Progress on OpenCyphal#91

1) Fixing a problem with unique identifier generation (Issue OpenCyphal#88)
2) Generating C++ data structures (Issue OpenCyphal#91)

Still TODO for Issue OpenCyphal#91 is serialization for types.

.vscode/settings.json

@@ -56,6 +56,7 @@
         "getenv",
         "ifdef",
         "ifndef",
+        "inout",
         "isfunction",
         "isroutine",
         "itertools",

src/nunavut/__init__.py

@@ -429,3 +429,121 @@ def get_or_make_namespace(full_namespace: str) -> typing.Tuple[Namespace, bool]:
 
     # The empty namespace
     return get_or_make_namespace('')[0]
+
+# +---------------------------------------------------------------------------+
+
+
+class Dependencies:
+    """
+    Data structure that contains a set of composite types and annotations (bool flags)
+    which constitute a set of dependencies for a set of DSDL objects.
+    """
+
+    def __init__(self) -> None:
+        self.composite_types = set()  # type: typing.Set[pydsdl.CompositeType]
+        self.uses_integer = False
+        self.uses_float = False
+        self.uses_variable_length_array = False
+        self.uses_array = False
+        self.uses_bool = False
+
+
+class DependencyBuilder:
+    """
+    Given a list of DSDL types this object builds a set of types that the given types use.
+
+    .. invisible-code-block: python
+
+        import pydsdl
+        from unittest.mock import MagicMock
+        from nunavut import DependencyBuilder
+
+        my_dependant_type_l2 = MagicMock(spec=pydsdl.CompositeType)
+        my_dependant_type_l2.parent_service = False
+        my_dependant_type_l2.attributes = []
+
+        my_dependant_type_l1 = MagicMock(spec=pydsdl.CompositeType)
+        my_dependant_type_l1.parent_service = False
+        my_dependant_type_l1.attributes = [MagicMock(data_type=my_dependant_type_l2)]
+
+        my_top_level_type = MagicMock(spec=pydsdl.CompositeType)
+        my_top_level_type.parent_service = False
+        my_top_level_type.attributes = [MagicMock(data_type=my_dependant_type_l1)]
+
+        direct_dependencies = DependencyBuilder(my_top_level_type).direct()
+
+        assert len(direct_dependencies.composite_types) == 1
+        assert my_dependant_type_l1 in direct_dependencies.composite_types
+
+        transitive_dependencies = DependencyBuilder(my_top_level_type).transitive()
+
+        assert len(transitive_dependencies.composite_types) == 2
+        assert my_dependant_type_l1 in transitive_dependencies.composite_types
+        assert my_dependant_type_l2 in transitive_dependencies.composite_types
+
+    :param dependant_types: A list of types to build dependencies for.
+    :type dependant_types: typing.Iterable[pydsdl.Any]
+    """
+
+    def __init__(self, *dependant_types: pydsdl.Any):
+        self._dependent_types = dependant_types
+
+    def transitive(self) -> Dependencies:
+        """
+        Build a set of all transitive dependencies for the dependent types
+        set for this builder.
+        """
+        return self._build_dependency_list(self._dependent_types, True)
+
+    def direct(self) -> Dependencies:
+        """
+        Build a set of all first-order dependencies for the dependent types
+        set for this builder.
+        """
+        return self._build_dependency_list(self._dependent_types, False)
+
+    # +-----------------------------------------------------------------------+
+    # | PRIVATE
+    # +-----------------------------------------------------------------------+
+
+    @classmethod
+    def _build_dependency_list(cls, dependant_types: typing.Iterable[pydsdl.CompositeType], transitive: bool) \
+            -> Dependencies:
+        results = Dependencies()
+        for dependant in dependant_types:
+            cls._extract_dependent_types(cls._extract_data_types(dependant), transitive, results)
+        return results
+
+    @classmethod
+    def _extract_data_types(cls, t: pydsdl.CompositeType) -> typing.List[pydsdl.SerializableType]:
+        # Make a list of all attributes defined by this type
+        if isinstance(t, pydsdl.ServiceType):
+            return [attr.data_type for attr in t.request_type.attributes] + \
+                [attr.data_type for attr in t.response_type.attributes]
+        else:
+            return [attr.data_type for attr in t.attributes]
+
+    @classmethod
+    def _extract_dependent_types(cls,
+                                 dependant_types: typing.Iterable[pydsdl.Any],
+                                 transitive: bool,
+                                 inout_dependencies: Dependencies) -> None:
+        for dt in dependant_types:
+            if isinstance(dt, pydsdl.CompositeType):
+                if dt not in inout_dependencies.composite_types:
+                    inout_dependencies.composite_types.add(dt)
+                    if transitive:
+                        cls._extract_dependent_types(cls._extract_data_types(dt), transitive, inout_dependencies)
+            elif isinstance(dt, pydsdl.ArrayType):
+                if isinstance(dt, pydsdl.VariableLengthArrayType):
+                    inout_dependencies.uses_variable_length_array = True
+                else:
+                    inout_dependencies.uses_array = True
+
+                cls._extract_dependent_types([dt.element_type], transitive, inout_dependencies)
+            elif isinstance(dt, pydsdl.IntegerType):
+                inout_dependencies.uses_integer = True
+            elif isinstance(dt, pydsdl.FloatType):
+                inout_dependencies.uses_float = True
+            elif isinstance(dt, pydsdl.BooleanType):
+                inout_dependencies.uses_bool = True

