From 8c4f285f0e70789c2c0f316e482ec56ceab1c25f Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Tue, 21 Apr 2020 16:01:05 +0200
Subject: [PATCH] Add initial AUTO code expansion
---
robotlab_safety/pluto_auto.py | 88 ++++++++++++++++++++++++++++++++
robotlab_safety/safety_2020.sps | Bin 53856 -> 54014 bytes
2 files changed, 88 insertions(+)
create mode 100755 robotlab_safety/pluto_auto.py
diff --git a/robotlab_safety/pluto_auto.py b/robotlab_safety/pluto_auto.py
new file mode 100755
index 0000000..957400d
--- /dev/null
+++ b/robotlab_safety/pluto_auto.py
@@ -0,0 +1,88 @@
+#!/usr/bin/python3
+
+import argparse
+import sys
+import re
+import tempfile
+import os
+
+class PlutoVariables:
+
+ def __init__(self, prefix):
+ self.prefix = prefix
+ self.by_name = dict()
+
+ def add(self, name, pluto, index):
+ self.by_name[name] = (int(pluto), int(index))
+ pass
+
+ def codegen(self, expr):
+ m = re.match('([^=]+)=ALL\((.*)\)', expr)
+ if m:
+ lh = m.group(1)
+ regexp = m.group(2).replace('*', '.*')
+ rh = [ "(%s+/SM_Pluto%d_Present)" % (v, self.by_name[v][0])
+ for v in self.by_name if re.match(regexp, v)]
+ return("%s=%s" % (lh, '*'.join(rh)))
+ raise Exception('Invalid expression', expr)
+
+
+class SPS:
+
+ def __init__(self, path):
+ self.data = open(path, encoding='utf-16').read()
+ self.gm = PlutoVariables('GM')
+ self.parse()
+
+ def parse(self):
+ for l in self.data.split('\n'):
+ # Collect variables
+ m = re.match('! GM([0-9]+)[.]([0-9]+)=(\S+)', l)
+ if m:
+ self.gm.add(m.group(3), m.group(1), m.group(2))
+ pass
+ pass
+ pass
+
+ def expand(self):
+ result = []
+ for l in self.data.split('\n'):
+ result.append(l)
+ m = re.match(';\s*AUTO:\s*(.*)', l)
+ if m:
+ code = self.gm.codegen(m.group(1))
+ if code != result[-2]:
+ result[-2] = code
+ pass
+ pass
+ pass
+ return '\n'.join(result)
+
+
+if __name__ == '__main__':
+ optParser = argparse.ArgumentParser()
+ optParser.add_argument("sps", nargs='+',
+ help="Pluto master programs")
+ optParser.add_argument("--write",
+ action="store_true", default=False,
+ help="Rewrite source file if needed")
+ options = optParser.parse_args(sys.argv[1:])
+ for f in options.sps:
+ sps = SPS(f)
+ orig = sps.data
+ expanded = sps.expand()
+ if orig != expanded:
+ if options.write:
+ f1 = tempfile.NamedTemporaryFile(dir=os.path.dirname(f),
+ delete=False)
+ print(f1.name)
+ f1.write(expanded.replace('\n', '\r\n').encode('utf-16'))
+ f1.close()
+ os.rename(f1.name, f)
+ pass
+ else:
+ for w, (l1, l2) in enumerate(zip(orig.split('\n'),
+ expanded.split('\n'))):
+ if (l1!=l2):
+ print("%d '%s'" % (w, l1))
+ print("%d '%s'" % (w, l2))
diff --git a/robotlab_safety/safety_2020.sps b/robotlab_safety/safety_2020.sps
index 3b5a3d645686894fbc079f485c88c191ec417770..00fc7aa83d45e510da98386a3d41c48015cd5b6a 100644
GIT binary patch
delta 127
zcmaE`g!$i6<_&zZleG?U2?j72GsH8vG6XY}Fyu27FxXDse?fIJhn&#lfOv_`39{Q9
yp~_6KD09&g+8hu+D`~R9g$a{49TH*$=~mwybtsKbIDo;B!4Or?=KU8IG6Db@G$_*m
delta 79
zcmeyjl=;CD<_&zZ%y|rzllSMyGxIWVO};N6x;a7ioFhzdb4L88q{&PNRVEiPi3svC
ea4}djI5LDXgfRFsSTQJU-g~H*Z*$zm1&jbZBN^}j
--
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