Migrate to Nunavut v2 (#318)

Closes #277 

Co-authored-by: Erik Rainey <[email protected]>
Co-authored-by: Pavel Kirienko <[email protected]>

.gitignore

@@ -48,6 +48,7 @@ coverage.xml
 .*compiled
 *.cache
 *.db
+nunavut_support.py
 
 .scannerwork
 

CHANGELOG.rst

@@ -3,6 +3,11 @@
 Changelog
 =========
 
+v1.17
+-----
+- Move to Nunavut Version 2
+  See (`#318 <https://github.com/OpenCyphal/pycyphal/pull/318>`_) for details on the internal changes.
+
 v1.16
 -----
 

docs/pages/architecture.rst

@@ -230,26 +230,25 @@ The auto-generated classes have a high-level application-facing API and built-in
 serialization and deserialization routines.
 
 By default, pycyphal installs an import hook, which automatically compiles DSDLs on import (if not yet compiled).
-Import hook is triggered when all other import handlers fail (local folder or ``PYTHONPATH``). Import hook then
-checks for a root namespace matching imported module name inside one of the paths in ``CYPHAL_PATH`` environment
-variable. If found, DSDL root namespace is compiled into output directory given by ``PYCYPHAL_PATH`` environment
-variable, or if not provided, into `~/.pycyphal` (or OS equivalent). Default import hook can be disabled by setting
-``PYCYPHAL_NO_IMPORT_HOOK=True`` environment variable.
+Import hook is triggered when all other import handlers fail (local folder or ``PYTHONPATH``). The import hook then
+checks for a root namespace matching imported module name inside one of the paths in the ``CYPHAL_PATH`` environment
+variable. If found, DSDL root namespace is compiled into output directory given by the ``PYCYPHAL_PATH`` environment
+variable, or if not provided, into ``~/.pycyphal`` (or OS equivalent).
+The default import hook can be disabled by setting the ``PYCYPHAL_NO_IMPORT_HOOK`` environment variable to 1.
 
 The main API entries are:
 
 - :func:`pycyphal.dsdl.compile` --- transcompiles a DSDL namespace into a Python package.
 
 - :func:`pycyphal.dsdl.serialize` and :func:`pycyphal.dsdl.deserialize` --- serialize and deserialize
   an instance of an autogenerated class.
-
-- :class:`pycyphal.dsdl.CompositeObject` and :class:`pycyphal.dsdl.ServiceObject` --- base classes for
-  Python classes generated from DSDL type definitions; message types and service types, respectively.
+  These functions are wrappers of the Nunavut generated support functions in ``nunavut_support.py``.
 
 - :func:`pycyphal.dsdl.to_builtin` and :func:`pycyphal.dsdl.update_from_builtin` --- used to convert
   a DSDL object instance to/from a simplified representation using only built-in types such as :class:`dict`,
   :class:`list`, :class:`int`, :class:`float`, :class:`str`, and so on. These can be used as an intermediate
   representation for conversion to/from JSON, YAML, and other commonly used serialization formats.
+  These functions are wrappers of the Nunavut generated support functions in ``nunavut_support.py``.
 
 
 Presentation layer

pycyphal/_version.py

@@ -1 +1 @@
-__version__ = "1.16.1"
+__version__ = "1.17.0"

pycyphal/application/_node.py

@@ -9,6 +9,7 @@
 import logging
 import uavcan.node
 import pycyphal
+import nunavut_support
 from pycyphal.presentation import Presentation, ServiceRequestMetadata, Publisher, Subscriber, Server, Client
 from . import heartbeat_publisher
 from . import register
@@ -202,7 +203,7 @@ def _resolve_port(self, dtype: Any, kind: str, name_or_id: str | int) -> int:
             return self._resolve_named_port(dtype, kind, name_or_id)
         if isinstance(name_or_id, str):
             assert not name_or_id
-            res = pycyphal.dsdl.get_fixed_port_id(dtype)
+            res = nunavut_support.get_fixed_port_id(dtype)
             if res is not None:
                 return res
             raise TypeError(f"Type {dtype} has no fixed port-ID, and no port name is given")
@@ -227,7 +228,7 @@ def _resolve_named_port(self, dtype: Any, kind: str, name: str, *, default: int
             )
         )
         # Expose the type information to other network participants as prescribed by the Specification.
-        model = pycyphal.dsdl.get_model(dtype)
+        model = nunavut_support.get_model(dtype)
         self.registry[self._get_port_type_register_name(kind, name)] = lambda: register.Value(
             string=register.String(str(model))
         )
@@ -236,7 +237,7 @@ def _resolve_named_port(self, dtype: Any, kind: str, name: str, *, default: int
 
