feat: Export Capella

capella_ros_tools/modules/capella/parser.py

@@ -49,18 +49,27 @@ def get_enums(self, package: t.Any) -> list[EnumDef]:
         """Get enums in Capella model."""
         enums = []
         for enum in package.enumerations:
+            values = []
+            for literal in enum.owned_literals:
+                try:
+                    type_name = literal.value.type.name
+                    literal_value = literal.value.value
+                except AttributeError:
+                    type_name = ""
+                    literal_value = ""
+
+                values.append(
+                    EnumValue(
+                        type_name,
+                        literal.name,
+                        literal_value,
+                        literal.description,
+                    )
+                )
             enums.append(
                 EnumDef(
                     enum.name,
-                    [
-                        EnumValue(
-                            literal.value.type.name,
-                            literal.name,
-                            literal.value.value,
-                            literal.description,
-                        )
-                        for literal in enum.owned_literals
-                    ],
+                    values,
                     enum.description,
                 )
             )

capella_ros_tools/scripts/capella2msg.py

@@ -91,13 +91,14 @@ def _add_package(self, current_root: t.Any) -> MessagePkgDef:
                             [
                                 ConstantDef(
                                     BaseTypeDef(
-                                        CAPELLA_TYPE_TO_MSG[value.type]
+                                        CAPELLA_TYPE_TO_MSG.get(value.type)
+                                        or "uint8"
                                     ),
                                     value.name,
-                                    str(value.value),
+                                    value.value or str(i),
                                     value.description.split("\n"),
                                 )
-                                for value in enum.values
+                                for i, value in enumerate(enum.values)
                             ],
                             [],
                         )

docs/source/examples/Export capella.ipynb

@@ -9,29 +9,28 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
-    "import capellambse\n",
     "from capella_ros_tools.scripts import capella2msg\n",
     "from pathlib import Path"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
-    "msg_path = Path(\"data/coffee_msgs\")\n",
-    "capella_path = capellambse.filehandler.get_filehandler(\"git+https://github.com/DSD-DBS/coffee-machine\")\n",
+    "msg_path = Path(\"data/test\")\n",
+    "capella_path = Path(\"data/melody_model_60\")\n",
     "layer = \"la\""
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [
     {
@@ -49,7 +48,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [],
    "source": [

docs/source/examples/Parse capella.ipynb

@@ -0,0 +1,122 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Parse Capella"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from capella_ros_tools.modules.capella.parser import CapellaModel\n",
+    "from pathlib import Path"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Cannot load PVMT extension: ValueError: Provided model does not have a PropertyValuePkg\n",
+      "Property values are not available in this model\n"
+     ]
+    }
+   ],
+   "source": [
+    "model = CapellaModel(Path(\"data/melody_model_60\"), \"la\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'Wand Objects'}"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "model.get_packages(model.data)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "[ClassDef(name='Wand', properties=[ClassProperty(type_name='String', type_pkg_name=None, name='owner', min_card='1', max_card='1', description=''), ClassProperty(type_name='Wand Core', type_pkg_name=None, name='core', min_card='1', max_card='1', description=''), ClassProperty(type_name='Wand Wood', type_pkg_name=None, name='wood', min_card='1', max_card='1', description='')], description=''),\n",
+       " ClassDef(name='Class 2', properties=[], description='')]"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "model.get_classes(model.data)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "[EnumDef(name='Wand Core', values=[EnumValue(type='', name='Unicorn Hair', value='', description=''), EnumValue(type='', name='Dragon Heartstring', value='', description=''), EnumValue(type='', name='Pheonix Feather', value='', description=''), EnumValue(type='', name='Thestral Tail-Hair', value='', description='')], description=''),\n",
+       " EnumDef(name='Wand Wood', values=[EnumValue(type='', name='Apple', value='', description=''), EnumValue(type='', name='Cedar', value='', description=''), EnumValue(type='', name='Ebony', value='', description=''), EnumValue(type='', name='Elder', value='', description=''), EnumValue(type='', name='Holly', value='', description='')], description='')]"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "model.get_enums(model.data)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".capella_venv",
+   "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": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

