--plugin-dir path-P path |
+ Add path to the list of paths where robogen will look for + plugins at initialization. | +
--import-dir path-I path |
+ Add path to the list of paths where robogen will look for + files when an include sentence is processed. | +
+# The configuration file... +#
+# +# \subsection execution_ssec Execution +# +# Just: "$${PATH_TO_BINARY}/${component_name} --Ice.Config=$${PATH_TO_CONFIG_FILE}" +# +# \subsection running_ssec Once running +# +# +# + +import argparse +# Ctrl+c handling +import signal + +from rich.console import Console +console = Console() + +import interfaces +from specificworker import * + +#SIGNALS handler +def sigint_handler(*args): + QtCore.QCoreApplication.quit() + + +if __name__ == '__main__': + app = QtCore.QCoreApplication(sys.argv) + parser = argparse.ArgumentParser() + parser.add_argument('iceconfigfile', nargs='?', type=str, default='etc/config') + parser.add_argument('--startup-check', action='store_true') + + args = parser.parse_args() + interface_manager = interfaces.InterfaceManager(args.iceconfigfile) + + if interface_manager.status == 0: + worker = SpecificWorker(interface_manager.get_proxies_map(), args.startup_check) + worker.setParams(interface_manager.parameters) + else: + print("Error getting required connections, check config file") + sys.exit(-1) + + interface_manager.set_default_hanlder(worker) + signal.signal(signal.SIGINT, sigint_handler) + app.exec_() + interface_manager.destroy() diff --git a/robogen/extras/plugins/agent_generator_python/files/src/specificworker.py b/robogen/extras/plugins/agent_generator_python/files/src/specificworker.py new file mode 100644 index 00000000..f97667ab --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/files/src/specificworker.py @@ -0,0 +1,58 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +${header} + +from PySide2.QtCore import QLoggingCategory, QTimer +from PySide2.QtWidgets import QApplication +from rich.console import Console +from genericworker import * +import interfaces as ifaces + +sys.path.append('/opt/robocomp/lib') +console = Console(highlight=False) + +${dsr_import} + +# If RoboComp was compiled with Python bindings you can use InnerModel in Python +# import librobocomp_qmat +# import librobocomp_osgviewer +# import librobocomp_innermodel + + +class SpecificWorker(GenericWorker): + def __init__(self, proxy_map, startup_check=False): + super(SpecificWorker, self).__init__(proxy_map) + self.Period = 2000 + ${qtdebug} + ${dsr_init} + ${dsr_ignored_attrs} + if startup_check: + self.startup_check() + else: + ${timeout_compute_connect} + + def __del__(self): + """Destructor""" + + def setParams(self, params): + # try: + # self.innermodel = InnerModel(params["InnerModelPath"]) + # except: + # traceback.print_exc() + # print("Error reading config params") + return True + + ${compute_creation} + + def startup_check(self): + ${startup_check_ice} + QTimer.singleShot(200, QApplication.instance().quit) + + ${subscribes_to_methods} + + ${implements_methods} + + ${interface_specific_comment} + + ${dsr_slots} diff --git a/robogen/extras/plugins/agent_generator_python/populators/CMakeLists.txt.py b/robogen/extras/plugins/agent_generator_python/populators/CMakeLists.txt.py new file mode 100644 index 00000000..5c4af373 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/CMakeLists.txt.py @@ -0,0 +1,7 @@ +import robogen + +class Populator(robogen.Populator): + def populate(self): + return { + 'component_name': self.artifact.name, + } diff --git a/robogen/extras/plugins/agent_generator_python/populators/DoxyFile.py b/robogen/extras/plugins/agent_generator_python/populators/DoxyFile.py new file mode 100644 index 00000000..5c4af373 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/DoxyFile.py @@ -0,0 +1,7 @@ +import robogen + +class Populator(robogen.Populator): + def populate(self): + return { + 'component_name': self.artifact.name, + } diff --git a/robogen/extras/plugins/agent_generator_python/populators/README.md.py