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Get list of typesupports from ament index #115

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merged 10 commits into from
Apr 29, 2016
Merged

Get list of typesupports from ament index #115

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c02e0d6
Get list of typesupports from ament index
Apr 6, 2016
e2ca242
Extraneous print
Apr 6, 2016
390f9f4
New syntax for get_rmw_typesupport
Apr 13, 2016
10275a2
Use ament_index instead of typesupport map
Apr 15, 2016
e368485
Get list of typesupports from ament index
Apr 6, 2016
d9e757b
Extraneous print
Apr 6, 2016
77bea96
Add a buildtool_export_depend for ament_index_python
Apr 26, 2016
abf826c
Add a test depend on ament_index_python
Apr 26, 2016
9988a16
remove empty line
dirk-thomas Apr 29, 2016
89e35b9
Single quotes
Apr 29, 2016
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4 changes: 1 addition & 3 deletions rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,7 @@ find_package(PythonInterp 3.4 REQUIRED)
find_package(python_cmake_module REQUIRED)
find_package(PythonExtra MODULE)

# TODO(esteve): force opensplice and connext C type supports only, uncomment
# the following line when all typesupport implementations are ported to C
#get_rmw_typesupport(_typesupport_impls ${rmw_implementation})
# Get a list of typesupport implementations from valid rmw implementations.
rosidl_generator_py_get_typesupports(_typesupport_impls)

if("${_typesupport_impls} " STREQUAL " ")
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30 changes: 13 additions & 17 deletions rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
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Expand Up @@ -12,23 +12,19 @@
# See the License for the specific language governing permissions and
# limitations under the License.

macro(accumulate_typesupports)
set(_typesupport_impl "")
if(NOT "${rmw_implementation}" STREQUAL "rmw_fastrtps_cpp")
get_rmw_typesupport(_typesupport_impl ${rmw_implementation} LANGUAGE "C")
list(APPEND _typesupport_impls ${_typesupport_impl})
endif()
endmacro()

macro(rosidl_generator_py_get_typesupports TYPESUPPORT_IMPLS)
set(${TYPESUPPORT_IMPLS} "")
foreach(_extension IN LISTS AMENT_EXTENSIONS_rosidl_generate_interfaces)
string(REPLACE ":" ";" _extension_list "${_extension}")
list(LENGTH _extension_list _length)
if(NOT _length EQUAL 2)
message(FATAL_ERROR "ament_execute_extensions(${extension_point}) "
"registered extension '${_extension}' can not be split into package "
"name and cmake filename")
endif()
list(GET _extension_list 0 _pkg_name)
list(GET _extension_list 1 _cmake_filename)
if("${_pkg_name} " STREQUAL "rosidl_typesupport_opensplice_c ")
list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_opensplice_c")
endif()
if("${_pkg_name} " STREQUAL "rosidl_typesupport_connext_c ")
list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_connext_c")
endif()
set(TYPESUPPORT_IMPLS "")
set(_typesupport_impls "")
call_for_each_rmw_implementation(accumulate_typesupports)
foreach(_typesupport_impl ${_typesupport_impls})
list_append_unique(TYPESUPPORT_IMPLS ${_typesupport_impl})
endforeach()
endmacro()
2 changes: 2 additions & 0 deletions rosidl_generator_py/package.xml
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Expand Up @@ -9,6 +9,7 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<buildtool_export_depend>ament_cmake</buildtool_export_depend>
<buildtool_export_depend>ament_index_python</buildtool_export_depend>
<buildtool_export_depend>python_cmake_module</buildtool_export_depend>
<buildtool_export_depend>rosidl_cmake</buildtool_export_depend>

Expand All @@ -18,6 +19,7 @@
<exec_depend>rosidl_parser</exec_depend>

<test_depend>ament_cmake_nose</test_depend>
<test_depend>ament_index_python</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>python_cmake_module</test_depend>
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11 changes: 4 additions & 7 deletions rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,9 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import ament_index_python
import importlib

type_support_map = {
'rmw_connext_cpp': 'rosidl_typesupport_connext_c',
'rmw_opensplice_cpp': 'rosidl_typesupport_opensplice_c',
}


class UnsupportedTypeSupport(Exception):
"""Raised when no supported type support can be found for a given rmw implementation."""
Expand All @@ -44,9 +40,10 @@ def import_type_support(pkg_name, subfolder, rosidl_name, rmw_implementation):
:param rmw_implementation str: name of the rmw implementation
:returns: the type support Python module for this specific rosidl and rmw implementation pair
"""
if rmw_implementation not in type_support_map.keys():
if not ament_index_python.has_resource('rmw_typesupport_c', rmw_implementation):
raise UnsupportedTypeSupport(rmw_implementation)
type_support_name = type_support_map[rmw_implementation]

type_support_name = ament_index_python.get_resource('rmw_typesupport_c', rmw_implementation)
import_package = '{pkg_name}'.format(
pkg_name=pkg_name,
)
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