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documentation (docstrings) in python #2804

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documentation (docstrings) in python #2804

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d2d974d
Added documentation references.
pperle May 1, 2020
3b976ce
Added python script to generate documentation for python from yml.
pperle May 1, 2020
f303055
Fixed "Python version 3.5 does not support a 'F' prefix"
pperle May 1, 2020
a9e83b4
Removed unnecessary brackets
pperle May 1, 2020
ff05df2
Added documentation generation to BuildPythonAPI.sh
pperle May 1, 2020
4bf81ee
Updated CHANGELOG.md
pperle May 1, 2020
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
* Added documentation in Python.

## CARLA 0.9.9

* Introduced hybrid mode for Traffic Manager
Expand Down
79 changes: 79 additions & 0 deletions PythonAPI/carla/generate_type_hints.py
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@@ -0,0 +1,79 @@
import glob
import re
import sys
from typing import List, Any

import yaml


def safe_list(obj: Any) -> List:
if obj is None:
return []
return obj


def get_docstring(doc_file: str) -> dict:
docstrings = dict()

with open(doc_file, 'r') as yaml_file:
documentations = yaml.safe_load(yaml_file)

for documentation in documentations:
for class_doc in documentation.get('classes', []):
docstrings[class_doc['class_name']] = class_doc['doc']
for method in class_doc.get('methods', []):
params = []
details = method.get('doc', '')
for param in safe_list(method.get('params', [])):
details += "\t@param " + str(param['param_name']) + ": " + str(param.get('doc', ''))
param_sig = str(param['param_name']) + ": " + str(param.get('type', None))
if param.get('default', None):
param_sig += " = " + str(param['default'])
params.append(param_sig)

details += "\t@return: " + str(method.get('return', None))
signature = str(method['def_name']) + "(" + str(', '.join(params)) + ") -> " + str(method.get('return', None)) + "\n\n"
docstrings[str(class_doc["class_name"]) + "." + str(method["def_name"])] = signature + details

for instance_variable in safe_list(class_doc.get('instance_variables', [])):
if instance_variable.get('doc', None):
docstrings[str(class_doc["class_name"]) + "." + str(instance_variable["var_name"])] = str(instance_variable.get('type', None)) + ": " + str(instance_variable['doc'])

return docstrings


def escape(line: str) -> str:
return line.replace('\\', '\\\\').replace('\n', r'\n').replace('"', '\\"')


def substitute(source_file: str, docstrings: dict) -> None:
with open(source_file) as input_file:
lines = input_file.readlines()

output_data = []

pattern = re.compile(r'@DocString\((.+?)\)')
for line in lines:
for match in pattern.finditer(line):
docstring = docstrings.get(match.group(1), None)
if docstring is None:
docstring = "no documentation available"
line = line.replace(match.group(0), escape(docstring))
output_data.append(line)

with open(source_file, 'w') as output_file:
for item in output_data:
output_file.write(item)


if __name__ == '__main__':
doc_files = glob.glob(sys.argv[1]) # carla/PythonAPI/docs/*.yml
docstrings = {}
for doc_file in doc_files:
new_docs = get_docstring(doc_file)
docstrings = {**docstrings, **new_docs}

source_files = glob.glob(sys.argv[2]) # carla/PythonAPI/carla/source/libcarla_template/*.cpp
for source_file in source_files:
substitute(source_file, docstrings)

104 changes: 52 additions & 52 deletions PythonAPI/carla/source/libcarla/Actor.cpp
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Expand Up @@ -63,31 +63,31 @@ void export_actor() {