docs/source/examples/Parse capella.ipynb.license

@@ -0,0 +1,2 @@
+# Copyright DB InfraGO AG and contributors
+# SPDX-License-Identifier: CC0-1.0

docs/source/examples/Parse messages.ipynb

@@ -15,7 +15,7 @@
             "source": [
                 "from capella_ros_tools.modules.messages.parser import MessageDef\n",
                 "from pathlib import Path\n",
-                "from IPython.display import display\n"
+                "from IPython.display import display"
             ]
         },
         {
@@ -72,56 +72,10 @@
                 {
                     "data": {
                         "text/html": [
-                            "<h1>CameraInfo</h1><p># This message defines meta information for a camera. It should be in a<br># camera namespace on topic \"camera_info\" and accompanied by up to five<br># image topics named:<br>#<br>#   image_raw - raw data from the camera driver, possibly Bayer encoded<br>#   image            - monochrome, distorted<br>#   image_color      - color, distorted<br>#   image_rect       - monochrome, rectified<br>#   image_rect_color - color, rectified<br>#<br># The image_pipeline contains packages (image_proc, stereo_image_proc)<br># for producing the four processed image topics from image_raw and<br># camera_info. The meaning of the camera parameters are described in<br># detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.<br>#<br># The image_geometry package provides a user-friendly interface to<br># common operations using this meta information. If you want to, e.g.,<br># project a 3d point into image coordinates, we strongly recommend<br># using image_geometry.<br>#<br># If the camera is uncalibrated, the matrices D, K, R, P should be left<br># zeroed out. In particular, clients may assume that K[0] == 0.0<br># indicates an uncalibrated camera.<br>#######################################################################<br>#                     Image acquisition info                          #<br>#######################################################################<br>#######################################################################<br>#                      Calibration Parameters                         #<br>#######################################################################<br># These are fixed during camera calibration. Their values will be the #<br># same in all messages until the camera is recalibrated. Note that    #<br># self-calibrating systems may \"recalibrate\" frequently.              #<br>#                                                                     #<br># The internal parameters can be used to warp a raw (distorted) image #<br># to:                                                                 #<br>#   1. An undistorted image (requires D and K)                        #<br>#   2. A rectified image (requires D, K, R)                           #<br># The projection matrix P projects 3D points into the rectified image.#<br>#######################################################################<br>#######################################################################<br>#                      Operational Parameters                         #<br>#######################################################################<br># These define the image region actually captured by the camera       #<br># driver. Although they affect the geometry of the output image, they #<br># may be changed freely without recalibrating the camera.             #<br>#######################################################################</p><h2>Fields</h2><ol><li>std_msgs/Header header<br># Time of image acquisition, camera coordinate frame ID<br># Header timestamp should be acquisition time of image<br># Header frame_id should be optical frame of camera<br># origin of frame should be optical center of camera<br># +x should point to the right in the image<br># +y should point down in the image<br># +z should point into the plane of the image</li><li>uint32 height<br># The image dimensions with which the camera was calibrated.<br># Normally this will be the full camera resolution in pixels.</li><li>uint32 width<br># The image dimensions with which the camera was calibrated.<br># Normally this will be the full camera resolution in pixels.</li><li>string distortion_model<br># The distortion model used. Supported models are listed in<br># sensor_msgs/distortion_models.hpp. For most cameras, \"plumb_bob\" - a<br># simple model of radial and tangential distortion - is sufficent.