src/nunavut/jinja/__init__.py

@@ -310,6 +310,37 @@ def is_serializable(value: pydsdl.Any) -> bool:
         """  # noqa: E501
         return isinstance(value, pydsdl.SerializableType)
 
+    @staticmethod
+    def is_None(value: typing.Any) -> bool:
+        """
+        Tests if a value is ``None``
+
+        .. invisible-code-block: python
+
+            from nunavut.jinja import Generator
+            assert Generator.is_None(None) is True
+            assert Generator.is_None(1) is False
+
+        """
+        return (value is None)
+
+    @staticmethod
+    def is_padding(value: pydsdl.Field) -> bool:
+        """
+        Tests if a value is a padding field.
+
+        .. invisible-code-block: python
+
+            from nunavut.jinja import Generator
+            from unittest.mock import MagicMock
+            import pydsdl
+
+            assert Generator.is_padding(MagicMock(spec=pydsdl.PaddingField)) is True
+            assert Generator.is_padding(MagicMock(spec=pydsdl.Field)) is False
+
+        """
+        return isinstance(value, pydsdl.PaddingField)
+
     # +-----------------------------------------------------------------------+
 
     def __init__(self,
@@ -375,7 +406,8 @@ def __init__(self,
                                 keep_trailing_newline=True,
                                 lstrip_blocks=lstrip_blocks,
                                 trim_blocks=trim_blocks,
-                                auto_reload=False)
+                                auto_reload=False,
+                                cache_size=0)
 
         self._add_language_support()
 

src/nunavut/lang/__init__.py

@@ -226,7 +226,7 @@ class _UniqueNameGenerator:
     def ensure_generator_in_globals(cls, environment_globals: typing.Dict[str, typing.Any]) -> '_UniqueNameGenerator':
         from .. import TypeLocalGlobalKey
 
-        if TypeLocalGlobalKey not in environment_globals:
+        if TypeLocalGlobalKey not in environment_globals or environment_globals[TypeLocalGlobalKey] is None:
             environment_globals[TypeLocalGlobalKey] = cls()
         return typing.cast('_UniqueNameGenerator', environment_globals[TypeLocalGlobalKey])
 

src/nunavut/lang/c.py

@@ -326,15 +326,21 @@ def to_c_float(self) -> str:
         else:
             return 'double'
 
-    def to_c_type(self, value: pydsdl.PrimitiveType, use_standard_types: bool = True) -> str:
+    def to_c_type(self,
+                  value: pydsdl.PrimitiveType,
+                  use_standard_types: bool = True,
+                  inttype_prefix: typing.Optional[str] = None) -> str:
+        safe_prefix = '' if inttype_prefix is None else inttype_prefix
         if isinstance(value, pydsdl.UnsignedIntegerType):
-            return (self.to_c_int(False) if not use_standard_types else self.to_std_int(False))
+            return safe_prefix + (self.to_c_int(False) if not use_standard_types else self.to_std_int(False))
         elif isinstance(value, pydsdl.SignedIntegerType):
-            return (self.to_c_int(True) if not use_standard_types else self.to_std_int(True))
+            return safe_prefix + (self.to_c_int(True) if not use_standard_types else self.to_std_int(True))
         elif isinstance(value, pydsdl.FloatType):
             return self.to_c_float()
         elif isinstance(value, pydsdl.BooleanType):
             return ('BOOL' if not use_standard_types else 'bool')
+        elif isinstance(value, pydsdl.VoidType):
+            return 'void'
         else:
             raise RuntimeError("{} is not a known PrimitiveType".format(type(value).__name__))