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Merge 7db5abc into 618286b
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mjcarroll authored Aug 1, 2023
2 parents 618286b + 7db5abc commit 675a7f8
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Showing 9 changed files with 329 additions and 314 deletions.
1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -3,3 +3,4 @@ build
build_*
*.*.sw?
.vscode
__pycache__
4 changes: 2 additions & 2 deletions sdf/1.10/CMakeLists.txt
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Expand Up @@ -73,8 +73,8 @@ foreach(FIL ${sdfs})

add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS ${ABS_FIL}
COMMENT "Running xml schema compiler on ${FIL}"
VERBATIM)
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4 changes: 2 additions & 2 deletions sdf/1.5/CMakeLists.txt
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Expand Up @@ -67,8 +67,8 @@ foreach(FIL ${sdfs})

add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${Pyhton3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS ${ABS_FIL}
COMMENT "Running xml schema compiler on ${FIL}"
VERBATIM)
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4 changes: 2 additions & 2 deletions sdf/1.6/CMakeLists.txt
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Expand Up @@ -71,8 +71,8 @@ foreach(FIL ${sdfs})

add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS ${ABS_FIL}
COMMENT "Running xml schema compiler on ${FIL}"
VERBATIM)
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4 changes: 2 additions & 2 deletions sdf/1.7/CMakeLists.txt
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Expand Up @@ -72,8 +72,8 @@ foreach(FIL ${sdfs})

add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS ${ABS_FIL}
COMMENT "Running xml schema compiler on ${FIL}"
VERBATIM)
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4 changes: 2 additions & 2 deletions sdf/1.8/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -74,8 +74,8 @@ foreach(FIL ${sdfs})

add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS ${ABS_FIL}
COMMENT "Running xml schema compiler on ${FIL}"
VERBATIM)
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4 changes: 2 additions & 2 deletions sdf/1.9/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -74,8 +74,8 @@ foreach(FIL ${sdfs})

add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS ${ABS_FIL}
COMMENT "Running xml schema compiler on ${FIL}"
VERBATIM)
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316 changes: 316 additions & 0 deletions tools/xmlschema.py
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@@ -0,0 +1,316 @@
#!/usr/bin/env python3
# Copyright 2023 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""
Conversion script for SDF definitions to XML XSD files
"""

from xml.etree import ElementTree

import os

from typing import List, Dict, Tuple, Optional


# Mapping between "type" values found in SDF files to the corresponding
# XSD standard datatypes as defined by https://www.w3.org/TR/xmlschema11-2/
SDF_TYPES_TO_XSD_STD_TYPES = {
"bool": "boolean",
"char": "char",
"int": "int",
"double": "double",
"float": "float",
"string": "string",
"unsigned int": "unsignedInt",
"unsigned long": "unsignedLong",
}

# Mapping between "required" values found in SDF files to the corresponding
# minOccurs and maxOccurs found in XSD
SDF_REQUIRED_TO_MIN_MAX_OCCURS: Dict[str, Tuple[str, str]] = {
"0": ("0", "1"), # Required: 0, (minOccurs: 0, maxOccurs: 1)
"1": ("1", "1"), # Required: 1, (minOccurs: 1, maxOccurs: 1)
"+": ("1", "unbounded"), # Required: +, (minOccurs: 1, maxOccurs: inf)
"*": ("0", "unbounded"), # Required: *, (minOccurs: 0, maxOccurs: inf)
"-1": ("0", "unbounded"), # Required: -1, (minOccurs: 0, maxOccurs: inf)
}


def indent_lines(lines: List[str], indent: int) -> List[str]:
"""
Indent a list of xml lines group of lines by a number (indent) of spaces
"""
return [" " * indent + line for line in lines]


def get_attribute(element: ElementTree.Element, attrib: str) -> Optional[str]:
"""
Retrieve XML attribute from an element
"""
return element.attrib[attrib] if attrib in element.attrib else None


