N3_sub/modules/uavcan/libuavcan/dsdl_compiler/libuavcan_dsdlc

#!/usr/bin/env python
#
# UAVCAN DSDL compiler for libuavcan
# Supported Python versions: 3.2+, 2.7.
#
# Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
#

from __future__ import division, absolute_import, print_function, unicode_literals
import os, sys, logging, argparse

# This trickery allows to use the compiler even if pyuavcan is not installed in the system.
# This is extremely important, as it makes the compiler (and therefore libuavcan in general)
# totally dependency-free, except for the Python interpreter itself.
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
LOCAL_PYUAVCAN_DIR = os.path.join(SCRIPT_DIR, 'pyuavcan')
RUNNING_FROM_SRC_DIR = os.path.isdir(LOCAL_PYUAVCAN_DIR)
if RUNNING_FROM_SRC_DIR:
    #print('Running from the source directory')
    sys.path.insert(0, SCRIPT_DIR)
    sys.path.insert(0, LOCAL_PYUAVCAN_DIR)

def configure_logging(verbosity):
    fmt = '%(message)s'
    level = { 0: logging.WARNING, 1: logging.INFO, 2: logging.DEBUG }.get(verbosity or 0, logging.DEBUG)
    logging.basicConfig(stream=sys.stderr, level=level, format=fmt)

def die(text):
    print(text, file=sys.stderr)
    exit(1)

DEFAULT_OUTDIR = 'dsdlc_generated'

DESCRIPTION = '''UAVCAN DSDL compiler for libuavcan.
Takes an input directory that contains an hierarchy of DSDL
definitions and converts it into compatible hierarchy of C++ types for libuavcan.
This script can be used directly from the source directory, no installation required!
Supported Python versions: 3.2+, 2.7.
'''

argparser = argparse.ArgumentParser(description=DESCRIPTION)
argparser.add_argument('source_dir', nargs='+', help='source directory with DSDL definitions')
argparser.add_argument('--verbose', '-v', action='count', help='verbosity level (-v, -vv)')
argparser.add_argument('--outdir', '-O', default=DEFAULT_OUTDIR, help='output directory, default %s' % DEFAULT_OUTDIR)
argparser.add_argument('--incdir', '-I', default=[], action='append', help=
'''nested type namespaces, one path per argument. Can be also specified through the environment variable
UAVCAN_DSDL_INCLUDE_PATH, where the path entries are separated by colons ":"''')
args = argparser.parse_args()

configure_logging(args.verbose)

try:
    extra_incdir = os.environ['UAVCAN_DSDL_INCLUDE_PATH'].split(':')
    logging.info('Additional include directories: %s', extra_incdir)
    args.incdir += extra_incdir
except KeyError:
    pass

from libuavcan_dsdl_compiler import run as dsdlc_run
try:
    dsdlc_run(args.source_dir, args.incdir, args.outdir)
except Exception as ex:
    logging.error('Compiler failure', exc_info=True)
    die(str(ex))