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Start refactoring for cursor-based operation
2022-06-28 10:09:17 +02:00
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Defaulting to user installation because normal site-packages is not writeable\n",
"Requirement already satisfied: libclang in /home/max/.local/lib/python3.10/site-packages (14.0.1)\n",
"Note: you may need to restart the kernel to use updated packages.\n"
]
}
],
"source": [
"%pip install libclang"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"collapsed": false,
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [],
"source": [
"import glob\n",
"import json\n",
"import os\n",
"import pathlib\n",
"import re\n",
"from typing import Union, Iterator, List\n",
"\n",
"import clang.cindex as ci\n",
"from clang.cindex import TokenKind as tk\n",
"from clang.cindex import CursorKind as ck\n",
"\n",
"import ast_utils\n",
"\n",
"jj = os.path.join\n",
"\n",
"FS_ROOT = \"/\"\n",
"ROOT_DIR = jj(FS_ROOT, \"/home/max/projects/autoware/\")\n",
"\n",
"def pext(t: Union[ci.Token, ci.Cursor]):\n",
" e = t.extent\n",
" return f\"{e.start.line}:{e.start.column}-{e.end.line}:{e.end.column}\"\n",
"\n",
"def pt(tokens, join_str=''):\n",
" if tokens is None:\n",
" return \"None\"\n",
" return join_str.join(map(lambda t: t.spelling, tokens))\n",
"\n",
"if not os.path.exists(jj(ROOT_DIR, \"build/compile_commands.json\")):\n",
" print(\"Run\")\n",
" print(\" colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON\")\n",
" print(\"to generate the files necessary to run this script.\")"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {
"collapsed": false,
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [],
"source": [
"_arg_pattern = re.compile(r\"(?<=\\s)(?:-D\\s*\\S+|-I\\s*\\S+|-isystem\\s*\\S+|--?std\\s*\\S+)(?=\\s)\")\n",
"\n",
"def _extract_args(compile_command):\n",
" segments = _arg_pattern.findall(compile_command)\n",
" segments = [part.strip() for seg in segments for part in seg.split(\" \")]\n",
" return segments\n",
"\n",
"with open(jj(ROOT_DIR, \"build/compile_commands.json\"), \"r\") as f:\n",
" compile_commands = json.load(f)\n",
"\n",
"compile_commands = {cmd['file']: cmd['command'] for cmd in compile_commands}\n",
"compile_commands = {k: _extract_args(v) for k, v in compile_commands.items()}"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false,
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {
"collapsed": false,
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"['{ transform_listener_ = std :: make_shared < tier4_autoware_utils :: TransformListener > ( this ) ; // get parameter update_hz_ = this -> declare_parameter < double > ( \"update_hz\" , 10.0 ) ; covariance_ = this -> declare_parameter < double > ( \"initial_covariance\" , 0.05 ) ; velocity_min_threshold_ = this -> declare_parameter < double > ( \"velocity_min_threshold\" , 0.1 ) ; velocity_diff_threshold_ = this -> declare_parameter < double > ( \"velocity_diff_threshold\" , 0.556 ) ; pedal_diff_threshold_ = this -> declare_parameter < double > ( \"pedal_diff_threshold\" , 0.03 ) ; max_steer_threshold_ = this -> declare_parameter < double > ( \"max_steer_threshold\" , 0.2 ) ; max_pitch_threshold_ = this -> declare_parameter < double > ( \"max_pitch_threshold\" , 0.02 ) ; max_jerk_threshold_ = this -> declare_parameter < double > ( \"max_jerk_threshold\" , 0.7 ) ; pedal_velocity_thresh_ = this -> declare_parameter < double > ( \"pedal_velocity_thresh\" , 0.15 ) ; map_update_gain_ = this -> declare_parameter < double > ( \"map_update_gain\" , 0.02 ) ; max_accel_ = this -> declare_parameter < double > ( \"max_accel\" , 5.0 ) ; min_accel_ = this -> declare_parameter < double > ( \"min_accel\" , - 5.0 ) ; pedal_to_accel_delay_ = this -> declare_parameter < double > ( \"pedal_to_accel_delay\" , 0.3 ) ; max_data_count_ = this -> declare_parameter < int > ( \"max_data_count\" , 200 ) ; pedal_accel_graph_output_ = this -> declare_parameter < bool > ( \"pedal_accel_graph_output\" , false ) ; progress_file_output_ = this -> declare_parameter < bool > ( \"progress_file_output\" , false ) ; const auto get_pitch_method_str = this -> declare_parameter < std :: string > ( \"get_pitch_method\" , std :: string ( \"tf\" ) ) ; if ( get_pitch_method_str == std :: string ( \"tf\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: TF ; } else if ( get_pitch_method_str == std :: string ( \"none\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: NONE ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method_\" << \" is wrong. (available method: tf, file, none\" ) ; return ; } update_suggest_thresh_ = this -> declare_parameter < double > ( \"update_suggest_thresh\" , 0.7 ) ; csv_calibrated_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_calibrated_map_dir\" , std :: string ( \"\" ) ) ; output_accel_file_ = csv_calibrated_map_dir_ + \"/accel_map.csv\" ; output_brake_file_ = csv_calibrated_map_dir_ + \"/brake_map.csv\" ; const std :: string update_method_str = this -> declare_parameter < std :: string > ( \"update_method\" , std :: string ( \"update_offset_each_cell\" ) ) ; if ( update_method_str == std :: string ( \"update_offset_each_cell\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_EACH_CELL ; } else if ( update_method_str == std :: string ( \"update_offset_total\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_TOTAL ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method\" << \" is wrong. (available method: update_offset_each_cell, update_offset_total\" ) ; return ; } // initializer // QoS setup static constexpr std :: size_t queue_size = 1 ; rclcpp :: QoS durable_qos ( queue_size ) ; // Publisher for checkUpdateSuggest calibration_status_pub_ = create_publisher < tier4_external_api_msgs :: msg :: CalibrationStatus > ( \"/accel_brake_map_calibrator/output/calibration_status\" , durable_qos ) ; /* Diagnostic Updater */ updater_ptr_ = std :: make_shared < diagnostic_updater :: Updater > ( this , 1.0 / update_hz_ ) ; updater_ptr_ -> setHardwareID ( \"accel_brake_map_calibrator\" ) ; updater_ptr_ -> add ( \"accel_brake_map_calibrator\" , this , & AccelBrakeMapCalibrator :: checkUpdateSuggest ) ; { csv_default_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_default_map_dir\" , std :: string ( \"\" ) ) ; std :: string csv_path_accel_map = csv_default_map_dir_ + \"/accel_map.csv\" ; std :: string csv_path_brake_map = csv_default_map_dir_ + \"/brake_map.csv\" ; if ( ! accel_map_ . readAccelMapFromCSV ( csv
"[]\n",
"[]\n",
"['{ using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; // Parameter update_rate_ = this -> declare_parameter ( \"update_rate\" , 10.0 ) ; disengage_on_route_ = this -> declare_parameter ( \"disengage_on_route\" , true ) ; disengage_on_goal_ = this -> declare_parameter ( \"disengage_on_goal\" , true ) ; // Parameter for StateMachine state_param_ . th_arrived_distance_m = this -> declare_parameter ( \"th_arrived_distance_m\" , 1.0 ) ; const auto th_arrived_angle_deg = this -> declare_parameter ( \"th_arrived_angle_deg\" , 45.0 ) ; state_param_ . th_arrived_angle = tier4_autoware_utils :: deg2rad ( th_arrived_angle_deg ) ; state_param_ . th_stopped_time_sec = this -> declare_parameter ( \"th_stopped_time_sec\" , 1.0 ) ; state_param_ . th_stopped_velocity_mps = this -> declare_parameter ( \"th_stopped_velocity_mps\" , 0.01 ) ; // State Machine state_machine_ = std :: make_shared < StateMachine > ( state_param_ ) ; // Config topic_configs_ = getConfigs < TopicConfig > ( this -> get_node_parameters_interface ( ) , \"topic_configs\" ) ; tf_configs_ = getConfigs < TfConfig > ( this -> get_node_parameters_interface ( ) , \"tf_configs\" ) ; // Callback