def is_std_type(sdf_type: str) -> bool:
"""
Check if sdf_type is a known XSD standard type.
Return true if the sdf_type is in the set of known types, false otherwise.
"""
return sdf_type in SDF_TYPES_TO_XSD_STD_TYPES


def xsd_type_string(sdf_type: str) -> Optional[str]:
"""
Check if xsd_type is a known XSD standard type.
If it is, return 'xsd:' + type, None otherwise.
"""
if is_std_type(sdf_type):
xsd_type = SDF_TYPES_TO_XSD_STD_TYPES[sdf_type]
return "xsd:" + xsd_type
return None


def print_documentation(element: ElementTree.Element) -> List[str]:
"""
Print the documentation associated with an element
"""
lines = []
description = element.find("description")
if (
description is not None
and description.text is not None
and len(description.text)
):
lines.append("<xsd:annotation>")
lines.append(" <xsd:documentation xml:lang='en'>")
lines.append(f" <![CDATA[{description.text}]]>")
lines.append(" </xsd:documentation>")
lines.append("</xsd:annotation>")
return lines


def print_include(element: ElementTree.Element) -> List[str]:
"""
Print include tag information
"""
lines = []
filename = get_attribute(element, "filename")
if filename is not None:
loc = "http://sdformat.org/schemas/"
loc += filename.replace(".sdf", ".xsd")
lines.append(f"<xsd:include schemaLocation='{loc}'/>")
return lines


def print_include_ref(element: ElementTree.Element, sdf_root_dir: str) -> List[str]:
"""
Print include tag reference information
"""
lines = []
filename = get_attribute(element, "filename")
if filename is not None:
sdf_path = os.path.join(sdf_root_dir, filename)
if not os.path.exists(sdf_path):
raise RuntimeError(f"Attempted to include non-existent file: {sdf_path}")

include_tree = ElementTree.parse(sdf_path)
root = include_tree.getroot()
include_element_name = root.attrib["name"]
lines.append(f"<xsd:element ref='{include_element_name}'/>")
return lines


def print_plugin_element(element: ElementTree.Element) -> List[str]:
"""
Separate handling of the 'plugin' element
"""
lines = []
# Short circuit for plugin.sdf copy_data element
if "copy_data" in element.attrib:
lines.append("<xsd:sequence>")
lines.append(
" <xsd:any minOccurs='0' maxOccurs='unbounded' processContents='lax'/>"
)
lines.append("</xsd:sequence>")
return lines


def print_element(element: ElementTree.Element) -> List[str]:
"""
Print a child element of the sdf definition
"""
lines = []

elem_name = get_attribute(element, "name")
elem_type = get_attribute(element, "type")
elem_reqd = get_attribute(element, "required")

if elem_type and is_std_type(elem_type):
elem_type = xsd_type_string(elem_type)

if not elem_reqd:
raise RuntimeError("Cannot process element missing 'required' attribute")

min_occurs, max_occurs = SDF_REQUIRED_TO_MIN_MAX_OCCURS[elem_reqd]
lines.append(f"<xsd:choice minOccurs='{min_occurs}' maxOccurs='{max_occurs}'>")

if elem_type is None:
lines.append(f"<xsd:element name='{elem_name}'>")
lines.extend(indent_lines(print_documentation(element), 2))
lines.append(" <xsd:complexType>")
lines.append(" <xsd:choice maxOccurs='unbounded'>")

for child_element in element.findall("element"):
lines.extend(indent_lines(print_element(child_element), 6))

lines.append(" </xsd:choice>")

for attribute in element.findall("attribute"):
lines.extend(indent_lines(print_attribute(attribute), 4))

lines.append(" </xsd:complexType>")
else:
lines.append(f"<xsd:element name='{elem_name}' type='{elem_type}'>")
lines.extend(indent_lines(print_documentation(element), 2))

