Python message class generation

Makefile

@@ -23,6 +23,7 @@
 Q ?=@
 
 MAKE = make
+PY ?= python3 
 
 PPRZLINK_MSG_VERSION ?= 1.0
 PPRZLINK_LIB_VERSION ?= 2.0
@@ -37,6 +38,11 @@ UNITS_XML ?= message_definitions/common/units.xml
 MESSAGES_INSTALL ?= $(PREFIX)/var
 MESSAGES_INCLUDE ?= $(MESSAGES_INSTALL)/include/pprzlink
 MESSAGES_LIB ?= $(MESSAGES_INSTALL)/share/pprzlink/src
+LIB_PYTHON ?= $(MESSAGES_INSTALL)/python
+LIB_PYTHON_PPRZ ?= $(LIB_PYTHON)/pprzlink
+MESSAGES_PYTHON ?= $(LIB_PYTHON_PPRZ)/generated
+ALERT_PYTHON ?= $(MESSAGES_PYTHON)/alert
+GROUND_PYTHON ?= $(MESSAGES_PYTHON)/ground
 TELEMETRY_H ?= $(MESSAGES_INCLUDE)/messages.h
 DATALINK_H ?= $(MESSAGES_INCLUDE)/dl_protocol.h
 INTERMCU_H ?= $(MESSAGES_INCLUDE)/intermcu_msg.h
@@ -71,19 +77,43 @@ libpprzlink-install:
 pre_messages_dir:
 	$(Q)test -d $(MESSAGES_INCLUDE) || mkdir -p $(MESSAGES_INCLUDE)
 	$(Q)test -d $(MESSAGES_LIB) || mkdir -p $(MESSAGES_LIB)
+	$(Q)test -d $(MESSAGE_PYTHON) || mkdir -p $(MESSAGE_PYTHON)
 
 post_messages_install:
 	@echo 'Copy extra lib files'
 	$(Q)cp $(MESSAGES_XML) $(MESSAGES_DTD) $(UNITS_XML) $(MESSAGES_INSTALL)
 	$(Q)Q=$(Q) MESSAGES_INCLUDE=$(MESSAGES_INCLUDE) MESSAGES_LIB=$(MESSAGES_LIB) $(MAKE) -C lib/v$(PPRZLINK_LIB_VERSION)/C install
 
+post_messages_python_install:
+	@echo 'Copy extra Python lib files'
+	$(Q)cp -a lib/v$(PPRZLINK_LIB_VERSION)/python/. $(LIB_PYTHON)
+	$(shell echo "__all__ = ['telemetry','datalink','intermcu','alert','ground']" >> $(MESSAGES_PYTHON)/__init__.py)
+
 pygen_messages: pre_messages_dir
 	@echo 'Generate C messages (Python) at location $(MESSAGES_INCLUDE)'
-	$(Q)./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang C -o $(TELEMETRY_H) $(MESSAGES_XML) telemetry
-	$(Q)./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang C -o $(DATALINK_H) $(MESSAGES_XML) datalink
-	$(Q)./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang C -o $(INTERMCU_H) $(MESSAGES_XML) intermcu
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang C -o $(TELEMETRY_H) $(MESSAGES_XML) telemetry
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang C -o $(DATALINK_H) $(MESSAGES_XML) datalink
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang C -o $(INTERMCU_H) $(MESSAGES_XML) intermcu
+
+pygen_python_messages: pre_messages_dir
+	@echo 'Generate Python at location $(MESSAGE_PYTHON)'
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang Python -o $(MESSAGES_PYTHON) $(MESSAGES_XML) telemetry
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang Python -o $(MESSAGES_PYTHON) $(MESSAGES_XML) datalink
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang Python -o $(MESSAGES_PYTHON) $(MESSAGES_XML) intermcu
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang Python -o $(MESSAGES_PYTHON) $(MESSAGES_XML) alert
+	$(Q) $(PY) ./tools/generator/gen_messages.py $(VALIDATE_FLAG) --protocol $(PPRZLINK_LIB_VERSION) --messages $(PPRZLINK_MSG_VERSION) --lang Python -o $(MESSAGES_PYTHON) $(MESSAGES_XML) ground
+
+
+pymessages: pygen_messages pygen_python_messages post_messages_install post_messages_python_install
+
+libpprzlink-pygen-python-install: pygen_python_messages post_messages_python_install
+	$(Q)cp $(MESSAGES_XML) $(LIB_PYTHON_PPRZ)
+ifdef $(DESTDIR)
+	$(Q)Q=$(Q) DESTDIR=$(DESTDIR)/python $(MAKE) -C $(LIB_PYTHON) install
+else
+	$(Q)Q=$(Q) $(MAKE) -C $(LIB_PYTHON) install
+endif
 
-pymessages: pygen_messages post_messages_install
 
 clean :
 	$(Q)$(MAKE) -C tools/generator clean
@@ -93,8 +123,8 @@ uninstall: clean
 	$(Q)rm -rf var bin build $(MESSAGES_INCLUDE) $(MESSAGES_LIB)
 
 validate_messages:
-	$(Q)./tools/generator/gen_messages.py --only-validate $(MESSAGES_XML) telemetry
-	$(Q)./tools/generator/gen_messages.py --only-validate $(MESSAGES_XML) datalink
-	$(Q)./tools/generator/gen_messages.py --only-validate $(MESSAGES_XML) intermcu
+	$(Q) $(PY) ./tools/generator/gen_messages.py --only-validate $(MESSAGES_XML) telemetry
+	$(Q) $(PY) ./tools/generator/gen_messages.py --only-validate $(MESSAGES_XML) datalink
+	$(Q) $(PY) ./tools/generator/gen_messages.py --only-validate $(MESSAGES_XML) intermcu
 
