Merge pull request #331 from ros2/idl-stage-6

 add idl pipeline using a separate extension point

rosidl_adapter/CMakeLists.txt

@@ -12,7 +12,14 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_package(
+  CONFIG_EXTRAS "rosidl_adapter-extras.cmake"
+)
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)
 
 install(PROGRAMS
   scripts/msg2idl.py

rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake

@@ -0,0 +1,67 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Convert non-idl interface files into `.idl` files.
+#
+# The input file might be a `.msg` or `.srv` file.
+#
+# :param idl_var: the variable name to return the list of generated `.idl`
+#   files, each item is a tuple separated by a colon with an absolute base path
+#   and a path relative to that base path
+# :type idl_var: string
+# :param arguments_file: the path of the arguments file containing the paths of
+#   the non-idl files.
+# :type arguments_file: string
+# :param TARGET: the name of the generation target
+# :type TARGET: string
+#
+# @public
+#
+function(rosidl_adapt_interfaces idl_var arguments_file)
+  cmake_parse_arguments(ARG "" "TARGET" ""
+    ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "rosidl_adapt_interfaces() called with unused "
+      "arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  find_package(PythonInterp REQUIRED)
+  if(NOT PYTHON_EXECUTABLE)
+    message(FATAL_ERROR "Variable 'PYTHON_EXECUTABLE' must not be empty")
+  endif()
+
+  set(idl_output "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter/${ARG_TARGET}.idls")
+  set(cmd
+    "${PYTHON_EXECUTABLE}" -m rosidl_adapter
+    --package-name ${PROJECT_NAME}
+    --arguments-file "${arguments_file}"
+    --output-dir "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter/${PROJECT_NAME}"
+    --output-file "${idl_output}")
+  execute_process(
+    COMMAND ${cmd}
+    OUTPUT_QUIET
+    ERROR_VARIABLE error
+    RESULT_VARIABLE result
+  )
+  if(NOT result EQUAL 0)
+    string(REPLACE ";" " " cmd_str "${cmd}")
+    message(FATAL_ERROR
+      "execute_process(${cmd_str}) returned error code ${result}:\n${error}")
+  endif()
+
+  file(STRINGS "${idl_output}" idl_tuples)
+
+  set(${idl_var} ${idl_tuples} PARENT_SCOPE)
+endfunction()

rosidl_adapter/rosidl_adapter-extras.cmake

@@ -0,0 +1,17 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# copied from rosidl_adapter/rosidl_adapter-extras.cmake
+
+include("${rosidl_adapter_DIR}/rosidl_adapt_interfaces.cmake")

rosidl_adapter/rosidl_adapter/__init__.py

@@ -17,14 +17,17 @@ def convert_to_idl(package_dir, package_name, interface_file, output_dir):
     if interface_file.suffix == '.msg':
         from rosidl_adapter.msg import convert_msg_to_idl
         return convert_msg_to_idl(
-            package_dir, package_name, interface_file,
-            output_dir / package_name / 'msg')
+            package_dir, package_name, interface_file, output_dir / 'msg')
 
     if interface_file.suffix == '.srv':
         from rosidl_adapter.srv import convert_srv_to_idl
         return convert_srv_to_idl(
-            package_dir, package_name, interface_file,
-            output_dir / package_name / 'srv')
+            package_dir, package_name, interface_file, output_dir / 'srv')
+
+    if interface_file.suffix == '.action':
+        from rosidl_adapter.action import convert_action_to_idl
+        return convert_action_to_idl(
+            package_dir, package_name, interface_file, output_dir / 'action')
 
     assert False, "Unsupported interface type '{interface_file.suffix}'" \
         .format_map(locals())

rosidl_adapter/rosidl_adapter/__main__.py

@@ -0,0 +1,19 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+
+from rosidl_adapter.main import main
+
+sys.exit(main())