b/robogen/extras/plugins/agent_generator_python/populators/README.md.py new file mode 100644 index 00000000..5c4af373 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/README.md.py @@ -0,0 +1,7 @@ +import robogen + +class Populator(robogen.Populator): + def populate(self): + return { + 'component_name': self.artifact.name, + } diff --git a/robogen/extras/plugins/agent_generator_python/populators/etc/config.py b/robogen/extras/plugins/agent_generator_python/populators/etc/config.py new file mode 100644 index 00000000..6fdb36c9 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/etc/config.py @@ -0,0 +1,66 @@ +import random +import re +import robogen +from robogen.utils import number_duplicates + +try: + from rcportchecker import RCPortChecker + RCPORTCHECKER_IMPORTED = True +except: + RCPORTCHECKER_IMPORTED = False + +STORM_TOPIC_MANAGER = '''\ +# This property is used by the clients to connect to IceStorm. +TopicManager.Proxy=IceStorm/TopicManager:default -p 9999 +''' + +DEFAULT_PORTS = { + 'DifferentialRobot': 10004, + 'Laser': 10003, +} + +def get_existing_port(name): + ports = RCPortChecker().search_interface_ports_by_name(name) + return min(ports.keys(), default=0) if ports else 0 + +class Populator(robogen.Populator): + def populate(self): + + return { + # TODO: are these needed? How to get those from the agent definition? + 'implements_endpoints': '', + 'subscribes_to_endpoints': '', + 'requires_proxies': self.requires_proxies(), + 'storm_topic_manager': self.storm_topic_manager(), + } + + def requires_proxies(self): + robocomp_comm = self.artifact.communications['robocomp'] + result = '' + + for req, i in number_duplicates(robocomp_comm['requires'], lambda req: req['name']): + if req['type'] != 'ice': + continue + + name = req['name'] + + if name in DEFAULT_PORTS: port = DEFAULT_PORTS[name] + elif RCPORTCHECKER_IMPORTED: port = get_existing_port(name) + else: port = random.randint(10001, 19000) + + result += f'{name}{i}Proxy = {name.lower()}:tcp -h localhost -p {port}\n' + + if not result: + return '' + + return '\n'.join(( + f'# Proxies for required interfaces', + result, + )) + + def storm_topic_manager(self): + robocomp_comm = self.artifact.communications['robocomp'] + pubs = robocomp_comm['publishes'] + subs = robocomp_comm['subscribes_to'] + + return STORM_TOPIC_MANAGER if pubs or subs else '' diff --git a/robogen/extras/plugins/agent_generator_python/populators/src/CMakeLists.txt.py b/robogen/extras/plugins/agent_generator_python/populators/src/CMakeLists.txt.py new file mode 100644 index 00000000..2e62d324 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/src/CMakeLists.txt.py @@ -0,0 +1,16 @@ +import os +import robogen + +class Populator(robogen.Populator): + def populate(self): + # TODO: this will produce invalid code if the interface is not + # implemented as CDSL due to robocomp's CMake macro. + ice_interfaces = { + os.path.basename(interface).rsplit('.', maxsplit=2)[0] + for interface in {*self.artifact.imports.recursive_imports.keys(), *self.artifact.ice_interfaces} + } + + return { + 'component_name': self.artifact.name, + 'ice_interfaces': ' '.join(ice_interfaces), + } diff --git a/robogen/extras/plugins/agent_generator_python/populators/src/genericworker.py.py b/robogen/extras/plugins/agent_generator_python/populators/src/genericworker.py.py new file mode 100644 index 00000000..8ad9a407 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/src/genericworker.py.py @@ -0,0 +1,33 @@ +import robogen +from robogen.utils import number_duplicates + +class Populator(robogen.Populator): + def populate(self): + return { + 'requires_proxies': self.requires_proxies(), + 'publishes_proxies': self.publishes_proxies(), + } + + def requires_proxies(self): + robocomp_comm = self.artifact.communications['robocomp'] + result = '' + + for req, i in number_duplicates(robocomp_comm['requires'], lambda req: req['name']): + name = req['name'] + + if req['type'] == 'ice': result += f'self.