Add C/C++ Doxygen docs #22751

tecandrew · 2021-10-30T20:56:53Z

adds C/C++ docs to sphinx-generated docs.comma.ai site.

rel: #22732

…rfile for CMake builds instead of Make

pd0wm · 2021-10-31T12:48:38Z

Is it possible to do this without introducing CMake but using scons?

…sing breathe

tecandrew · 2021-10-31T14:14:32Z

Is it possible to do this without introducing CMake but using scons?

more than likely, yes. although, I'm not too familiar with setting up dev environments w/ scons 😅

tecandrew · 2021-10-31T14:19:31Z

breathe is having some issues compiling some of the c methods, finding all sorts of weird non-UTF8 characters within OP. just a fyi

#37 212.9 /home/batman/openpilot/docs/build/sphinx/overview.rst:68: WARNING: toctree contains reference to nonexisting document 'tools/sim/README'
#37 212.9 /home/batman/openpilot/docs/build/sphinx/overview.rst:68: WARNING: toctree contains reference to nonexisting document 'tools/ssh/README'
#37 212.9 /home/batman/openpilot/docs/build/sphinx/overview.rst:68: WARNING: toctree contains reference to nonexisting document 'tools/webcam/README'
#37 212.9 
#37 212.9 Exception occurred:
#37 213.0   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/parser/__init__.py", line 81, in parse
#37 213.0     raise ParserError(e, filename)
#37 213.0 breathe.parser.ParserError: file /home/batman/openpilot/docs/build/doxygen/xml/OMX__QCOMExtns_8h.xml: not well-formed (invalid token): line 5144, column 132
#37 213.0 The full traceback has been saved in /tmp/sphinx-err-on7p8t0o.log, if you want to report the issue to the developers.

 <codeline lineno="148"><highlight class="comment"><sp/><sp/><sp/>*<sp/><sp/>OMX<sp/>IL<sp/>1.1.1<sp/>Figure<sp/>2-11:<sp/>Case<sp/>2<97>Each<sp/>Buffer<sp/>Filled<sp/>with</highlight></codeline>

  /*  2 - Multiple complete frames per buffer (integer number)
   *  OMX IL 1.1.1 Figure 2-11: Case 2�Each Buffer Filled with
   *  Only Complete Frames of Data
   */
  OMX_QCOM_FramePacking_CompleteFrames,

pd0wm · 2021-10-31T15:15:30Z

breathe is having some issues compiling some of the c methods, finding all sorts of weird non-UTF8 characters within OP. just a fyi

#37 212.9 /home/batman/openpilot/docs/build/sphinx/overview.rst:68: WARNING: toctree contains reference to nonexisting document 'tools/sim/README'
#37 212.9 /home/batman/openpilot/docs/build/sphinx/overview.rst:68: WARNING: toctree contains reference to nonexisting document 'tools/ssh/README'
#37 212.9 /home/batman/openpilot/docs/build/sphinx/overview.rst:68: WARNING: toctree contains reference to nonexisting document 'tools/webcam/README'
#37 212.9 
#37 212.9 Exception occurred:
#37 213.0   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/parser/__init__.py", line 81, in parse
#37 213.0     raise ParserError(e, filename)
#37 213.0 breathe.parser.ParserError: file /home/batman/openpilot/docs/build/doxygen/xml/OMX__QCOMExtns_8h.xml: not well-formed (invalid token): line 5144, column 132
#37 213.0 The full traceback has been saved in /tmp/sphinx-err-on7p8t0o.log, if you want to report the issue to the developers.