 .PHONY: libpprzlink++-install libpprzlink++ libpprzlink libpprzlink-install pre_messages_dir post_messages_install pygen_messages pymessages clean uninstall validate_messages

lib/v2.0/python/Makefile

@@ -19,7 +19,10 @@
 # <http://www.gnu.org/licenses/>.
 #
 
+PY ?= python3
+
 MAKE = make
+DESTDIR ?=$(shell $(PY) -m site --user-site)
 
 all:
 
@@ -29,5 +32,12 @@ install:
 	$(Q)test -d $(DESTDIR) || mkdir -p $(DESTDIR)
 	$(Q)cp -r pprzlink $(DESTDIR)
 
-.PHONY: all install
+uninstall:
+	$(Q)rm -rf $(DESTDIR)/pprzlink 
+
+reinstall:
+	$(Q)make uninstall
+	$(Q)make install
+
+.PHONY: all install uninstall reinstall
 

lib/v2.0/python/pprzlink/ivy.py

@@ -20,14 +20,38 @@
 from ivy.std_api import *
 from ivy.ivy import IvyIllegalStateError
 import logging
-import os
+import os,sys
 import re
 import platform
+import typing
+import string
+import sys
 
 from pprzlink.message import PprzMessage
-from pprzlink import messages_xml_map
 from pprzlink.request_uid import RequestUIDFactory
 
+try:
+    import pprzlink.generated
+    from pprzlink.generated import *
+    import inspect
+
+    STATIC_MSG_CLASSES = True
+
+    def pprzmessage_subclass_perdicate(o) -> bool:
+        __pattern = "PprzMessage_"
+        return inspect.isclass(o) and o.__name__[:len(__pattern)] == __pattern
+
+    msg_str_to_class:typing.Dict[str,typing.Type] = dict()
+    for submodule_name in pprzlink.generated.__all__:
+        for name, obj in inspect.getmembers(sys.modules[pprzlink.generated.__name__ + "." + submodule_name],pprzmessage_subclass_perdicate):
+            msg_str_to_class[name.split('_',maxsplit=1)[1]] = obj
+
+except ImportError:
+    from pprzlink import messages_xml_map
+    STATIC_MSG_CLASSES = False
+    msg_str_to_class = None
+
+
 
 if os.getenv('IVY_BUS') is not None:
     IVY_BUS = os.getenv('IVY_BUS')
@@ -43,17 +67,25 @@ class IvyMessagesInterface(object):
     """
     This class is the interface between the paparazzi messages and the Ivy bus.
     """
-    def __init__(self, agent_name=None, start_ivy=True, verbose=False, ivy_bus=IVY_BUS):
+    def __init__(self, agent_name:typing.Optional[str]=None, start_ivy:bool=True, verbose:bool=False, ivy_bus=IVY_BUS):
         if agent_name is None:
             agent_name = "IvyMessagesInterface %i" % os.getpid()
+        else:
+
+            for c in agent_name:
+                try:
+                    assert c in string.ascii_letters + string.digits + "+-_"
+                except AssertionError:
+                    raise ValueError(f"Invalid name: {agent_name}\n(Contains {c} which is neither a letter, a digit or any of '+','-','_')")
         self.agent_name = agent_name
         self.verbose = verbose
         self._ivy_bus = ivy_bus
         self._running = False
 
-        # make sure all messages are parsed before we start creating them in callbacks
-        # the message parsing should really be redone...
-        messages_xml_map.parse_messages()
+        if not STATIC_MSG_CLASSES:
+            # make sure all messages are parsed before we start creating them in callbacks
+            # the message parsing should really be redone...
+            messages_xml_map.parse_messages()
 
         # bindings with associated callback functions
         self.bindings = {}
@@ -166,7 +198,7 @@ def unsubscribe(self, bind_id):
         self.unbind(bind_id)
 
     @staticmethod
-    def parse_pprz_msg(ivy_msg):
+    def parse_pprz_msg(ivy_msg:str):
         """
         Parse an Ivy message into a PprzMessage.
 
@@ -200,13 +232,22 @@ def parse_pprz_msg(ivy_msg):
             payload = data.group(3)
             request_id = None
         # check which message class it is
-        try:
-            msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
-        except ValueError:
-            logger.error("Ignoring unknown message " + ivy_msg)
-            return
+        if not STATIC_MSG_CLASSES:
+            try:
+                msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
+            except ValueError:
+                logger.error("Ignoring unknown message " + ivy_msg)
+                return
+            msg = PprzMessage(msg_class, msg_name)
+        else:
+            try:
+                msg:PprzMessage = msg_str_to_class[msg_name.upper()]()
+                msg_class = msg.msg_class
+            except KeyError:
+                logger.error("Ignoring unknown message " + ivy_msg)
+                return
 
-        msg = PprzMessage(msg_class, msg_name)
+
         msg.ivy_string_to_payload(payload)
         # pass non-telemetry messages with ac_id 0 or ac_id attrib value
         if msg_class == "telemetry":
@@ -220,14 +261,13 @@ def parse_pprz_msg(ivy_msg):
                 return None
         else:
             if 'ac_id' in msg.fieldnames:
-                ac_id_idx = msg.fieldnames.index('ac_id')
-                ac_id = msg.fieldvalues[ac_id_idx]
+                ac_id = msg['ac_id']
             else:
                 ac_id = 0
         # finally call the callback, passing the aircraft id, request id (might be None) and parsed message
         return ac_id, request_id, msg
 
-    def send_raw_datalink(self, msg):
+    def send_raw_datalink(self, msg:PprzMessage):
         """
         Send a PprzMessage of datalink msg_class embedded in RAW_DATALINK message