def generateViewNodeCode(node):
    code = []
    code.append("UA_ViewAttributes attr = UA_ViewAttributes_default;")
    if node.containsNoLoops:
        code.append("attr.containsNoLoops = true;")
    code.append("attr.eventNotifier = (UA_Byte)%s;" % str(node.eventNotifier))
    return code

def generateSubtypeOfDefinitionCode(node):
    for ref in node.inverseReferences:
        # 45 = HasSubtype
        if ref.referenceType.i == 45:
            return generateNodeIdCode(ref.target)
    return "UA_NODEID_NULL"

def generateNodeCode_begin(node, nodeset, code_global):
    code = []
    codeCleanup = []
    code.append("UA_StatusCode retVal = UA_STATUSCODE_GOOD;")

    # Attributes
    if isinstance(node, ReferenceTypeNode):
        code.extend(generateReferenceTypeNodeCode(node))
    elif isinstance(node, ObjectNode):
        code.extend(generateObjectNodeCode(node))
    elif isinstance(node, VariableNode) and not isinstance(node, VariableTypeNode):
        [code1, codeCleanup1, codeGlobal1] = generateVariableNodeCode(node, nodeset)
        code.extend(code1)
        codeCleanup.extend(codeCleanup1)
        code_global.extend(codeGlobal1)
    elif isinstance(node, VariableTypeNode):
        [code1, codeCleanup1, codeGlobal1] = generateVariableTypeNodeCode(node, nodeset)
        code.extend(code1)
        codeCleanup.extend(codeCleanup1)
        code_global.extend(codeGlobal1)
    elif isinstance(node, MethodNode):
        code.extend(generateMethodNodeCode(node))
    elif isinstance(node, ObjectTypeNode):
        code.extend(generateObjectTypeNodeCode(node))
    elif isinstance(node, DataTypeNode):
        code.extend(generateDataTypeNodeCode(node))
    elif isinstance(node, ViewNode):
        code.extend(generateViewNodeCode(node))
    if node.displayName is not None:
        code.append("attr.displayName = " + generateLocalizedTextCode(node.displayName, alloc=False) + ";")
    if node.description is not None:
        code.append("#ifdef UA_ENABLE_NODESET_COMPILER_DESCRIPTIONS")
        code.append("attr.description = " + generateLocalizedTextCode(node.description, alloc=False) + ";")
        code.append("#endif")
    if node.writeMask is not None:
        code.append("attr.writeMask = %d;" % node.writeMask)
    if node.userWriteMask is not None:
        code.append("attr.userWriteMask = %d;" % node.userWriteMask)

    # AddNodes call
    code.append("retVal |= UA_Server_addNode_begin(server, UA_NODECLASS_{},".
            format(makeCIdentifier(node.__class__.__name__.upper().replace("NODE" ,""))))
    code.append(generateNodeIdCode(node.id) + ",")
    code.append(generateNodeIdCode(node.parent.id if node.parent else NodeId()) + ",")
    code.append(generateNodeIdCode(node.parentReference.id if node.parent else NodeId()) + ",")
    code.append(generateQualifiedNameCode(node.browseName) + ",")
    if isinstance(node, VariableNode) or isinstance(node, ObjectNode):
        typeDefRef = node.popTypeDef()
        code.append(generateNodeIdCode(typeDefRef.target) + ",")
    else:
        code.append(" UA_NODEID_NULL,")
    code.append("(const UA_NodeAttributes*)&attr, &UA_TYPES[UA_TYPES_{}ATTRIBUTES],NULL, NULL);".
            format(makeCIdentifier(node.__class__.__name__.upper().replace("NODE" ,""))))
    code.extend(codeCleanup)

    return "\n".join(code)

def generateNodeCode_finish(node):
    code = []

    if isinstance(node, MethodNode):
        code.append("UA_Server_addMethodNode_finish(server, ")
    else:
        code.append("UA_Server_addNode_finish(server, ")
    code.append(generateNodeIdCode(node.id))

    if isinstance(node, MethodNode):
        code.append(", NULL, 0, NULL, 0, NULL);")
    else:
        code.append(");")

    return "\n".join(code)