</li><li>float64[] d<br># The distortion parameters, size depending on the distortion model.<br># For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).</li><li>float64[9] k<br># Intrinsic camera matrix for the raw (distorted) images.<br>#     [fx  0 cx]<br># K = [ 0 fy cy]<br>#     [ 0  0  1]<br># Projects 3D points in the camera coordinate frame to 2D pixel<br># coordinates using the focal lengths (fx, fy) and principal point<br># (cx, cy).<br># 3x3 row-major matrix</li><li>float64[9] r<br># Rectification matrix (stereo cameras only)<br># A rotation matrix aligning the camera coordinate system to the ideal<br># stereo image plane so that epipolar lines in both stereo images are<br># parallel.<br># 3x3 row-major matrix</li><li>float64[12] p<br># Projection/camera matrix<br>#     [fx'  0  cx' Tx]<br># P = [ 0  fy' cy' Ty]<br>#     [ 0   0   1   0]<br># By convention, this matrix specifies the intrinsic (camera) matrix<br>#  of the processed (rectified) image. That is, the left 3x3 portion<br>#  is the normal camera intrinsic matrix for the rectified image.<br># It projects 3D points in the camera coordinate frame to 2D pixel<br>#  coordinates using the focal lengths (fx', fy') and principal point<br>#  (cx', cy') - these may differ from the values in K.<br># For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will<br>#  also have R = the identity and P[1:3,1:3] = K.<br># For a stereo pair, the fourth column [Tx Ty 0]' is related to the<br>#  position of the optical center of the second camera in the first<br>#  camera's frame. We assume Tz = 0 so both cameras are in the same<br>#  stereo image plane. The first camera always has Tx = Ty = 0. For<br>#  the right (second) camera of a horizontal stereo pair, Ty = 0 and<br>#  Tx = -fx' * B, where B is the baseline between the cameras.<br># Given a 3D point [X Y Z]', the projection (x, y) of the point onto<br>#  the rectified image is given by:<br>#  [u v w]' = P * [X Y Z 1]'<br>#         x = u / w<br>#         y = v / w<br>#  This holds for both images of a stereo pair.<br># 3x4 row-major matrix</li><li>uint32 binning_x<br># Binning refers here to any camera setting which combines rectangular<br>#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the<br>#  resolution of the output image to<br>#  (width / binning_x) x (height / binning_y).<br># The default values binning_x = binning_y = 0 is considered the same<br>#  as binning_x = binning_y = 1 (no subsampling).</li><li>uint32 binning_y<br># Binning refers here to any camera setting which combines rectangular<br>#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the<br>#  resolution of the output image to<br>#  (width / binning_x) x (height / binning_y).<br># The default values binning_x = binning_y = 0 is considered the same<br>#  as binning_x = binning_y = 1 (no subsampling).</li><li>RegionOfInterest roi<br># Region of interest (subwindow of full camera resolution), given in<br>#  full resolution (unbinned) image coordinates. A particular ROI<br>#  always denotes the same window of pixels on the camera sensor,<br>#  regardless of binning settings.<br># The default setting of roi (all values 0) is considered the same as<br>#  full resolution (roi.width = width, roi.height = height).</li></ol><h2>Enums</h2><ol></ol>"
+                            "<h1>PointCloud2</h1><p># Copyright DB InfraGO AG and contributors<br># SPDX-License-Identifier: CC0-1.0<br>#<br># This message holds a collection of N-dimensional points, which may<br># contain additional information such as normals, intensity, etc. The<br># point data is stored as a binary blob, its layout described by the<br># contents of the \"fields\" array.<br>#<br># The point cloud data may be organized 2d (image-like) or 1d (unordered).<br># Point clouds organized as 2d images may be produced by camera depth sensors<br># such as stereo or time-of-flight.</p><h2>Fields</h2><ol><li>std_msgs/Header header<br># Time of sensor data acquisition, and the coordinate frame ID (for 3d points).</li><li>uint32 height<br># 2D structure of the point cloud. If the cloud is unordered, height is<br># 1 and width is the length of the point cloud.</li><li>uint32 width<br># 2D structure of the point cloud. If the cloud is unordered, height is<br># 1 and width is the length of the point cloud.</li><li>PointField[] fields<br># Describes the channels and their layout in the binary data blob.</li><li>bool is_bigendian<br># Is this data bigendian?</li><li>uint32 point_step<br># Length of a point in bytes</li><li>uint32 row_step<br># Length of a row in bytes</li><li>uint8[] data<br># Actual point data, size is (row_step*height)</li><li>bool is_dense<br># True if there are no invalid points</li></ol><h2>Enums</h2><ol></ol>"
