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Enhancement/use hpp for headers (#3113)
--------- Co-authored-by: Tom Noble <[email protected]>
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| #!/usr/bin/env python3 | ||
| # -*- coding: utf-8 -*- | ||
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| # Copyright 2024 Tom Noble. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright | ||
| # notice, this list of conditions and the following disclaimer in the | ||
| # documentation and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
|
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| # Author: Tom Noble | ||
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| import sys | ||
| import argparse | ||
| import logging | ||
| from typing import List, Tuple | ||
| from pathlib import Path | ||
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| DISCLAIMER = """ | ||
| /********************************************************************* | ||
| * All MoveIt 2 headers have been updated to use the .hpp extension. | ||
| * | ||
| * .h headers are now autogenerated via {}, | ||
| * and will import the corresponding .hpp with a deprecation warning. | ||
| * | ||
| * imports via .h files may be removed in future releases, so please | ||
| * modify your imports to use the corresponding .hpp imports. | ||
| * | ||
| * See https://github.com/moveit/moveit2/pull/3113 for extra details. | ||
| *********************************************************************/ | ||
| """ | ||
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| class NoIncludeGuard(Exception): | ||
| ERROR = "No include guard found in {}.hpp. Unable to generate pretext." | ||
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| def __init__(self, file: Path): | ||
| super().__init__(self.ERROR.format(file)) | ||
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| class NoIncludeDirectory(Exception): | ||
| ERROR = "No include directory found for {}.hpp. Unable to generate relative .hpp include" | ||
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| def __init__(self, file: Path): | ||
| super().__init__(self.ERROR.format(file)) | ||
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| class HppFile: | ||
| def __init__(self, path: Path): | ||
| self.path = path | ||
| self.guard = "#pragma once" | ||
| self.pretext = self.pretext() | ||
| self.include = self.include() | ||
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| def drop_data_after(self, data: str, match: str): | ||
| return data[: data.find(match) + len(match)] | ||
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| def read(self) -> str: | ||
| data = open(self.path, "r").read() | ||
| contains_guard = self.guard in data | ||
| if not contains_guard: | ||
| raise NoIncludeGuard(self.path) | ||
| return data | ||
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| def pretext(self) -> str: | ||
| data = self.read() | ||
| return self.drop_data_after(data, self.guard) | ||
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| def include(self) -> str: | ||
| ends_with_include = lambda p: str(p).endswith("include") | ||
| include_paths = [p for p in self.path.parents if ends_with_include(p)] | ||
| if not include_paths: | ||
| raise NoIncludeDirectory(self.path) | ||
| relative_import = self.path.relative_to(include_paths[0]) | ||
| return f"#include <{relative_import}>" | ||
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| class DeprecatedHeader: | ||
| def __init__(self, hpp: HppFile): | ||
| self.hpp = hpp | ||
| self.path = hpp.path.with_suffix(".h") | ||
| self.warn = '#pragma message(".h header is obsolete. Please use the .hpp header instead.")' | ||
| self.contents = self.contents() | ||
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| def contents(self) -> str: | ||
| disclaimer = DISCLAIMER.format(Path(__file__).name).rstrip("\n") | ||
| items = [disclaimer, self.hpp.pretext, self.warn, self.hpp.include] | ||
| return "\n".join(items) + "\n" | ||
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| class HeaderSummary: | ||
| def __init__(self, n_processed_hpps: int, bad_hpps: List[str]): | ||
| self.n_processed_hpps = n_processed_hpps | ||
| self.bad_hpps = bad_hpps | ||
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| def were_all_hpps_processed(self) -> bool: | ||
| return len(self.bad_hpps) == 0 | ||
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| def __repr__(self) -> str: | ||
| summary = f"Can generate {self.n_processed_hpps} .h files." | ||
| if self.bad_hpps: | ||
| summary += f" Cannot generate {len(self.bad_hpps)} .h files:\n\n" | ||
| summary += "\n".join([f"❌ {hpp}" for hpp in self.bad_hpps]) | ||
| summary += "\n" | ||
| return summary | ||
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| class DeprecatedHeaderGenerator: | ||
| def __init__(self, hpp_paths: List[str]): | ||
| self.hpp_paths = hpp_paths | ||
| self.processed_hpps = [] | ||
| self.bad_hpps = [] | ||
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| def __process_hpp(self, hpp: str) -> None: | ||
| try: | ||
| self.processed_hpps.append(HppFile(hpp)) | ||
| except (NoIncludeDirectory, NoIncludeGuard) as e: | ||
| self.bad_hpps.append(str(hpp)) | ||
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| def process_all_hpps(self) -> HeaderSummary: | ||
| print(f"\nProcessing {len(self.hpp_paths)} .hpp files...") | ||
| _ = [self.__process_hpp(hpp) for hpp in self.hpp_paths] | ||
| return HeaderSummary(len(self.processed_hpps), self.bad_hpps) | ||
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| def create_h_files(self) -> None: | ||
| print(f"Proceeding to generate {len(self.processed_hpps)} .h files...") | ||
| h_files = [DeprecatedHeader(hpp) for hpp in self.processed_hpps] | ||
| _ = [open(h.path, "w").write(h.contents) for h in h_files] | ||
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| if __name__ == "__main__": | ||
| parser = argparse.ArgumentParser() | ||
| # TODO: Add argument for skipping private headers | ||
| parser.add_argument("--apply", action="store_true", help="Generates the .h files") | ||
| args = parser.parse_args() | ||
| generator = DeprecatedHeaderGenerator(list(Path.cwd().rglob("*.hpp"))) | ||
| summary = generator.process_all_hpps() | ||
| print(summary) | ||
| if args.apply and not summary.were_all_hpps_processed(): | ||
| args.apply = input("Continue? (y/n): ").lower() == "y" | ||
| if args.apply: | ||
| generator.create_h_files() | ||
| else: | ||
| print("Skipping file generation...") | ||
| print("Done.\n") |
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53 changes: 53 additions & 0 deletions
53
...ion/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,53 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2013, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
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| /* Author: Acorn Pooley, Ioan Sucan */ | ||
|
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| #pragma once | ||
|
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| #include <moveit/collision_detection/collision_detector_allocator.hpp> | ||
| #include <moveit/collision_detection/allvalid/collision_env_allvalid.hpp> | ||
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| #include <moveit_collision_detection_export.h> | ||
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| namespace collision_detection | ||
| { | ||
| /** \brief An allocator for AllValid collision detectors */ | ||
| class MOVEIT_COLLISION_DETECTION_EXPORT CollisionDetectorAllocatorAllValid | ||
| : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid> | ||
| { | ||
| public: | ||
| static const std::string NAME; // defined in collision_env_allvalid.cpp | ||
| }; | ||
| } // namespace collision_detection |
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