Groups callback_group_subscribers_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; callback_group_services_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; auto subscriber_option = rclcpp :: SubscriptionOptions ( ) ; subscriber_option . callback_group = callback_group_subscribers_ ; // Topic Callback for ( const auto & topic_config : topic_configs_ ) { registerTopicCallback ( topic_config . name , topic_config . type , topic_config . transient_local , topic_config . best_effort ) ; } // Subscriber sub_autoware_engage_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"input/autoware_engage\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onAutowareEngage , this , _1 ) , subscriber_option ) ; sub_control_mode_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: ControlModeReport > ( \"input/control_mode\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onVehicleControlMode , this , _1 ) , subscriber_option ) ; sub_map_ = create_subscription < autoware_auto_mapping_msgs :: msg :: HADMapBin > ( \"input/vector_map\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onMap , this , _1 ) , subscriber_option ) ; sub_route_ = this -> create_subscription < autoware_auto_planning_msgs :: msg :: HADMapRoute > ( \"input/route\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onRoute , this , _1 ) , subscriber_option ) ; sub_odom_ = this -> create_subscription < nav_msgs :: msg :: Odometry > ( \"input/odometry\" , 100 , std :: bind ( & AutowareStateMonitorNode :: onOdometry , this , _1 ) , subscriber_option ) ; // Service srv_shutdown_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/shutdown\" , std :: bind ( & AutowareStateMonitorNode :: onShutdownService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; srv_reset_route_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/reset_route\" , std :: bind ( & AutowareStateMonitorNode :: onResetRouteService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; // Publisher pub_autoware_state_ = this -> create_publisher < autoware_auto_system_msgs :: msg :: AutowareState > ( \"output/autoware_state\" , 1 ) ; pub_autoware_engage_ = this -> create_publisher < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"output/autoware_engage\" , 1 ) ; // Diagnostic Updater setupDiagnosticUpdater ( ) ; // Wait for first topics std :: this_thread :: sleep_for ( std :: chrono :: milliseconds ( 1000 ) ) ; // Timer const auto period_ns = rclcpp :: Rate ( update_rate_ ) . period ( ) ; timer_ = rclcpp :: create_timer ( this , get_clock ( ) , period_ns , std :: bind ( & AutowareStateMonitorNode ::
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]
},
{
"ename": "KeyboardInterrupt",
"evalue": "",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mKeyboardInterrupt\u001b[0m Traceback (most recent call last)",
"\u001b[1;32m/mnt/c/Users/maxim/Projects/ma-autoware-dependency-digger/clang-digger.ipynb Cell 5'\u001b[0m in \u001b[0;36m<cell line: 4>\u001b[0;34m()\u001b[0m\n\u001b[1;32m <a href='vscode-notebook-cell://wsl%2Bubuntu/mnt/c/Users/maxim/Projects/ma-autoware-dependency-digger/clang-digger.ipynb#ch0000003vscode-remote?line=3'>4</a>\u001b[0m \u001b[39mfor\u001b[39;00m src_file, args \u001b[39min\u001b[39;00m compile_commands\u001b[39m.\u001b[39mitems():\n\u001b[1;32m <a href='vscode-notebook-cell://wsl%2Bubuntu/mnt/c/Users/maxim/Projects/ma-autoware-dependency-digger/clang-digger.ipynb#ch0000003vscode-remote?line=4'>5</a>\u001b[0m src_file: \u001b[39mstr\u001b[39m\n\u001b[0;32m----> <a href='vscode-notebook-cell://wsl%2Bubuntu/mnt/c/Users/maxim/Projects/ma-autoware-dependency-digger/clang-digger.ipynb#ch0000003vscode-remote?line=5'>6</a>\u001b[0m tu \u001b[39m=\u001b[39m idx\u001b[39m.\u001b[39;49mparse(src_file, args\u001b[39m=\u001b[39;49margs) \u001b[39m# 0x200: KeepGoing (after fatal errors)\u001b[39;00m\n\u001b[1;32m <a href='vscode-notebook-cell://wsl%2Bubuntu/mnt/c/Users/maxim/Projects/ma-autoware-dependency-digger/clang-digger.ipynb#ch0000003vscode-remote?line=6'>7</a>\u001b[0m h \u001b[39m=\u001b[39m ast_utils\u001b[39m.\u001b[39mTUHandler(tu)\n\u001b[1;32m <a href='vscode-notebook-cell://wsl%2Bubuntu/mnt/c/Users/maxim/Projects/ma-autoware-dependency-digger/clang-digger.ipynb#ch0000003vscode-remote?line=7'>8</a>\u001b[0m h\u001b[39m.\u001b[39mget_subscription_callback_handlers()\n",