                         ],
                         "text/plain": [
-                            "<capella_ros_tools.modules.messages.parser.MessageDef at 0x7f3594025570>"
-                        ]
-                    },
-                    "metadata": {},
-                    "output_type": "display_data"
-                }
-            ],
-            "source": [
-                "msgs = MessageDef.from_msg_file(Path(\"data/example_msgs/CameraInfo.msg\"))\n",
-                "display(msgs)"
-            ]
-        },
-        {
-            "cell_type": "code",
-            "execution_count": 5,
-            "metadata": {},
-            "outputs": [
-                {
-                    "data": {
-                        "text/html": [
-                            "<h1>DiagnosticStatus</h1><p># This message holds the status of an individual component of the robot.</p><h2>Fields</h2><ol><li>DiagnosticStatusLevel level<br># Level of operation enumerated above.</li><li>string name<br># A description of the test/component reporting.</li><li>string message<br># A description of the status.</li><li>string hardware_id<br># A hardware unique string.</li><li>KeyValue[] values<br># An array of values associated with the status.</li></ol><h2>Enums</h2><ol><li><b>DiagnosticStatusLevel</b><br># Possible levels of operations.<ul><li>byte OK = 0<br></li><li>byte WARN = 1<br></li><li>byte ERROR = 2<br></li><li>byte STALE = 3<br></li></ul></li></ol>"
-                        ],
-                        "text/plain": [
-                            "<capella_ros_tools.modules.messages.parser.MessageDef at 0x7f358c664fd0>"
-                        ]
-                    },
-                    "metadata": {},
-                    "output_type": "display_data"
-                }
-            ],
-            "source": [
-                "msgs = MessageDef.from_msg_file(Path(\"data/example_msgs/DiagnosticStatus.msg\"))\n",
-                "display(msgs)"
-            ]
-        },
-        {
-            "cell_type": "code",
-            "execution_count": 6,
-            "metadata": {},
-            "outputs": [
-                {
-                    "data": {
-                        "text/html": [
-                            "<h1>PointCloud2</h1><p># This message holds a collection of N-dimensional points, which may<br># contain additional information such as normals, intensity, etc. The<br># point data is stored as a binary blob, its layout described by the<br># contents of the \"fields\" array.<br>#<br># The point cloud data may be organized 2d (image-like) or 1d (unordered).<br># Point clouds organized as 2d images may be produced by camera depth sensors<br># such as stereo or time-of-flight.</p><h2>Fields</h2><ol><li>std_msgs/Header header<br># Time of sensor data acquisition, and the coordinate frame ID (for 3d points).</li><li>uint32 height<br># 2D structure of the point cloud. If the cloud is unordered, height is<br># 1 and width is the length of the point cloud.</li><li>uint32 width<br># 2D structure of the point cloud. If the cloud is unordered, height is<br># 1 and width is the length of the point cloud.</li><li>PointField[] fields<br># Describes the channels and their layout in the binary data blob.</li><li>bool is_bigendian<br># Is this data bigendian?</li><li>uint32 point_step<br># Length of a point in bytes</li><li>uint32 row_step<br># Length of a row in bytes</li><li>uint8[] data<br># Actual point data, size is (row_step*height)</li><li>bool is_dense<br># True if there are no invalid points</li></ol><h2>Enums</h2><ol></ol>"
-                        ],
-                        "text/plain": [
-                            "<capella_ros_tools.modules.messages.parser.MessageDef at 0x7f358c32beb0>"
+                            "<capella_ros_tools.modules.messages.parser.MessageDef at 0x7fb964d20460>"
                         ]
                     },
                     "metadata": {},

pyproject.toml

@@ -41,9 +41,14 @@ Documentation = "https://dsd-dbs.github.io/capella-ros-tools"
 [project.optional-dependencies]
 docs = [
   "furo",
-  "sphinx",
+  "ipython",
+  "nbsphinx",
   "sphinx-copybutton",
   "tomli; python_version<'3.11'",
+  "jinja2",
+  "pyyaml>=6.0",
+  "sphinx!=7.2.0,!=7.2.1,!=7.2.2",
+  "sphinx-argparse-cli",
 ]
 
 test = [