Conception/drake-master/doc/pydrake/pydrake_sphinx_extension.py

"""Provides Sphinx extensions / monkey patches to:
 - Remove excessive bases when documenting inheritance
 - Document parameterized bindings of templated methods / classes

For guidance, see:
 - http://www.sphinx-doc.org/en/master/extdev/appapi.html#sphinx.application.Sphinx.add_autodocumenter  # noqa
"""

# TODO(eric.cousineau): How to document only protected methods?
# e.g. `LeafSystem` only consists of private things to overload, but it's
# important to be user-visible.


from collections import namedtuple
import re
from textwrap import indent
from typing import Any, Tuple
import warnings

from docutils import nodes
from docutils.parsers.rst import Directive
from docutils.statemachine import ViewList
from sphinx import version_info as sphinx_version
from sphinx.locale import _
import sphinx.domains.python as pydoc
from sphinx.ext import autodoc
from sphinx.util.nodes import nested_parse_with_titles

from drake.doc.doxygen_cxx.system_doxygen import system_yaml_to_html
from pydrake.common.cpp_template import TemplateBase
from pydrake.common.deprecation import DrakeDeprecationWarning


def rindex(s, sub):
    """Reverse index of a substring."""
    return len(s) - s[::-1].index(sub) - len(sub)


def patch(obj, name, f):
    """Patch the method of a class."""
    original = getattr(obj, name)

    def method(*args, **kwargs):
        return f(original, *args, **kwargs)

    setattr(obj, name, method)


def repair_naive_name_split(objpath):
    """Rejoins any strings with braces that were naively split across '.'.
    """
    num_open = 0
    out = []
    cur = ''
    for p in objpath:
        num_open += p.count('[') - p.count(']')
        assert num_open >= 0
        if cur:
            cur += '.'
        cur += p
        if num_open == 0:
            out.append(cur)
            cur = ''
    assert len(cur) == 0, (objpath, cur, out)
    return out


class IrregularExpression:
    """Provides analogous parsing to `autodoc.py_ext_sig_re` and
    `pydoc.py_sig_re`, but permits nested parsing for class-like directives to
    work with the munged names.

    These are meant to be used to monkey-patch existing compiled regular
    expressions.
    """

    FakeMatch = namedtuple('FakeMatch', 'groups')

    py_sig_old = autodoc.py_ext_sig_re
    py_sig = re.compile(
        r'''^     (\w.*?) \s*               # symbol
                  (?:
                      \((.*)\)              # optional: arguments
                      (?:\s* -> \s* (.*))?  # return annotation
                  )? $
              ''', re.VERBOSE)

    def __init__(self, extended):
        """
        Args:
            extended: For use in `autodoc` (returns explicit reST module name
                scope).
        """
        self.extended = extended

    def match(self, full):
        """Tests if a string matches `full`. If not, returns None."""
        m = self.py_sig.match(full)
        if not m:
            return None
        symbol, arg, retann = m.groups()
        # Heuristic to not try and match for docstring phrases. Any space
        # should be balanced with a comma for the symbol.
        if symbol.count(' ') > symbol.count(','):
            return None
        # Extract module name using a greedy match.
        explicit_modname = None
        if "::" in symbol:
            pos = rindex(symbol, "::") + 2
            explicit_modname = symbol[:pos]
            symbol = symbol[pos:].strip()
        # Extract {path...}.{base}, accounting for brackets.
        if not symbol:
            return
        pieces = repair_naive_name_split(symbol.split('.'))
        assert len(pieces) > 0, (symbol, pieces)
        base = pieces[-1]
        if len(pieces) > 1:
            path = '.'.join(pieces[:-1]) + '.'
        else:
            path = None
        if self.extended:
            groups = (explicit_modname, path, base, arg, retann)
        else:
            assert explicit_modname is None
            groups = (path, base, arg, retann)
        return self.FakeMatch(lambda: groups)


class TemplateDocumenter(autodoc.ModuleLevelDocumenter):
    """Specializes `Documenter` for templates from `cpp_template`.
    """
    objtype = 'template'
    member_order = autodoc.ClassDocumenter.member_order
    directivetype = 'template'

    # Take priority over attributes.
    priority = 1 + autodoc.AttributeDocumenter.priority

    @classmethod
    def can_document_member(cls, member, membername, isattr, parent):
        """Overrides base to check for template objects."""
        return isinstance(member, TemplateBase)

    def get_object_members(self, want_all):
        """Overrides base; we shouldn't show any details beyond the list of
        instantiations.
        """
        return False, []

    def check_module(self):
        """Overrides base to show template objects given the correct module."""
        if self.options.imported_members:
            return True
        scope = self.object._scope
        if isinstance(scope, type):
            module_name = scope.__module__
        else:
            module_name = scope.__name__
        return module_name == self.modname

    def add_directive_header(self, sig):
        """Overrides base to add a line to indicate instantiations."""
        autodoc.ModuleLevelDocumenter.add_directive_header(self, sig)
        sourcename = self.get_sourcename()
        self.add_line(u'', sourcename)
        names = []
        for param in self.object.param_list:
            # TODO(eric.cousineau): Use attribute aliasing already present in
            # autodoc.
            rst = ":class:`{}`".format(self.object._instantiation_name(param))
            names.append(rst)
        self.add_line(
            u"   Instantiations: {}".format(", ".join(names)), sourcename)


def tpl_attrgetter(obj, name, *defargs):
    """Attribute getter hook for autodoc to permit accessing instantiations via
    instantiation names.

