traits

ros2 · Nov 25, 2018 · 6f7dc95 · 6f7dc95
1 parent 84ee0a9
commit 6f7dc95
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Showing 3 changed files with 61 additions and 6 deletions.
diff --git a/rosidl_generator_cpp/resource/idl__traits.hpp.em b/rosidl_generator_cpp/resource/idl__traits.hpp.em
@@ -17,6 +17,8 @@ include_parts = [package_name] + list(interface_path.parents[0].parts) + \
 include_base = '/'.join(include_parts)
 header_guard_variable = '__'.join([x.upper() for x in include_parts]) + \
     '__TRAITS_HPP_'
+
+include_directives = set()
 }@
 
 #ifndef @(header_guard_variable)
@@ -37,7 +39,8 @@ from rosidl_parser.definition import Message
 @{
 TEMPLATE(
     'msg__traits.hpp.em',
-    package_name=package_name, interface_path=interface_path, message=message)
+    package_name=package_name, interface_path=interface_path, message=message,
+    include_directives=include_directives)
 }@
 
 @[end for]@
@@ -49,6 +52,20 @@ TEMPLATE(
 from rosidl_parser.definition import Service
 }@
 @[for service in content.get_elements_of_type(Service)]@
+@{
+TEMPLATE(
+    'msg__traits.hpp.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.request_message, include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__traits.hpp.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.response_message, include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     'srv__traits.hpp.em',
@@ -68,21 +85,21 @@ from rosidl_parser.definition import Action
 TEMPLATE(
     'msg__traits.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.goal_request)
+    message=action.goal_request, include_directives=include_directives)
 }@
 
 @{
 TEMPLATE(
     'msg__traits.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.result_response)
+    message=action.result_response, include_directives=include_directives)
 }@
 
 @{
 TEMPLATE(
     'msg__traits.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback)
+    message=action.feedback, include_directives=include_directives)
 }@
 
 @{
@@ -103,7 +120,7 @@ TEMPLATE(
 TEMPLATE(
     'msg__traits.hpp.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback_message)
+    message=action.feedback_message, include_directives=include_directives)
 }@
 
 @[end for]@

diff --git a/rosidl_generator_cpp/resource/msg__struct.hpp.em b/rosidl_generator_cpp/resource/msg__struct.hpp.em
@@ -25,7 +25,6 @@ from collections import OrderedDict
 from rosidl_cmake import convert_camel_case_to_lower_case_underscore
 includes = OrderedDict()
 for member in message.structure.members:
-    print('// member:', member.name)
     type_ = member.type
     if isinstance(type_, NestedType):
         type_ = type_.basetype

diff --git a/rosidl_generator_cpp/resource/msg__traits.hpp.em b/rosidl_generator_cpp/resource/msg__traits.hpp.em
@@ -9,6 +9,45 @@ from rosidl_parser.definition import UnboundedSequence
 message_typename = '::'.join(message.structure.type.namespaces + [message.structure.type.name])
 }@
 @
+@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+@# Collect necessary include directives for all members
+@{
+from collections import OrderedDict
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+includes = OrderedDict()
+for member in message.structure.members:
+    type_ = member.type
+    if isinstance(type_, Array):
+        type_ = type_.basetype
+    if isinstance(type_, NamespacedType):
+        filename_prefix = convert_camel_case_to_lower_case_underscore(type_.name)
+        if filename_prefix.endswith('__feedback'):
+            filename_prefix = filename_prefix[:-10]
+        member_names = includes.setdefault(
+            '/'.join((type_.namespaces + [filename_prefix])) + '__traits.hpp', [])
+        member_names.append(member.name)
+}@
+@#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+@
+@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+@[if includes]@
+// Include directives for member types
+@[    for header_file, member_names in includes.items()]@
+@[        for member_name in member_names]@
+// Member '@(member_name)'
+@[        end for]@
+@[        if header_file in include_directives]@
+// already included above
+// @
+@[        else]@
+@{include_directives.add(header_file)}@
+@[        end if]@
+#include "@(header_file)"
+@[    end for]@
+
+@[end if]@
+@#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+@
 namespace rosidl_generator_traits
 {