{name.lower()}_proxy = mprx["{name}Proxy{i}"]\n' + elif req['type'] == 'ros': result += f'self.{name.lower()}_proxy = ServiceClient{name}()\n' + + return result + + def publishes_proxies(self): + robocomp_comm = self.artifact.communications['robocomp'] + result = '' + + for pub, i in number_duplicates(robocomp_comm['publishes'], lambda req: req['name']): + name = pub['name'] + + if pub['type'] == 'ice': result += f'self.{name.lower()}_proxy = mprx["{name}{i}"]\n' + elif pub['type'] == 'ros': result += f'self.{name.lower()}_proxy = Publisher{name}()\n' + + return result diff --git a/robogen/extras/plugins/agent_generator_python/populators/src/interfaces.py.py b/robogen/extras/plugins/agent_generator_python/populators/src/interfaces.py.py new file mode 100644 index 00000000..3a22eede --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/src/interfaces.py.py @@ -0,0 +1,160 @@ +from string import Template +from robogen.utils import full_type_string, number_duplicates +import os +import robogen + +# TODO: Check if this can be reduced to an abstract class and some inheriting from that. +LIST_CLASSES = '''\ +class ${list_type}(list): + def __init__(self, iterable=list()): + super(${list_type}, self).__init__(iterable) + + def append(self, item): + assert isinstance(item, ${item_type}) + super(${list_type}, self).append(item) + + def extend(self, iterable): + for item in iterable: + assert isinstance(item, ${item_type}) + super(${list_type}, self).extend(iterable) + + def insert(self, index, item): + assert isinstance(item, ${item_type}) + super(${list_type}, self).insert(index, item) + +setattr(${module_name}, "${list_type}", ${list_type}) +''' + +SLICE_LOAD = '''\ +Ice.loadSlice("-I ./src/ --all ./src/${filename}.ice") +''' + +SUBSCRIBES_TO = '''\ +self.${name} = self.create_adapter("${name}Topic", ${name_lower}I.${name}I(default_handler)) +''' + +REQUIRE = '''\ +self.${name}${i} = self.create_proxy("${name}${i}Proxy", ${module_name}.${name}Prx) +''' + +PUBLISHES = '''\ +self.${name_lower} = self.create_topic("${name}", ${module_name}.${name}Prx) +''' + +IMPLEMENTS = '''\ +self.${name_lower} = self.create_adapter("${name}", ${name_lower}I.${name}I(default_handler)) +''' + +class Populator(robogen.Populator): + def populate(self): + return { + 'load_slice_and_create_imports': self.load_slice_and_create_imports(), + 'create_list_classes': self.create_list_classes(), + 'implements_and_subscribes_to_imports': self.implements_and_subscribes_to_imports(), + 'publish_proxy_creation': self.publish_proxy_creation(), + 'require_proxy_creation': self.require_proxy_creation(), + 'subscribes_to_adapters_creation': self.subscribes_to_adapters_creation(), + 'implements_adapters_creation': self.implements_adapters_creation(), + 'needs_rcnode': self.needs_rcnode(), + } + + def load_slice_and_create_imports(self): + result = '' + + for path, module in self.artifact.imports.recursive_imports.items(): + filename = os.path.basename(path).rsplit('.', maxsplit=2)[0] + result += Template(SLICE_LOAD).substitute(filename=filename) + result += f'import {module.name}\n' + pass + + return result + + def create_list_classes(self): + result = '' + + for path in self.artifact.imports.recursive_imports: + name = os.path.basename(path).rsplit('.', maxsplit=2)[0] + module = self.artifact.imports.module_providing_interface(name) + + if module is None: + continue + + for name, sequence in module.sequences.items(): + type = full_type_string(sequence['type'], module.name) + + if type == 'bytes': + continue + + result += Template(LIST_CLASSES).substitute({ + 'list_type': name, + 'item_type': type, + 'module_name': module.name, + }) + + return result + + def implements_and_subscribes_to_imports(self): + robocomp_comm = self.artifact.communications['robocomp'] + + return '\n'.join(( + f'import {interface.lower()}I' + for interface in robocomp_comm['implements'] + robocomp_comm['subscribes_to'] + if interface.type == 'ice' + )) + + def publish_proxy_creation(self): + robocomp_comm = self.artifact.communications['robocomp'] + result = '' + + for req, i in number_duplicates(robocomp_comm['publishes'], lambda req: req['name']): + name = req['name'] + + module = self.artifact.imports.module_providing_interface(name) + result += Template(PUBLISHES).substitute({ + 'name': name, + 'name_lower': name.lower(), + 'module_name': module.name, + }) + + return result + + def require_proxy_creation(self): + robocomp_comm = self.artifact.communications['robocomp'] + result = '' + + for req, i in number_duplicates(robocomp_comm['requires'], lambda req: req['name']): + name = req['name'] + + module = self.artifact.imports.module_providing_interface(name) + result += Template(REQUIRE).substitute({ + 'name': name, + 'i': i, + 'name_lower': name.lower(), + 'module_name': module.name, + }) + + return result + + def subscribes_to_adapters_creation(self): + return '\n'.join(( + Template(SUBSCRIBES_TO).substitute({ + 'name': interface['name'], + 'name_lower': interface['name'].lower() + }) + for interface in self.artifact.communications['robocomp']['subscribes_to'] + if interface.type == 'ice' + )) + + def implements_adapters_creation(self): + return '\n'.join(( + Template(IMPLEMENTS).substitute({ + 'name': interface['name'], + 'name_lower': interface['name'].lower() + }) + for interface in self.artifact.communications['robocomp']['implements'] + if interface.type == 'ice' + )) + + def needs_rcnode(self): + robocomp_comm = self.artifact.communications['robocomp'] + return bool(robocomp_comm['subscribes_to'] or robocomp_comm['implements']) diff --git a/robogen/extras/plugins/agent_generator_python/populators/src/main.py.py b/robogen/extras/plugins/agent_generator_python/populators/src/main.py.py new file mode 100644 index 00000000..8058e027 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/src/main.py.py @@ -0,0 +1,7 @@ +import robogen + +class Populator(robogen.Populator): + def populate(self): + return { + 'component_name': self.artifact.name, + } diff --git a/robogen/extras/plugins/agent_generator_python/populators/src/specificworker.py.py b/robogen/extras/plugins/agent_generator_python/populators/src/specificworker.py.py new file mode 100644 index 00000000..ae1450a2 --- /dev/null +++ b/robogen/extras/plugins/agent_generator_python/populators/src/specificworker.py.py @@ -0,0 +1,245 @@ +from string import Template +from robogen.utils import full_type_string, number_duplicates +import robogen + +DSR_SLOTS = '''\ + +# =============== DSR SLOTS ================ +# ============================================= + +def update_node_att(self, id: int, attribute_names: [str]): + console.print(f"UPDATE NODE ATT: {id} {attribute_names}", style='green') + +def update_node(self, id: int, type: str): + console.print(f"UPDATE NODE: {id} {type}", style='green') + +def delete_node(self, id: int): + console.print(f"DELETE NODE:: {id} ", style='green') + +def update_edge(self, fr: int, to: int, type: str): + + console.print(f"UPDATE EDGE: {fr} to {type}", type, style='green') + +def update_edge_att(self, fr: int, to: int, type: str, attribute_names: [str]): + console.print(f"UPDATE EDGE ATT: {fr} to {type} {attribute_names}", style='green') + +def delete_edge(self, fr: int, to: int, type: str): + console.print(f"DELETE EDGE: {fr} to {type} {type}", style='green') +''' + + +DSR_IMPORT = '''\ +from pydsr import * + +''' + +DSR_INIT = '''\ + +# YOU MUST SET AN UNIQUE ID FOR THIS AGENT IN YOUR DEPLOYMENT. "_CHANGE_THIS_ID_" for a valid unique integer +self.agent_id = "_CHANGE_THIS_ID_" +self.g = DSRGraph(0, "pythonAgent", self.agent_id) + +try: + signals.connect(self.g, signals.UPDATE_NODE_ATTR, self.update_node_att) + signals.connect(self.g, signals.UPDATE_NODE, self.update_node) + signals.connect(self.g, signals.DELETE_NODE, self.delete_node) + signals.connect(self.g, signals.UPDATE_EDGE, self.update_edge) + signals.connect(self.g, signals.UPDATE_EDGE_ATTR, self.update_edge_att) + signals.connect(self.g, signals.DELETE_EDGE, self.delete_edge) + console.print("signals connected") +except