 <codeline lineno="148"><highlight class="comment"><sp/><sp/><sp/>*<sp/><sp/>OMX<sp/>IL<sp/>1.1.1<sp/>Figure<sp/>2-11:<sp/>Case<sp/>2<97>Each<sp/>Buffer<sp/>Filled<sp/>with</highlight></codeline>

  /*  2 - Multiple complete frames per buffer (integer number)
   *  OMX IL 1.1.1 Figure 2-11: Case 2�Each Buffer Filled with
   *  Only Complete Frames of Data
   */
  OMX_QCOM_FramePacking_CompleteFrames,

Just exclude the whole third_party folder. We don't want to make changes in that code.

tecandrew · 2021-11-01T00:02:05Z

gotcha. should panda/board/ be ignored as well? another weird character on this line

…reas

* list single class (that works) with sphinx-breathe-doxygen * leave sphinx cmd that refences/builds all c_docs as a comment

tecandrew · 2021-11-01T00:22:49Z

got some good results so far

there are some classes breathe just can't interpret nicely. it could be a doxygen issue though.

#37 77.82 /home/batman/openpilot/docs/build/sphinx/overview.rst:83: WARNING: Error when parsing function declaration.
#37 77.82 If the function has no return type:
#37 77.82   Error in declarator or parameters-and-qualifiers
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::cereal::CarParams::LateralPIDTuning::Builder initPid ()
#37 77.82     -------------^
#37 77.82 If the function has a return type:
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::cereal::CarParams::LateralPIDTuning::Builder initPid ()
#37 77.82     -------------^
#37 77.82 
#37 77.82 /home/batman/openpilot/docs/build/sphinx/overview.rst:83: WARNING: Error when parsing function declaration.
#37 77.82 If the function has no return type:
#37 77.82   Error in declarator or parameters-and-qualifiers
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning > disownPid ()
#37 77.82     -------------^
#37 77.82 If the function has a return type:
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning > disownPid ()
#37 77.82     -------------^
#37 77.82 
#37 77.82 /home/batman/openpilot/docs/build/sphinx/overview.rst:83: WARNING: Error when parsing function declaration.
#37 77.82 If the function has no return type:
#37 77.82   Error in declarator or parameters-and-qualifiers
#37 77.82   Invalid C++ declaration: Expected identifier in nested
#37 77.82 [output clipped, log limit 1MiB reached]

adeebshihadeh · 2021-11-01T04:57:38Z

got some good results so far

there are some classes breathe just can't interpret nicely. it could be a doxygen issue though.

#37 77.82 /home/batman/openpilot/docs/build/sphinx/overview.rst:83: WARNING: Error when parsing function declaration.
#37 77.82 If the function has no return type:
#37 77.82   Error in declarator or parameters-and-qualifiers
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::cereal::CarParams::LateralPIDTuning::Builder initPid ()
#37 77.82     -------------^
#37 77.82 If the function has a return type:
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::cereal::CarParams::LateralPIDTuning::Builder initPid ()
#37 77.82     -------------^
#37 77.82 
#37 77.82 /home/batman/openpilot/docs/build/sphinx/overview.rst:83: WARNING: Error when parsing function declaration.
#37 77.82 If the function has no return type:
#37 77.82   Error in declarator or parameters-and-qualifiers
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning > disownPid ()
#37 77.82     -------------^
#37 77.82 If the function has a return type:
#37 77.82   Invalid C++ declaration: Expected identifier in nested name, got keyword: inline [error at 13]
#37 77.82     inline inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning > disownPid ()
#37 77.82     -------------^
#37 77.82 
#37 77.82 /home/batman/openpilot/docs/build/sphinx/overview.rst:83: WARNING: Error when parsing function declaration.
#37 77.82 If the function has no return type:
#37 77.82   Error in declarator or parameters-and-qualifiers
#37 77.82   Invalid C++ declaration: Expected identifier in nested
#37 77.82 [output clipped, log limit 1MiB reached]

This is the generated capnproto code. I think the whole cereal/gen directory can also be skipped.

* build and list all c in sphinx docs, not just Thneed (test)

tecandrew · 2021-11-01T08:43:32Z

added. there are more than a dozen errors when attempting to build and list all c docs within sphinx--I used Thneed class as a test for listing. I ignored those files for the time being as workaround.

also seeing the same error as breathe-doc/breathe#574 when building and referencing all c methods/classes. thinking this is a breathe bug and projects w/ QT dependencies.