    In ideal world, we'd be able to override instance names easily; however,
    since Sphinx aims to permit either sweeping automation (`automodule`) or
    specific instances (`autoclass`), we have to try and get it to play nice
    with string retrieval.

    Note:
        We cannot call `.. autoclass:: obj.MyTemplate[param]`, because this
    getter is constrained to `TemplateBase` instances.
    """
    # N.B. Rather than try to evaluate parameters from the string, we instead
    # match based on instantiation name.
    if isinstance(obj, TemplateBase) and name[0] != "_":
        for param in obj.param_list:
            inst = obj[param]
            if inst.__name__ == name:
                return inst
        assert False, (
            "Not a template?",
            param, obj.param_list,
            inst.__name__, name)
    return autodoc.safe_getattr(obj, name, *defargs)


def patch_resolve_name(original, self, *args, **kwargs):
    """Patches implementations of `resolve_name` to handle split across braces.
    """
    modname, objpath = original(self, *args, **kwargs)
    return modname, repair_naive_name_split(objpath)


def patch_class_add_directive_header(original, self, sig):
    """Patches display of bases for classes to strip out pybind11 meta classes
    from bases.
    """
    if self.doc_as_attr:
        self.directivetype = 'attribute'
    autodoc.Documenter.add_directive_header(self, sig)
    # add inheritance info, if wanted
    if not self.doc_as_attr and self.options.show_inheritance:
        sourcename = self.get_sourcename()
        self.add_line(u'', sourcename)
        bases = getattr(self.object, '__bases__', None)
        if not bases:
            return
        bases = [b.__module__ in ('__builtin__', 'builtins')
                 and u':class:`%s`' % b.__name__
                 or u':class:`%s.%s`' % (b.__module__, b.__name__)
                 for b in bases
                 if b.__name__ != "pybind11_object"]
        if not bases:
            return
        self.add_line(_(u'   Bases: %s') % ', '.join(bases),
                      sourcename)


def autodoc_skip_member(app, what, name, obj, skip, options):
    """Skips undesirable members.
    """
    # N.B. This should be registered before `napoleon`s event.
    # N.B. For some reason, `:exclude-members` via `autodoc_default_options`
    # did not work. Revisit this at some point.
    if "__del__" in name:
        return True
    # In order to work around #11954.
    if "__init__" in name:
        return False
    return None


def patch_document_members(original, self, all_members=False):
    # type: (bool) -> None
    """Generate reST for member documentation.

    If *all_members* is True, do all members, else those given by
    *self.options.members*.

    Note: This function is a patched version for Drake to add the functionality
    of sorting the documented members using a custom key function.
    The original code is from Sphinx 1.6.7 installed via the `python3-sphinx`
    package.  Debian patches the upstream version:
    https://sources.debian.org/patches/sphinx/1.6.7-2/
    However, this piece of code is not patched.
    https://github.com/sphinx-doc/sphinx/blob/v1.6.7/sphinx/ext/autodoc.py#L996-L1057
    Our upstream PR: https://github.com/sphinx-doc/sphinx/pull/7177
    """
    # set current namespace for finding members
    self.env.temp_data['autodoc:module'] = self.modname
    if self.objpath:
        self.env.temp_data['autodoc:class'] = self.objpath[0]

    want_all = all_members or self.options.inherited_members or \
        self.options.members is autodoc.ALL
    # find out which members are documentable
    members_check_module, members = self.get_object_members(want_all)

    # This method changed after version 1.6.7.
    # We accommodate the changes till version 2.4.4.
    # https://github.com/sphinx-doc/sphinx/commit/6e1e35c98ac29397d4552caf72710ccf4bf98bea
    if sphinx_version[:3] >= (1, 8, 0):
        exclude_members_all = self.options.exclude_members is autodoc.ALL
    else:
        exclude_members_all = False
    # remove members given by exclude-members
    if self.options.exclude_members:
        members = [
            (membername, member) for (membername, member) in members
            if (
                exclude_members_all
                or membername not in self.options.exclude_members
                )
            ]