"File \u001b[0;32m~/.local/lib/python3.10/site-packages/clang/cindex.py:2815\u001b[0m, in \u001b[0;36mIndex.parse\u001b[0;34m(self, path, args, unsaved_files, options)\u001b[0m\n\u001b[1;32m 2802\u001b[0m \u001b[39mdef\u001b[39;00m \u001b[39mparse\u001b[39m(\u001b[39mself\u001b[39m, path, args\u001b[39m=\u001b[39m\u001b[39mNone\u001b[39;00m, unsaved_files\u001b[39m=\u001b[39m\u001b[39mNone\u001b[39;00m, options \u001b[39m=\u001b[39m \u001b[39m0\u001b[39m):\n\u001b[1;32m 2803\u001b[0m \u001b[39m\"\"\"Load the translation unit from the given source code file by running\u001b[39;00m\n\u001b[1;32m 2804\u001b[0m \u001b[39m clang and generating the AST before loading. Additional command line\u001b[39;00m\n\u001b[1;32m 2805\u001b[0m \u001b[39m parameters can be passed to clang via the args parameter.\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 2813\u001b[0m \u001b[39m will be raised.\u001b[39;00m\n\u001b[1;32m 2814\u001b[0m \u001b[39m \"\"\"\u001b[39;00m\n\u001b[0;32m-> 2815\u001b[0m \u001b[39mreturn\u001b[39;00m TranslationUnit\u001b[39m.\u001b[39;49mfrom_source(path, args, unsaved_files, options,\n\u001b[1;32m 2816\u001b[0m \u001b[39mself\u001b[39;49m)\n",
"File \u001b[0;32m~/.local/lib/python3.10/site-packages/clang/cindex.py:2923\u001b[0m, in \u001b[0;36mTranslationUnit.from_source\u001b[0;34m(cls, filename, args, unsaved_files, options, index)\u001b[0m\n\u001b[1;32m 2920\u001b[0m unsaved_array[i]\u001b[39m.\u001b[39mcontents \u001b[39m=\u001b[39m contents\n\u001b[1;32m 2921\u001b[0m unsaved_array[i]\u001b[39m.\u001b[39mlength \u001b[39m=\u001b[39m \u001b[39mlen\u001b[39m(contents)\n\u001b[0;32m-> 2923\u001b[0m ptr \u001b[39m=\u001b[39m conf\u001b[39m.\u001b[39;49mlib\u001b[39m.\u001b[39;49mclang_parseTranslationUnit(index,\n\u001b[1;32m 2924\u001b[0m fspath(filename) \u001b[39mif\u001b[39;49;00m filename \u001b[39mis\u001b[39;49;00m \u001b[39mnot\u001b[39;49;00m \u001b[39mNone\u001b[39;49;00m \u001b[39melse\u001b[39;49;00m \u001b[39mNone\u001b[39;49;00m,\n\u001b[1;32m 2925\u001b[0m args_array,\n\u001b[1;32m 2926\u001b[0m \u001b[39mlen\u001b[39;49m(args), unsaved_array,\n\u001b[1;32m 2927\u001b[0m \u001b[39mlen\u001b[39;49m(unsaved_files), options)\n\u001b[1;32m 2929\u001b[0m \u001b[39mif\u001b[39;00m \u001b[39mnot\u001b[39;00m ptr:\n\u001b[1;32m 2930\u001b[0m \u001b[39mraise\u001b[39;00m TranslationUnitLoadError(\u001b[39m\"\u001b[39m\u001b[39mError parsing translation unit.\u001b[39m\u001b[39m\"\u001b[39m)\n",
"\u001b[0;31mKeyboardInterrupt\u001b[0m: "
]
}
],
"source": [
"all_mappings = {}\n",
"idx = ci.Index.create()\n",
"\n",
"for src_file, args in compile_commands.items():\n",
" src_file: str\n",
" tu = idx.parse(src_file, args=args) # 0x200: KeepGoing (after fatal errors)\n",
" h = ast_utils.TUHandler(tu)\n",
" h.get_subscription_callback_handlers()\n",
"\n",
"with open(\"cb_identifiers.json\", \"w\") as f:\n",
" json.dump(all_mappings, f)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false,
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3.10.5 64-bit",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.5"
},
"orig_nbformat": 4,
"vscode": {
"interpreter": {
"hash": "8a94588eda9d64d9e9a351ab8144e55b1fabf5113b54e67dd26a8c27df0381b3"
}
}
},
"nbformat": 4,
"nbformat_minor": 2
}
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