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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -3,3 +3,4 @@ build | |
| build_* | ||
| *.*.sw? | ||
| .vscode | ||
| __pycache__ | ||
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| Original file line number | Diff line number | Diff line change |
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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 | ||
| """ | ||
|
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| from xml.etree import ElementTree | ||
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| import os | ||
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| from typing import List, Dict, Tuple, Optional | ||
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| # 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", | ||
| } | ||
|
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||
| # 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) | ||
| } | ||
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| 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] | ||
|
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| 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 | ||
|
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| 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 | ||
|
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|
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| 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 | ||
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| 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 | ||
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| 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 | ||
|
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|
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| 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}") | ||
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| 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 | ||
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| 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 | ||
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|
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| def print_element(element: ElementTree.Element) -> List[str]: | ||
| """ | ||
| Print a child element of the sdf definition | ||
| """ | ||
| lines = [] | ||
|
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| elem_name = get_attribute(element, "name") | ||
| elem_type = get_attribute(element, "type") | ||
| elem_reqd = get_attribute(element, "required") | ||
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| if elem_type and is_std_type(elem_type): | ||
| elem_type = xsd_type_string(elem_type) | ||
|
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| if not elem_reqd: | ||
| raise RuntimeError("Cannot process element missing 'required' attribute") | ||
|
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| min_occurs, max_occurs = SDF_REQUIRED_TO_MIN_MAX_OCCURS[elem_reqd] | ||
| lines.append(f"<xsd:choice minOccurs='{min_occurs}' maxOccurs='{max_occurs}'>") | ||
|
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| 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'>") | ||
|
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| for child_element in element.findall("element"): | ||
| lines.extend(indent_lines(print_element(child_element), 6)) | ||
|
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| lines.append(" </xsd:choice>") | ||
|
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| for attribute in element.findall("attribute"): | ||
| lines.extend(indent_lines(print_attribute(attribute), 4)) | ||
|
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| lines.append(" </xsd:complexType>") | ||
| else: | ||
| lines.append(f"<xsd:element name='{elem_name}' type='{elem_type}'>") | ||
| lines.extend(indent_lines(print_documentation(element), 2)) | ||
|
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| lines.append("</xsd:element>") | ||
| lines.append("</xsd:choice>") | ||
| return lines | ||
|
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|
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| def print_attribute(element: ElementTree.Element) -> List[str]: | ||
| """ | ||
| Print an attribute of the sdf definition | ||
| """ | ||
| lines = [] | ||
|
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| elem_name = get_attribute(element, "name") | ||
| elem_type = get_attribute(element, "type") | ||
| elem_reqd = get_attribute(element, "required") | ||
| elem_default = get_attribute(element, "default") | ||
|
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| if elem_type and is_std_type(elem_type): | ||
| elem_type = xsd_type_string(elem_type) | ||
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| use = "" | ||
| default = "" | ||
|
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| 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}'" | ||
|
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| 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 | ||
|
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| def print_xsd(element: ElementTree.Element, sdf_root_dir: str) -> List[str]: | ||
| """ | ||
| Print xsd for top level SDF element | ||
| """ | ||
| lines = [] | ||
|
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| elem_name = get_attribute(element, "name") | ||
| elem_type = get_attribute(element, "type") | ||
|
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| elements = element.findall("element") | ||
| attributes = element.findall("attribute") | ||
| includes = element.findall("include") | ||
|
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| lines.extend(print_documentation(element)) | ||
| lines.append( | ||
| "<xsd:include schemaLocation='http://sdformat.org/schemas/types.xsd'/>" | ||
| ) | ||
|
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| # Reference any includes in the SDF file | ||
| for include in includes: | ||
| lines.extend(print_include(include)) | ||
|
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| if len(elements) or len(attributes) or len(includes): | ||
| lines.append(f"<xsd:element name='{elem_name}'>") | ||
| lines.append(" <xsd:complexType>") | ||
|
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| if elem_name != "plugin" and (len(elements) or len(includes)): | ||
| lines.append(" <xsd:choice maxOccurs='unbounded'>") | ||
|
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| 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)) | ||
|
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| for include_element in includes: | ||
| element_lines = print_include_ref(include_element, sdf_root_dir) | ||
| lines.extend(indent_lines(element_lines, 6)) | ||
|
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| if elem_name != "plugin" and (len(elements) or len(includes)): | ||
| lines.append(" </xsd:choice>") | ||
|
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| for attribute_element in attributes: | ||
| lines.extend(indent_lines(print_attribute(attribute_element), 4)) | ||
|
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| 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 = "" | ||
|
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| lines.append(f"<xsd:element name='{elem_name}'{elem_type} />") | ||
| return lines | ||
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| 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 | ||
|
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|
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| if __name__ == "__main__": | ||
| import argparse | ||
|
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| parser = argparse.ArgumentParser("xmlschema.py") | ||
| parser.add_argument("--input-file") | ||
| parser.add_argument("--sdf-dir") | ||
| parser.add_argument("--output-dir") | ||
| args = parser.parse_args() | ||
|
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| 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) | ||
|
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| output_file = os.path.join(args.output_dir, f"{fname}.xsd") | ||
|
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| with open(output_file, "w", encoding="utf8") as f: | ||
| f.write("\n".join(output_lines)) | ||
| f.write("\n") |
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