         # Default to the fixed port-ID if the register value is invalid.
         _logger.debug("%r: %r = %r not in [0, %d], assume undefined", self, id_register_name, port_id, mask)
-        fpid = pycyphal.dsdl.get_fixed_port_id(dtype)
+        fpid = nunavut_support.get_fixed_port_id(dtype)
         if fpid is not None:
             return fpid
 

pycyphal/application/_port_list_publisher.py

@@ -17,6 +17,8 @@
 from uavcan.node.port import ServiceIDList_0 as ServiceIDList
 from uavcan.node.port import SubjectID_1 as SubjectID
 
+import nunavut_support
+
 
 @dataclasses.dataclass(frozen=True)
 class _State:
@@ -130,7 +132,7 @@ def _make_port_list(state: _State, packet_capture_mode: bool) -> List:
 
 
 def _make_subject_id_list(ports: Set[int]) -> SubjectIDList:
-    sparse_list_type = pycyphal.dsdl.get_model(SubjectIDList)["sparse_list"].data_type
+    sparse_list_type = nunavut_support.get_model(SubjectIDList)["sparse_list"].data_type
     assert isinstance(sparse_list_type, pydsdl.ArrayType)
 
     if len(ports) <= sparse_list_type.capacity:

pycyphal/application/file.py

@@ -18,6 +18,8 @@
 import uavcan.file
 import uavcan.primitive
 
+import nunavut_support
+
 # import X as Y is not an accepted form; see https://github.com/python/mypy/issues/11706
 Path = uavcan.file.Path_2
 Error = uavcan.file.Error_1
@@ -52,7 +54,7 @@ def __init__(
         self._roots = [pathlib.Path(x).resolve() for x in roots]
 
         # noinspection PyUnresolvedReferences
-        self._data_transfer_capacity = int(pycyphal.dsdl.get_model(Unstructured)["value"].data_type.capacity)
+        self._data_transfer_capacity = int(nunavut_support.get_model(Unstructured)["value"].data_type.capacity)
 
         s_ls = node.get_server(List)
         s_if = node.get_server(GetInfo)
@@ -293,7 +295,7 @@ def __init__(
         self._clients: typing.Dict[typing.Type[object], pycyphal.presentation.Client[object]] = {}
 
         # noinspection PyUnresolvedReferences
-        self._data_transfer_capacity = int(pycyphal.dsdl.get_model(Unstructured)["value"].data_type.capacity)
+        self._data_transfer_capacity = int(nunavut_support.get_model(Unstructured)["value"].data_type.capacity)
 
     @property
     def data_transfer_capacity(self) -> int:

pycyphal/application/heartbeat_publisher.py

@@ -17,6 +17,7 @@
 from uavcan.node import Heartbeat_1 as Heartbeat
 import pycyphal
 import pycyphal.application
+import nunavut_support
 
 
 class Health(enum.IntEnum):
@@ -44,7 +45,7 @@ class Mode(enum.IntEnum):
 
 
 VENDOR_SPECIFIC_STATUS_CODE_MASK = (
-    2 ** pycyphal.dsdl.get_model(Heartbeat)["vendor_specific_status_code"].data_type.bit_length_set.max - 1
+    2 ** nunavut_support.get_model(Heartbeat)["vendor_specific_status_code"].data_type.bit_length_set.max - 1
 )
 
 

pycyphal/application/plug_and_play.py

@@ -24,15 +24,16 @@
 from uavcan.pnp import NodeIDAllocationData_2 as NodeIDAllocationData_2
 import pycyphal
 import pycyphal.application
+import nunavut_support
 
 # import X as Y is not an accepted form; see https://github.com/python/mypy/issues/11706
 ID = uavcan.node.ID_1
 
 _PSEUDO_UNIQUE_ID_MASK = (
-    2 ** pycyphal.dsdl.get_model(NodeIDAllocationData_1)["unique_id_hash"].data_type.bit_length_set.max - 1
+    2 ** nunavut_support.get_model(NodeIDAllocationData_1)["unique_id_hash"].data_type.bit_length_set.max - 1
 )
 