RuntimeError as e: + print(e) + +''' + +COMPUTE_METHOD_STR = '''\ +@QtCore.Slot() +def compute(self): + print('SpecificWorker.compute...') + # computeCODE + # try: + # self.differentialrobot_proxy.setSpeedBase(100, 0) + # except Ice.Exception as e: + # traceback.print_exc() + # print(e) + + # The API of python-innermodel is not exactly the same as the C++ version + # self.innermodel.updateTransformValues('head_rot_tilt_pose', 0, 0, 0, 1.3, 0, 0) + # z = librobocomp_qmat.QVec(3,0) + # r = self.innermodel.transform('rgbd', z, 'laser') + # r.printvector('d') + # print(r[0], r[1], r[2]) + + return True +''' + +TIMEOUT_COMPUTE_CONNECT = '''\ +self.timer.timeout.connect(self.compute) +self.timer.start(self.Period) +''' + +PROXY_METHODS_COMMENT = '''\ +###################### +# From the ${module_name} you can ${action} this methods: +${methods} + +''' + +INTERFACE_TYPES_TEST = '''\ +print(f"Testing ${type} from ifaces.${module_name}") +test = ifaces.${type}() +''' + +INTERFACE_TYPES_COMMENT = '''\ +###################### +# From the ${module_name} you can use this types: +${structs} +''' + +METHOD = '''\ +# +# ${method_str1} ${method_name} method from ${interface_name} interface +# +def ${interface_name}_${method_name}(self${param_str_a}): + ${return_creation} + # + # write your CODE here + # + ${return_str} +''' + +class Populator(robogen.Populator): + def populate(self): + return { + 'component_name': self.artifact.name, + 'qtdebug': self.qtdebug(), + 'dsr_import': DSR_IMPORT, + 'dsr_slots': DSR_SLOTS, + 'dsr_init': DSR_INIT, + 'dsr_ignored_attrs': self.dsr_ignored_attrs(), + 'timeout_compute_connect': TIMEOUT_COMPUTE_CONNECT, + 'compute_creation': COMPUTE_METHOD_STR, + 'startup_check_ice': self.startup_check_ice(), + 'subscribes_to_methods': self.subscribes_to_methods(), + 'implements_methods': self.implements_methods(), + 'interface_specific_comment': self.interface_specific_comment(), + } + + def qtdebug(self): + return f'QLoggingCategory.setFilterRules("*.debug={str(self.artifact.qtdebug).lower()}\\n");' + + def methods(self, interfaces, subscribe=False): + # TODO: The original method is very, intrincate. Will do this later. + return '# TODO' + + def dsr_ignored_attrs(self): + ignored_attrs = self.artifact.ignored_attrs + result = '' + + if not ignored_attrs: + return '' + + result += '# Ignore attributes from G' + + for attr in ignored_attrs: + result += f"# TODO: the Python API does not support ignoring attributes! Ignore `{attr}'\n" + + return result + + def subscribes_to_methods(self): + subscribes_to = self.artifact.communications['robocomp']['subscribes_to'] + + if not subscribes_to: + return '' + + return '\n'.join(( + '# =============== Methods for Component SubscribesTo ================' + '# ===================================================================', + '', + self.methods(subscribes_to, subscribe=True), + '# ===================================================================', + '# ===================================================================', + '', + )) + + def implements_methods(self): + implements = self.artifact.communications['robocomp']['implements'] + + if not implements: + return '' + + return '\n'.join(( + '# =============== Methods for Component Implements ==================', + '# ===================================================================', + '', + self.methods(implements), + '# ===================================================================', + '# ===================================================================', + '', + )) + + def startup_check_ice(self): + result = '' + robocomp_comm = self.artifact.communications['robocomp'] + + interfaces = ( + robocomp_comm['requires'] + + robocomp_comm['publishes'] + + robocomp_comm['implements'] + + robocomp_comm['subscribes_to'] + ) + + for interface in interfaces: + if interface['type'] != 'ice': + continue + + module = self.artifact.imports.module_providing_interface(interface['name']) + + for name in module.structs: + result += Template(INTERFACE_TYPES_TEST).substitute({ + 'module_name': module.name, + 'type': full_type_string(name, module.name), + }) + pass + + return result + + def interface_specific_comment(self): + robocomp_comm = self.artifact.communications['robocomp'] + result = '' + + for type in {'requires', 'publishes', 'implements', 'subscribes_to'}: + for interface, i in number_duplicates(robocomp_comm[type], lambda iface: iface['name']): + if interface['type'] != 'ice': + continue + + module = self.artifact.imports.module_providing_interface(interface['name']) + + if type in {'publishes', 'requires'}: + proxy_reference = f'self.{interface["name"].lower()}{i}_proxy.' + action = 'publish calling' if type == 'publishes' else 'call' + + proxy_method_calls = '\n'.join( + f'# {proxy_reference}{method}(...)' + for method in module.interfaces[interface['name']] + ) + + if proxy_method_calls: + result += Template(PROXY_METHODS_COMMENT).substitute({ + 'module_name': module.name, + 'methods': proxy_method_calls, + 'action': action, + }) + + struct_str = '\n'.join( + f'# {full_type_string(struct, module.name)}\n' + for struct in module.structs + ) + + if struct_str: + result += Template(INTERFACE_TYPES_COMMENT).substitute({ + 'module_name': module.name, + 'structs': struct_str, + }) + + return result diff --git a/robogen/extras/plugins/agent_python_licensing/__init__.py b/robogen/extras/plugins/agent_python_licensing/__init__.py new file mode 100644 index 00000000..15b06fde --- /dev/null +++ b/robogen/extras/plugins/agent_python_licensing/__init__.py @@ -0,0 +1,59 @@ +__name__ = 'agent_python_licensing' +__version__ = '0.1.0' +__author__ = 'José Miguel Sánchez García' + +DEPENDENCIES = { + 'agent_generator_python': '==0.1.0', +} + +from datetime import date +from schema import Schema, And, Or, Use +from string import Template +from pyparsing import CaselessKeyword, Suppress, Word, alphanums, alphas +import schema +import pyparsing +import robogen + +from .licenses import LICENSES + +ADSL = pyparsing.Optional(( + # Keyword + Suppress(CaselessKeyword('license')) + # Identifier + - Word(alphas + '_', alphanums + '_') + # Semicolon + - Suppress(Word(';')) +).setParseAction(lambda x: x[0])('license')) + +# Specified license must be supported +SCHEMA = Schema(And(Use(str.lower), Or(*LICENSES.keys()))) + +header_template = lambda license: f'''\ +{license} +$header''' + +class LicensePopulator(robogen.Populator): + @staticmethod + def generate_python_header(license): + return '\n'.join(f'# {line}' for line in license.splitlines()) + + def populate(self): + license = LICENSES[self.artifact.license] + license = Template(license).substitute({'copyright_year': date.today().year}) + + return { + 'header': header_template(LicensePopulator.generate_python_header(license)), + } + +def ctor_set_license(artifact, importer): + setattr(artifact, 'license', artifact.tree['license']) + +class Plugin: + '''Adds a license header to source files of Python agents.''' + + @classmethod + def install(klass, installer): + installer.install_populator('agent', 'python', lambda file: file.endswith('.py'), LicensePopulator) + installer.install_artifact_ctor_extension('agent', ctor_set_license) + installer.install_schema_extension('agent', 'root', schema.Optional('license', default='mit'), SCHEMA) + installer.install_syntax_extension('adsl', 'root', ADSL) diff --git a/robogen/extras/plugins/agent_python_licensing/licenses.py b/robogen/extras/plugins/agent_python_licensing/licenses.py new file mode 100644 index 00000000..e7180fad --- /dev/null +++ b/robogen/extras/plugins/agent_python_licensing/licenses.py @@ -0,0 +1,42 @@ +MIT = '''\ +MIT License + +Copyright (c) ${copyright_year} [fullname] + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE.''' + +GPLV3 = '''\ +Copyright (c) ${copyright_year} [fullname]. + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, version 3. + +This program is distributed in the hope that it will be useful, but +WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see