lines.append("</xsd:element>")
lines.append("</xsd:choice>")
return lines


def print_attribute(element: ElementTree.Element) -> List[str]:
"""
Print an attribute of the sdf definition
"""
lines = []

elem_name = get_attribute(element, "name")
elem_type = get_attribute(element, "type")
elem_reqd = get_attribute(element, "required")
elem_default = get_attribute(element, "default")

if elem_type and is_std_type(elem_type):
elem_type = xsd_type_string(elem_type)

use = ""
default = ""

if elem_reqd == "1":
use = "use='required'"
elif elem_reqd == "0":
use = "use='optional'"
if elem_default is not None:
default = f"default='{elem_default}'"

lines.append(
f"<xsd:attribute name='{elem_name}' type='{elem_type}' {use} {default}>"
)
lines.extend(indent_lines(print_documentation(element), 2))
lines.append("</xsd:attribute>")
return lines


def print_xsd(element: ElementTree.Element, sdf_root_dir: str) -> List[str]:
"""
Print xsd for top level SDF element
"""
lines = []

elem_name = get_attribute(element, "name")
elem_type = get_attribute(element, "type")

elements = element.findall("element")
attributes = element.findall("attribute")
includes = element.findall("include")

lines.extend(print_documentation(element))
lines.append(
"<xsd:include schemaLocation='http://sdformat.org/schemas/types.xsd'/>"
)

# Reference any includes in the SDF file
for include in includes:
lines.extend(print_include(include))

if len(elements) or len(attributes) or len(includes):
lines.append(f"<xsd:element name='{elem_name}'>")
lines.append(" <xsd:complexType>")

if elem_name != "plugin" and (len(elements) or len(includes)):
lines.append(" <xsd:choice maxOccurs='unbounded'>")

for child_element in elements:
if "copy_data" in child_element.attrib:
element_lines = print_plugin_element(child_element)
lines.extend(indent_lines(element_lines, 4))
else:
element_lines = print_element(child_element)
lines.extend(indent_lines(element_lines, 6))

for include_element in includes:
element_lines = print_include_ref(include_element, sdf_root_dir)
lines.extend(indent_lines(element_lines, 6))

if elem_name != "plugin" and (len(elements) or len(includes)):
lines.append(" </xsd:choice>")

for attribute_element in attributes:
lines.extend(indent_lines(print_attribute(attribute_element), 4))

lines.append(" </xsd:complexType>")
lines.append("</xsd:element>")
else:
if elem_type and is_std_type(elem_type):
elem_type = f' type={xsd_type_string(elem_type)}'
else:
elem_type = ""

lines.append(f"<xsd:element name='{elem_name}'{elem_type} />")
return lines


def process(input_file_sdf: str, sdf_dir: str) -> List[str]:
"""
Produce an XSD file from an input SDF file
"""
lines = []
tree = ElementTree.parse(input_file_sdf)
root = tree.getroot()
lines.append("<?xml version='1.0' encoding='UTF-8'?>")
lines.append("<xsd:schema xmlns:xsd='http://www.w3.org/2001/XMLSchema'>")
lines.extend(indent_lines(print_xsd(root, sdf_dir), 2))
lines.append("</xsd:schema>")
return lines


if __name__ == "__main__":
import argparse

parser = argparse.ArgumentParser("xmlschema.py")
parser.add_argument("--input-file")
parser.add_argument("--sdf-dir")
parser.add_argument("--output-dir")
args = parser.parse_args()

input_file = os.path.abspath(args.input_file)
output_lines = process(input_file, args.sdf_dir)
fname = os.path.splitext(os.path.basename(args.input_file))[0]
os.makedirs(args.output_dir, exist_ok=True)

output_file = os.path.join(args.output_dir, f"{fname}.xsd")

with open(output_file, "w", encoding="utf8") as f:
f.write("\n".join(output_lines))
f.write("\n")
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