#36 28.76 
#36 28.77 Traceback (most recent call last):
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/cmd/build.py", line 280, in build_main
#36 28.77     app.build(args.force_all, filenames)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/application.py", line 343, in build
#36 28.77     self.builder.build_update()
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/builders/__init__.py", line 293, in build_update
#36 28.77     self.build(to_build,
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/builders/__init__.py", line 307, in build
#36 28.77     updated_docnames = set(self.read())
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/builders/__init__.py", line 414, in read
#36 28.77     self._read_serial(docnames)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/builders/__init__.py", line 435, in _read_serial
#36 28.77     self.read_doc(docname)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/builders/__init__.py", line 475, in read_doc
#36 28.77     doctree = read_doc(self.app, self.env, self.env.doc2path(docname))
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/io.py", line 189, in read_doc
#36 28.77     pub.publish()
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/core.py", line 217, in publish
#36 28.77     self.document = self.reader.read(self.source, self.parser,
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/io.py", line 109, in read
#36 28.77     self.parse()
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/readers/__init__.py", line 78, in parse
#36 28.77     self.parser.parse(self.input, document)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/parsers.py", line 101, in parse
#36 28.77     self.statemachine.run(inputlines, document, inliner=self.inliner)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 170, in run
#36 28.77     results = StateMachineWS.run(self, input_lines, input_offset,
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/statemachine.py", line 239, in run
#36 28.77     context, next_state, result = self.check_line(
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/statemachine.py", line 451, in check_line
#36 28.77     return method(match, context, next_state)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 2769, in underline
#36 28.77     self.section(title, source, style, lineno - 1, messages)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 327, in section
#36 28.77     self.new_subsection(title, lineno, messages)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 393, in new_subsection
#36 28.77     newabsoffset = self.nested_parse(
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 281, in nested_parse
#36 28.77     state_machine.run(block, input_offset, memo=self.memo,
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 196, in run
#36 28.77     results = StateMachineWS.run(self, input_lines, input_offset)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/statemachine.py", line 239, in run
#36 28.77     context, next_state, result = self.check_line(
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/statemachine.py", line 451, in check_line
#36 28.77     return method(match, context, next_state)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 2342, in explicit_markup
#36 28.77     nodelist, blank_finish = self.explicit_construct(match)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 2354, in explicit_construct
#36 28.77     return method(self, expmatch)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 2096, in directive
#36 28.77     return self.run_directive(
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/docutils/parsers/rst/states.py", line 2146, in run_directive
#36 28.77     result = directive_instance.run()
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/directives/index.py", line 85, in run
#36 28.77     return self.handle_contents(project_info)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/directives/index.py", line 55, in handle_contents
#36 28.77     node_list = object_renderer.render(context.node_stack[0], context)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2333, in render
#36 28.77     result = method(self, node)  # type: ignore
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 962, in visit_doxygen
#36 28.77     nodelist.extend(self.render(n))
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2333, in render
#36 28.77     result = method(self, node)  # type: ignore
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2221, in dispatch_compound
#36 28.77     return self.visit_compound(node)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 1105, in visit_compound
#36 28.77     return self.visit_class(node)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 1048, in visit_class
#36 28.77     nodes = self.handle_declaration(nodeDef, declaration, content_callback=content,
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 638, in handle_declaration
#36 28.77     nodes_ = self.run_directive(obj_type, declaration, content_callback, options)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 597, in run_directive
#36 28.77     nodes = directive.run()
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/domains/cpp.py", line 7107, in run
#36 28.77     return super().run()
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/sphinx/directives/__init__.py", line 209, in run
#36 28.77     self.transform_content(contentnode)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 67, in transform_content
#36 28.77     callback(contentnode)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 1043, in content
#36 28.77     rendered_data = self.render(file_data, parent_context)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2333, in render
#36 28.77     result = method(self, node)  # type: ignore
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 966, in visit_doxygendef
#36 28.77     return self.render(node.compounddef)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2333, in render
#36 28.77     result = method(self, node)  # type: ignore
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 1299, in visit_compounddef
#36 28.77     child_nodes = self.render(sectiondef)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2333, in render
#36 28.77     result = method(self, node)  # type: ignore
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 1341, in visit_sectiondef
#36 28.77     node_list.extend(self.render_iterable(node.memberdef))
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2343, in render_iterable
#36 28.77     output.extend(self.render(entry))
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2333, in render
#36 28.77     result = method(self, node)  # type: ignore
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2236, in dispatch_memberdef
#36 28.77     return self.visit_variable(node)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 2041, in visit_variable
#36 28.77     return self.handle_declaration(node, declaration, options=options)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 638, in handle_declaration
#36 28.77     nodes_ = self.run_directive(obj_type, declaration, content_callback, options)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 576, in run_directive
#36 28.77     directive = DomainDirectiveFactory.create(self.context.domain, args)
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 324, in create
#36 28.77     cls, name = DomainDirectiveFactory.cpp_classes[args[0]]  # type: ignore
#36 28.77 KeyError: 'property'
#36 28.77 
#36 28.77 Exception occurred:
#36 28.77   File "/root/.pyenv/versions/3.8.10/lib/python3.8/site-packages/breathe/renderer/sphinxrenderer.py", line 324, in create
#36 28.77     cls, name = DomainDirectiveFactory.cpp_classes[args[0]]  # type: ignore
#36 28.77 KeyError: 'property'
#36 28.77 The full traceback has been saved in /tmp/sphinx-err-e4vz80u1.log, if you want to report the issue to the developers.
#36 28.77 Please also report this if it was a user error, so that a better error message can be provided next time.
#36 28.77 A bug report can be filed in the tracker at <https://github.com/sphinx-doc/sphinx/issues>. Thanks!
#36 30.21 make[3]: *** [sphinx/CMakeFiles/sphinx_build.dir/build.make:62: sphinx/html] Error 2
#36 30.21 make[2]: *** [CMakeFiles/Makefile2:142: sphinx/CMakeFiles/sphinx_build.dir/all] Error 2
#36 30.21 make[1]: *** [CMakeFiles/Makefile2:149: sphinx/CMakeFiles/sphinx_build.dir/rule] Error 2
#36 30.21 make: *** [Makefile:177: sphinx_build] Error 2