class_<cc::Actor, boost::noncopyable, boost::shared_ptr<cc::Actor>>("Actor", no_init)
// work-around, force return copy to resolve Actor instead of ActorState.
.add_property("id", CALL_RETURNING_COPY(cc::Actor, GetId))
.add_property("type_id", CALL_RETURNING_COPY(cc::Actor, GetTypeId))
.add_property("parent", CALL_RETURNING_COPY(cc::Actor, GetParent))
.add_property("semantic_tags", &GetSemanticTags)
.add_property("is_alive", CALL_RETURNING_COPY(cc::Actor, IsAlive))
.add_property("id", CALL_RETURNING_COPY(cc::Actor, GetId), "@DocString(Actor.id)")
.add_property("type_id", CALL_RETURNING_COPY(cc::Actor, GetTypeId), "@DocString(Actor.type_id)")
.add_property("parent", CALL_RETURNING_COPY(cc::Actor, GetParent), "@DocString(Actor.parent)")
.add_property("semantic_tags", &GetSemanticTags, "@DocString(Actor.semantic_tags)")
.add_property("is_alive", CALL_RETURNING_COPY(cc::Actor, IsAlive), "@DocString(Actor.is_alive)")
.add_property("attributes", +[] (const cc::Actor &self) {
boost::python::dict atttribute_dict;
for (auto &&attribute_value : self.GetAttributes()) {
atttribute_dict[attribute_value.GetId()] = attribute_value.GetValue();
}
return atttribute_dict;
})
.def("get_world", CALL_RETURNING_COPY(cc::Actor, GetWorld))
.def("get_location", &cc::Actor::GetLocation)
.def("get_transform", &cc::Actor::GetTransform)
.def("get_velocity", &cc::Actor::GetVelocity)
.def("get_angular_velocity", &cc::Actor::GetAngularVelocity)
.def("get_acceleration", &cc::Actor::GetAcceleration)
.def("set_location", &cc::Actor::SetLocation, (arg("location")))
.def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
.def("set_velocity", &cc::Actor::SetVelocity, (arg("vector")))
.def("set_angular_velocity", &cc::Actor::SetAngularVelocity, (arg("vector")))
.def("add_impulse", &cc::Actor::AddImpulse, (arg("vector")))
.def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled") = true))
.def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy))
}, "@DocString(Actor.attributes)")
.def("get_world", CALL_RETURNING_COPY(cc::Actor, GetWorld), "@DocString(Actor.get_world)")
.def("get_location", &cc::Actor::GetLocation, "@DocString(Actor.get_location)")
.def("get_transform", &cc::Actor::GetTransform, "@DocString(Actor.get_transform)")
.def("get_velocity", &cc::Actor::GetVelocity, "@DocString(Actor.get_velocity)")
.def("get_angular_velocity", &cc::Actor::GetAngularVelocity, "@DocString(Actor.get_angular_velocity)")
.def("get_acceleration", &cc::Actor::GetAcceleration, "@DocString(Actor.get_acceleration)")
.def("set_location", &cc::Actor::SetLocation, (arg("location")), "@DocString(Actor.set_location)")
.def("set_transform", &cc::Actor::SetTransform, (arg("transform")), "@DocString(Actor.set_transform)")
.def("set_velocity", &cc::Actor::SetVelocity, (arg("vector")), "@DocString(Actor.set_velocity)")
.def("set_angular_velocity", &cc::Actor::SetAngularVelocity, (arg("vector")), "@DocString(Actor.set_angular_velocity)")
.def("add_impulse", &cc::Actor::AddImpulse, (arg("vector")), "@DocString(Actor.add_impulse)")
.def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled") = true), "@DocString(Actor.set_simulate_physics)")
.def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy), "@DocString(Actor.destroy)")
.def(self_ns::str(self_ns::self))
;

Expand All @@ -110,40 +110,40 @@ void export_actor() {
class_<cc::Vehicle, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Vehicle>>("Vehicle",
no_init)
.add_property("bounding_box", CALL_RETURNING_COPY(cc::Vehicle, GetBoundingBox))
.def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")))
.def("get_control", &cc::Vehicle::GetControl)
.def("set_light_state", &cc::Vehicle::SetLightState, (arg("light_state")))
.def("get_light_state", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetLightState))
.def("apply_physics_control", &cc::Vehicle::ApplyPhysicsControl, (arg("physics_control")))
.def("get_physics_control", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetPhysicsControl))
.def("set_autopilot", CALL_WITHOUT_GIL_2(cc::Vehicle, SetAutopilot, bool, uint16_t), (arg("enabled") = true, arg("tm_port") = TM_DEFAULT_PORT))
.def("get_speed_limit", &cc::Vehicle::GetSpeedLimit)
.def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
.def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)
.def("get_traffic_light", &cc::Vehicle::GetTrafficLight)
.def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")), "@DocString(Vehicle.apply_control)")
.def("get_control", &cc::Vehicle::GetControl, "@DocString(Vehicle.get_control)")
.def("set_light_state", &cc::Vehicle::SetLightState, (arg("light_state")), "@DocString(Vehicle.set_light_state)")
.def("get_light_state", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetLightState), "@DocString(Vehicle.get_light_state)")
.def("apply_physics_control", &cc::Vehicle::ApplyPhysicsControl, (arg("physics_control")), "@DocString(Vehicle.apply_physics_control)")
.def("get_physics_control", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetPhysicsControl), "@DocString(Vehicle.get_physics_control)")
.def("set_autopilot", CALL_WITHOUT_GIL_2(cc::Vehicle, SetAutopilot, bool, uint16_t), (arg("enabled") = true, arg("tm_port") = TM_DEFAULT_PORT), "@DocString(Vehicle.set_autopilot)")
.def("get_speed_limit", &cc::Vehicle::GetSpeedLimit, "@DocString(Vehicle.get_speed_limit)")
.def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState, "@DocString(Vehicle.get_traffic_light_state)")
.def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight, "@DocString(Vehicle.is_at_traffic_light)")
.def("get_traffic_light", &cc::Vehicle::GetTrafficLight, "@DocString(Vehicle.get_traffic_light)")
.def(self_ns::str(self_ns::self))
;