rosidl_adapter/rosidl_adapter/action/__init__.py

@@ -0,0 +1,62 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_adapter.parser import parse_action_string
+from rosidl_adapter.resource import expand_template
+
+
+def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
+    assert package_dir.is_absolute()
+    assert not input_file.is_absolute()
+    assert input_file.suffix == '.action'
+
+    abs_input_file = package_dir / input_file
+    print('Reading input file: {abs_input_file}'.format_map(locals()))
+    abs_input_file = package_dir / input_file
+    content = abs_input_file.read_text(encoding='utf-8')
+    action = parse_action_string(package_name, input_file.stem, content)
+
+    # HACK as long as the return action specification contains implicitly added
+    # fields they have to be skipped when generating .idl files
+    assert len(action.goal_service.request.fields) >= 1
+    assert action.goal_service.request.fields[0].name == 'uuid'
+    action.goal_service.request.fields.pop(0)
+    assert len(action.goal_service.response.fields) >= 2
+    assert action.goal_service.response.fields[0].name == 'accepted'
+    assert action.goal_service.response.fields[1].name == 'stamp'
+    action.goal_service.response.fields.pop(1)
+    action.goal_service.response.fields.pop(0)
+
+    assert len(action.result_service.request.fields) >= 1
+    assert action.result_service.request.fields[0].name == 'uuid'
+    action.result_service.request.fields.pop(0)
+    assert len(action.result_service.response.fields) >= 1
+    assert action.result_service.response.fields[0].name == 'status'
+    action.result_service.response.fields.pop(0)
+
+    assert len(action.feedback.fields) >= 1
+    assert action.feedback.fields[0].name == 'uuid'
+    action.feedback.fields.pop(0)
+
+    output_file = output_dir / input_file.with_suffix('.idl').name
+    abs_output_file = output_file.absolute()
+    print('Writing output file: {abs_output_file}'.format_map(locals()))
+    data = {
+        'pkg_name': package_name,
+        'relative_input_file': input_file,
+        'action': action,
+    }
+
+    expand_template('action.idl.em', data, output_file)
+    return output_file

rosidl_adapter/rosidl_adapter/main.py

@@ -0,0 +1,60 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import json
+import pathlib
+import sys
+
+
+from rosidl_adapter import convert_to_idl
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Convert interface files to .idl')
+    parser.add_argument(
+        '--package-name', required=True,
+        help='The name of the package')
+    parser.add_argument(
+        '--arguments-file', required=True,
+        help='The JSON file containing the non-idl tuples to convert to .idl')
+    parser.add_argument(
+        '--output-dir', required=True,
+        help='The base directory to create .idl files in')
+    parser.add_argument(
+        '--output-file', required=True,
+        help='The output file containing the tuples for the generated .idl '
+             'files')
+    args = parser.parse_args(argv)
+    output_dir = pathlib.Path(args.output_dir)
+    output_file = pathlib.Path(args.output_file)
+
+    with open(args.arguments_file, 'r') as h:
+        data = json.load(h)
+
+    idl_tuples = []
+    for non_idl_tuple in data['non_idl_tuples']:
+        # only take the filastrst : for separation, since the first tuple
+        # contains an absolute path which on Windows contains a colon
+        basepath, relative_path = non_idl_tuple.rsplit(':', 1)
+        abs_idl_file = convert_to_idl(
+            pathlib.Path(basepath), args.package_name,
+            pathlib.Path(relative_path), output_dir)
+        idl_tuples.append((output_dir, abs_idl_file.relative_to(output_dir)))
+
+    output_file.parent.mkdir(exist_ok=True)
+    with output_file.open('w') as h:
+        for basepath, relative_path in idl_tuples:
+            h.write('{basepath}:{relative_path}\n'.format_map(locals()))

rosidl_adapter/rosidl_adapter/resource/action.idl.em

@@ -0,0 +1,42 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from @(pkg_name)/@(relative_input_file)
+
+@{
+from rosidl_adapter.msg import get_include_file
+include_files = set()
+fields = action.goal_service.request.fields + \
+    action.goal_service.response.fields + \
+    action.result_service.request.fields + \
+    action.result_service.response.fields + \
+    action.feedback.fields
+for field in fields:
+    include_file = get_include_file(field.type)
+    if include_file is not None:
+        include_files.add(include_file)
+}@
+@[for include_file in sorted(include_files)]@
+#include "@(include_file)"
+@[end for]@
+
+module @(pkg_name) {
+  module action {
+@{
+TEMPLATE(
+    'struct.idl.em',
+    msg=action.goal_service.request,
+)
+}@
+@{
+TEMPLATE(
+    'struct.idl.em',
+    msg=action.result_service.response,
+)
+}@
+@{
+TEMPLATE(
+    'struct.idl.em',
+    msg=action.feedback,
+)
+}@
+  };
+};