pd0wm · 2021-11-01T10:01:11Z

You should probably exclude all moc files generated by Qt

tecandrew · 2021-12-13T05:26:15Z

build weirdly stopped working with some updates. created new PR with c docs and other stuff #23204

tecandrew added 8 commits October 30, 2021 02:05

add a ton of base files for cmake & doxygen builds. reconfigure Docke…

f8dc114

…rfile for CMake builds instead of Make

fix (md, rst, png, jpg) search

edfc193

fix search for /*test* directories

9b7071a

fix cmake configuration step

9b00632

reduce amt of output doxy build shows. fix logo.

f379d02

doxy build for c only

becb0fa

major refactor: make docs a more proper cmake sub-project

8be0699

add breathe package

ccde387

tecandrew added 2 commits October 31, 2021 06:52

remove weird character causing sphinx-breathe to not build

813c1dc

a lot of bug fixes: fix search methods. integrate doxygen w/ sphinx u…

ed68f13

…sing breathe

another weird character

1148f7e

tecandrew added 2 commits October 31, 2021 17:11

revert removal of non-utf8 characers.. tell doxygen to ignore these a…

bf1fcbe

…reas

* small refactor

f5fc9d1

* list single class (that works) with sphinx-breathe-doxygen * leave sphinx cmd that refences/builds all c_docs as a comment

adeebshihadeh added the docs label Nov 1, 2021

tecandrew added 2 commits November 1, 2021 01:31

* add more directories and files to ignore (full build workaround)

8bee909

* build and list all c in sphinx docs, not just Thneed (test)

undo parallel sphinx-build. doesn't seem to like it v much

e02c5eb

tecandrew added 2 commits November 24, 2021 13:55

merge 'master' branch. bump codebase

572fdf7

bump codebase

7d2d931

tecandrew mentioned this pull request Dec 13, 2021

c docs to docs.comma.ai #23204

Closed

tecandrew closed this Dec 13, 2021

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Add C/C++ Doxygen docs #22751

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