-_NODE_ID_MASK = 2 ** pycyphal.dsdl.get_model(ID)["value"].data_type.bit_length_set.max - 1
+_NODE_ID_MASK = 2 ** nunavut_support.get_model(ID)["value"].data_type.bit_length_set.max - 1
 
 _UNIQUE_ID_SIZE_BYTES = pycyphal.application.NodeInfo().unique_id.size
 
@@ -65,7 +66,7 @@ class Allocatee:
 
     DEFAULT_PRIORITY = pycyphal.transport.Priority.SLOW
 
-    _MTU_THRESHOLD = pycyphal.dsdl.get_model(NodeIDAllocationData_2).bit_length_set.max // 8
+    _MTU_THRESHOLD = nunavut_support.get_model(NodeIDAllocationData_2).bit_length_set.max // 8
 
     def __init__(
         self,

pycyphal/application/register/_value.py

@@ -6,7 +6,7 @@
 from typing import Union, Iterable, List, Any, Optional, no_type_check
 from numpy.typing import NDArray
 import pycyphal
-from pycyphal.dsdl import get_attribute
+from nunavut_support import get_attribute
 from .backend import Value as Value
 from . import String, Unstructured, Bit
 from . import Integer8, Integer16, Integer32, Integer64

pycyphal/application/register/backend/static.py

@@ -7,7 +7,7 @@
 from pathlib import Path
 import logging
 import sqlite3
-import pycyphal
+import nunavut_support
 from . import Entry, BackendError, Backend, Value
 
 
@@ -107,7 +107,7 @@ def __getitem__(self, key: str) -> Entry:
             raise KeyError(key)
         mutable, value = res
         assert isinstance(value, bytes)
-        obj = pycyphal.dsdl.deserialize(Value, [memoryview(value)])
+        obj = nunavut_support.deserialize(Value, [memoryview(value)])
         if obj is None:  # pragma: no cover
             _logger.warning("%r: Value of %r is not a valid serialization of %s: %r", self, key, Value, value)
             raise KeyError(key)
@@ -135,7 +135,7 @@ def __setitem__(self, key: str, value: Union[Entry, Value]) -> None:
         self._execute(
             r"insert or replace into register (name, value, mutable) values (?, ?, ?)",
             key,
-            b"".join(pycyphal.dsdl.serialize(e.value)),
+            b"".join(nunavut_support.serialize(e.value)),
             e.mutable,
             commit=True,
         )

pycyphal/dsdl/__init__.py

@@ -21,26 +21,22 @@
 from ._compiler import compile_all as compile_all
 from ._compiler import GeneratedPackageInfo as GeneratedPackageInfo
 
-from ._composite_object import serialize as serialize
-from ._composite_object import deserialize as deserialize
-
-from ._composite_object import get_fixed_port_id as get_fixed_port_id
-from ._composite_object import get_model as get_model
-from ._composite_object import get_class as get_class
-from ._composite_object import get_extent_bytes as get_extent_bytes
-
-from ._composite_object import get_attribute as get_attribute
-from ._composite_object import set_attribute as set_attribute
-
-from ._composite_object import is_serializable as is_serializable
-from ._composite_object import is_message_type as is_message_type
-from ._composite_object import is_service_type as is_service_type
-
-from ._builtin_form import to_builtin as to_builtin
-from ._builtin_form import update_from_builtin as update_from_builtin
-
 from ._import_hook import install_import_hook as install_import_hook
 
+from ._support_wrappers import serialize as serialize
+from ._support_wrappers import deserialize as deserialize
+from ._support_wrappers import get_model as get_model
+from ._support_wrappers import get_class as get_class
+from ._support_wrappers import get_extent_bytes as get_extent_bytes
+from ._support_wrappers import get_fixed_port_id as get_fixed_port_id
+from ._support_wrappers import get_attribute as get_attribute
+from ._support_wrappers import set_attribute as set_attribute
+from ._support_wrappers import is_serializable as is_serializable
+from ._support_wrappers import is_message_type as is_message_type
+from ._support_wrappers import is_service_type as is_service_type
+from ._support_wrappers import to_builtin as to_builtin
+from ._support_wrappers import update_from_builtin as update_from_builtin
+
 
 def generate_package(*args, **kwargs):  # type: ignore  # pragma: no cover
     """Deprecated alias of :func:`compile`."""