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. from os.path import basename
  21. import logging
  22. import codecs
  23. import os
  24. try:
  25. from StringIO import StringIO
  26. except ImportError:
  27. from io import StringIO
  28. import sys
  29. if sys.version_info[0] >= 3:
  30. # strings are already parsed to unicode
  31. def unicode(s):
  32. return s
  33. logger = logging.getLogger(__name__)
  34. from datatypes import NodeId
  35. from nodes import *
  36. from nodeset import *
  37. from backend_open62541_nodes import generateNodeCode_begin, generateNodeCode_finish, generateReferenceCode
  38. # Kahn's algorithm: https://algocoding.wordpress.com/2015/04/05/topological-sorting-python/
  39. def sortNodes(nodeset):
  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_ENABLE_AMALGAMATION
  140. # include "open62541.h"
  141. /* The following declarations are in the open62541.c file so here's needed when compiling nodesets externally */
  142. # ifndef UA_Nodestore_remove //this definition is needed to hide this code in the amalgamated .c file
  143. typedef UA_StatusCode (*UA_exchangeEncodeBuffer)(void *handle, UA_Byte **bufPos,
  144. const UA_Byte **bufEnd);
  145. UA_StatusCode
  146. UA_encodeBinary(const void *src, const UA_DataType *type,
  147. UA_Byte **bufPos, const UA_Byte **bufEnd,
  148. UA_exchangeEncodeBuffer exchangeCallback,
  149. void *exchangeHandle) UA_FUNC_ATTR_WARN_UNUSED_RESULT;
  150. UA_StatusCode
  151. UA_decodeBinary(const UA_ByteString *src, size_t *offset, void *dst,
  152. const UA_DataType *type, size_t customTypesSize,
  153. const UA_DataType *customTypes) UA_FUNC_ATTR_WARN_UNUSED_RESULT;
  154. size_t
  155. UA_calcSizeBinary(void *p, const UA_DataType *type);
  156. const UA_DataType *
  157. UA_findDataTypeByBinary(const UA_NodeId *typeId);
  158. # endif // UA_Nodestore_remove
  159. #else // UA_ENABLE_AMALGAMATION
  160. # include "ua_server.h"
  161. #endif
  162. %s
  163. """ % (additionalHeaders))
  164. else:
  165. writeh("""
  166. #ifdef UA_ENABLE_AMALGAMATION
  167. # include "open62541.h"
  168. #else
  169. # include "ua_server.h"
  170. #endif
  171. %s
  172. """ % (additionalHeaders))
  173. writeh("""
  174. _UA_BEGIN_DECLS
  175. extern UA_StatusCode %s(UA_Server *server);
  176. _UA_END_DECLS
  177. #endif /* %s_H_ */""" % \
  178. (outfilebase, outfilebase.upper()))
  179. writec("""/* WARNING: This is a generated file.
  180. * Any manual changes will be overwritten. */
  181. #include "%s.h"
  182. """ % (outfilebase))
  183. # Loop over the sorted nodes
  184. logger.info("Reordering nodes for minimal dependencies during printing")
  185. sorted_nodes = sortNodes(nodeset)
  186. logger.info("Writing code for nodes and references")
  187. functionNumber = 0
  188. parentreftypes = getSubTypesOf(nodeset, nodeset.getNodeByBrowseName("HierarchicalReferences"))
  189. parentreftypes = list(map(lambda x: x.id, parentreftypes))
  190. printed_ids = set()
  191. for node in sorted_nodes:
  192. printed_ids.add(node.id)
  193. parentref = node.popParentRef(parentreftypes)
  194. if not node.hidden:
  195. writec("\n/* " + str(node.displayName) + " - " + str(node.id) + " */")
  196. code_global = []
  197. code = generateNodeCode_begin(node, nodeset, generate_ns0, parentref, encode_binary_size, code_global)
  198. if code is None:
  199. writec("/* Ignored. No parent */")
  200. nodeset.hide_node(node.id)
  201. continue
  202. else:
  203. if len(code_global) > 0:
  204. writec("\n".join(code_global))
  205. writec("\n")
  206. writec("\nstatic UA_StatusCode function_" + outfilebase + "_" + str(functionNumber) + "_begin(UA_Server *server, UA_UInt16* ns) {")
  207. if isinstance(node, MethodNode):
  208. writec("#ifdef UA_ENABLE_METHODCALLS")
  209. writec(code)
  210. # Print inverse references leading to this node
  211. for ref in node.references:
  212. if ref.target not in printed_ids:
  213. continue
  214. if node.hidden and nodeset.nodes[ref.target].hidden:
  215. continue
  216. writec(generateReferenceCode(ref))
  217. if node.hidden:
  218. continue
  219. writec("return retVal;")
  220. if isinstance(node, MethodNode):
  221. writec("#else")
  222. writec("return UA_STATUSCODE_GOOD;")
  223. writec("#endif /* UA_ENABLE_METHODCALLS */")
  224. writec("}");
  225. writec("\nstatic UA_StatusCode function_" + outfilebase + "_" + str(functionNumber) + "_finish(UA_Server *server, UA_UInt16* ns) {")
  226. if isinstance(node, MethodNode):
  227. writec("#ifdef UA_ENABLE_METHODCALLS")
  228. writec("return " + generateNodeCode_finish(node))
  229. if isinstance(node, MethodNode):
  230. writec("#else")
  231. writec("return UA_STATUSCODE_GOOD;")
  232. writec("#endif /* UA_ENABLE_METHODCALLS */")
  233. writec("}");
  234. functionNumber = functionNumber + 1
  235. writec("""
  236. UA_StatusCode %s(UA_Server *server) {
  237. UA_StatusCode retVal = UA_STATUSCODE_GOOD;""" % (outfilebase))
  238. # Generate namespaces (don't worry about duplicates)
  239. writec("/* Use namespace ids generated by the server */")
  240. writec("UA_UInt16 ns[" + str(len(nodeset.namespaces)) + "];")
  241. for i, nsid in enumerate(nodeset.namespaces):
  242. nsid = nsid.replace("\"", "\\\"")
  243. writec("ns[" + str(i) + "] = UA_Server_addNamespace(server, \"" + nsid + "\");")
  244. for i in range(0, functionNumber):
  245. writec("retVal |= function_" + outfilebase + "_" + str(i) + "_begin(server, ns);")
  246. for i in reversed(range(0, functionNumber)):
  247. writec("retVal |= function_" + outfilebase + "_" + str(i) + "_finish(server, ns);")
  248. writec("return retVal;\n}")
  249. outfileh.flush()
  250. os.fsync(outfileh)
  251. outfileh.close()
  252. fullCode = outfilec.getvalue()
  253. outfilec.close()
  254. outfilec = codecs.open(outfilename + ".c", r"w+", encoding='utf-8')
  255. outfilec.write(fullCode)
  256. outfilec.flush()
  257. os.fsync(outfilec)
  258. outfilec.close()