class_<cc::Walker, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Walker>>("Walker", no_init)
.add_property("bounding_box", CALL_RETURNING_COPY(cc::Walker, GetBoundingBox))
.def("apply_control", &ApplyControl<cr::WalkerControl>, (arg("control")))
.def("apply_control", &ApplyControl<cr::WalkerBoneControl>, (arg("control")))
.def("get_control", &cc::Walker::GetWalkerControl)
.def("apply_control", &ApplyControl<cr::WalkerControl>, (arg("control")), "@DocString(Walker.apply_control)")
.def("apply_control", &ApplyControl<cr::WalkerBoneControl>, (arg("control")), "@DocString(Walker.apply_control)")
.def("get_control", &cc::Walker::GetWalkerControl, "@DocString(Walker.get_control)")
.def(self_ns::str(self_ns::self))
;

class_<cc::WalkerAIController, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::WalkerAIController>>("WalkerAIController", no_init)
.def("start", &cc::WalkerAIController::Start)
.def("stop", &cc::WalkerAIController::Stop)
.def("go_to_location", &cc::WalkerAIController::GoToLocation, (arg("destination")))
.def("set_max_speed", &cc::WalkerAIController::SetMaxSpeed, (arg("speed")))
.def("start", &cc::WalkerAIController::Start, "@DocString(WalkerAIController.start)")
.def("stop", &cc::WalkerAIController::Stop, "@DocString(WalkerAIController.stop)")
.def("go_to_location", &cc::WalkerAIController::GoToLocation, (arg("destination")), "@DocString(WalkerAIController.go_to_location)")
.def("set_max_speed", &cc::WalkerAIController::SetMaxSpeed, (arg("speed")), "@DocString(WalkerAIController.set_max_speed)")
.def(self_ns::str(self_ns::self))
;

class_<cc::TrafficSign, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::TrafficSign>>(
"TrafficSign",
no_init)
.add_property("trigger_volume", CALL_RETURNING_COPY(cc::TrafficSign, GetTriggerVolume))
.add_property("trigger_volume", CALL_RETURNING_COPY(cc::TrafficSign, GetTriggerVolume), "@DocString(TrafficSign.trigger_volume)")
;

enum_<cr::TrafficLightState>("TrafficLightState")
Expand All @@ -157,20 +157,20 @@ void export_actor() {
class_<cc::TrafficLight, bases<cc::TrafficSign>, boost::noncopyable, boost::shared_ptr<cc::TrafficLight>>(
"TrafficLight",
no_init)
.add_property("state", &cc::TrafficLight::GetState)
.def("set_state", &cc::TrafficLight::SetState, (arg("state")))
.def("get_state", &cc::TrafficLight::GetState)
.def("set_green_time", &cc::TrafficLight::SetGreenTime, (arg("green_time")))
.def("get_green_time", &cc::TrafficLight::GetGreenTime)
.def("set_yellow_time", &cc::TrafficLight::SetYellowTime, (arg("yellow_time")))
.def("get_yellow_time", &cc::TrafficLight::GetYellowTime)
.def("set_red_time", &cc::TrafficLight::SetRedTime, (arg("red_time")))
.def("get_red_time", &cc::TrafficLight::GetRedTime)
.def("get_elapsed_time", &cc::TrafficLight::GetElapsedTime)
.def("freeze", &cc::TrafficLight::Freeze, (arg("freeze")))
.def("is_frozen", &cc::TrafficLight::IsFrozen)
.def("get_pole_index", &cc::TrafficLight::GetPoleIndex)
.def("get_group_traffic_lights", &GetGroupTrafficLights)
.add_property("state", &cc::TrafficLight::GetState, "@DocString(TrafficLight.state)")
.def("set_state", &cc::TrafficLight::SetState, (arg("state")), "@DocString(TrafficLight.set_state)")
.def("get_state", &cc::TrafficLight::GetState, "@DocString(TrafficLight.get_state)")
.def("set_green_time", &cc::TrafficLight::SetGreenTime, (arg("green_time")), "@DocString(TrafficLight.set_green_time)")
.def("get_green_time", &cc::TrafficLight::GetGreenTime, "@DocString(TrafficLight.get_green_time)")
.def("set_yellow_time", &cc::TrafficLight::SetYellowTime, (arg("yellow_time")), "@DocString(TrafficLight.set_yellow_time)")
.def("get_yellow_time", &cc::TrafficLight::GetYellowTime, "@DocString(TrafficLight.get_yellow_time)")
.def("set_red_time", &cc::TrafficLight::SetRedTime, (arg("red_time")), "@DocString(TrafficLight.set_red_time)")
.def("get_red_time", &cc::TrafficLight::GetRedTime, "@DocString(TrafficLight.get_red_time)")
.def("get_elapsed_time", &cc::TrafficLight::GetElapsedTime, "@DocString(TrafficLight.get_elapsed_time)")
.def("freeze", &cc::TrafficLight::Freeze, (arg("freeze")), "@DocString(TrafficLight.freeze)")
.def("is_frozen", &cc::TrafficLight::IsFrozen, "@DocString(TrafficLight.is_frozen)")
.def("get_pole_index", &cc::TrafficLight::GetPoleIndex, "@DocString(TrafficLight.get_pole_index)")
.def("get_group_traffic_lights", &GetGroupTrafficLights, "@DocString(TrafficLight.get_group_traffic_lights)")
.def(self_ns::str(self_ns::self))
;
}
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