    # document non-skipped members
    memberdocumenters = []  # type: List[Tuple[Documenter, bool]]
    for (mname, member, isattr) in self.filter_members(members, want_all):
        # This method changed after version 1.6.7.
        # We accommodate the changes till version 2.4.4.
        # https://github.com/sphinx-doc/sphinx/commit/5d6413b7120cfc6d3d0cc9367cfe8b6f7ee87523
        if sphinx_version[:3] >= (1, 7, 0):
            documenters = self.documenters
        else:
            documenters = autodoc.AutoDirective._registry
        classes = [cls for cls in documenters.values()
                   if cls.can_document_member(member, mname, isattr, self)]
        if not classes:
            # don't know how to document this member
            continue
        # prefer the documenter with the highest priority
        classes.sort(key=lambda cls: cls.priority)
        # give explicitly separated module name, so that members
        # of inner classes can be documented
        full_mname = self.modname + '::' + \
            '.'.join(self.objpath + [mname])
        documenter = classes[-1](self.directive, full_mname, self.indent)
        memberdocumenters.append((documenter, isattr))
    member_order = self.options.member_order or \
        self.env.config.autodoc_member_order
    if member_order == 'groupwise':
        # sort by group; relies on stable sort to keep items in the
        # same group sorted alphabetically
        memberdocumenters.sort(key=lambda e: e[0].member_order)
    elif member_order == 'bysource' and self.analyzer:
        # sort by source order, by virtue of the module analyzer
        tagorder = self.analyzer.tagorder

        def keyfunc(entry):
            # type: (Tuple[Documenter, bool]) -> int
            fullname = entry[0].name.split('::')[1]
            return tagorder.get(fullname, len(tagorder))
        memberdocumenters.sort(key=keyfunc)
    # N.B. Patch for Drake starts here.
    elif member_order == 'bycustomfunction':

        def custom_key(entry: Tuple[autodoc.Documenter, bool]) -> Any:
            result = self.env.app.emit_firstresult(
                'autodoc-member-order-custom-function', entry[0])
            if result is None:
                raise RuntimeError("autodoc-member-order-custom-function "
                                   "has not been specified by user")
            return result
        memberdocumenters.sort(key=custom_key)
    # Patch ends here.

    for documenter, isattr in memberdocumenters:
        documenter.generate(
            all_members=True, real_modname=self.real_modname,
            check_module=members_check_module and not isattr)

    # reset current objects
    self.env.temp_data['autodoc:module'] = None
    self.env.temp_data['autodoc:class'] = None


def autodoc_member_order_function(app, documenter):
    """Let's sort the member full-names (`Class.member_name`) by lower-case."""
    # N.B. This follows suite with the following 3.x code: https://git.io/Jv1CH
    fullname = documenter.name.split('::')[1]
    return fullname.lower()


class PydrakeSystemDirective(Directive):
    """
    Translates `pydrake_system` directives (with YAML) to `raw` HTML
    directives.

    See also:
    - https://www.sphinx-doc.org/en/1.6.7/extdev/tutorial.html#the-directive-classes
    - https://docutils.sourceforge.io/docs/howto/rst-directives.html#error-handling
    - Example: https://github.com/sphinx-contrib/autoprogram/blob/0.1.5/sphinxcontrib/autoprogram.py
    """  # noqa

    has_content = True

    def run(self):
        system_yaml = '\n'.join(self.content)
        try:
            system_html = system_yaml_to_html(system_yaml)
        except TypeError as e:
            raise self.severe(f"pydrake_system error: {e}")
        raw_content = indent(system_html.strip(), '   ')
        raw_rst = f".. raw:: html\n\n{raw_content}"
        node = _parse_rst(self.state, raw_rst)
        return node.children


def _parse_rst(state, rst_text):
    # Adapted from `autoprogram` source.
    result = ViewList()
    for line in rst_text.splitlines():
        result.append(line, '<parsed>')
    node = nodes.section()
    node.document = state.document
    nested_parse_with_titles(state, result, node)
    return node


def setup(app):
    """Installs Drake-specific extensions and patches.
    """
    if sphinx_version[:3] >= (1, 8, 0):
        app.add_css_file('css/custom.css')
    else:
        app.add_stylesheet('css/custom.css')
    # Add directive to process system doxygen.
    app.add_directive('pydrake_system', PydrakeSystemDirective)
    # Do not warn on Drake deprecations.
    # TODO(eric.cousineau): See if there is a way to intercept this.
    warnings.simplefilter('ignore', DrakeDeprecationWarning)
    # Ignore `pybind11_object` as a base.
    patch(
        autodoc.ClassDocumenter, 'add_directive_header',
        patch_class_add_directive_header)
    # Skip specific members.
    app.connect('autodoc-skip-member', autodoc_skip_member)
    app.add_event('autodoc-member-order-custom-function')
    app.connect('autodoc-member-order-custom-function',
                autodoc_member_order_function)
    # Register directive so we can pretty-print template declarations.
    pydoc.PythonDomain.directives['template'] = pydoc.PyClasslike
    # Register autodocumentation for templates.
    app.add_autodoc_attrgetter(TemplateBase, tpl_attrgetter)
    app.add_autodocumenter(TemplateDocumenter)
    # Hack regular expressions to make them irregular (nested).
    autodoc.py_ext_sig_re = IrregularExpression(extended=True)
    pydoc.py_sig_re = IrregularExpression(extended=False)
    patch(autodoc.ClassLevelDocumenter, 'resolve_name', patch_resolve_name)
    patch(autodoc.ModuleLevelDocumenter, 'resolve_name', patch_resolve_name)
    patch(autodoc.Documenter, 'document_members', patch_document_members)
    return dict(parallel_read_safe=True)