[WIP] restructure rosidl to work with IDL files

rosidl_adapter/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_adapter NONE)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_adapter-extras.cmake"
+)
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)

rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake

@@ -0,0 +1,103 @@
+# 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.
+
+#
+# Adapt interface input files to a coherent set of `.idl` files.
+#
+# The input file might already be an `.idl` file or any other format for which
+# a plugin exist which converts the incoming file into an `.idl` file.
+# E.g. `.msg` and `.srv` files are being supported for backward compatibility.
+#
+# Each output `.idl` file contains either a single message or a single service.
+#
+# :param target: the _name of the generation target,
+#   specific generators might use the _name as a prefix for their own
+#   generation step
+# :type target: string
+# :param ARGN: a list of interface files where each value might be either an
+#   absolute path or path relative to the CMAKE_CURRENT_SOURCE_DIR.
+# :type ARGN: list of strings
+# :param DEPENDENCIES: the packages from which message types are
+#   being used
+# :type DEPENDENCIES: list of strings
+# :param LIBRARY_NAME: the base name of the library, specific generators might
+#   append their own suffix
+# :type LIBRARY_NAME: string
+# :param SKIP_INSTALL: if set skip installing the interface files
+# :type SKIP_INSTALL: option
+# :param SKIP_GROUP_MEMBERSHIP_CHECK: if set, skip enforcing the appartenance
+#   to the rosidl_interface_packages group
+# :type SKIP_GROUP_MEMBERSHIP_CHECK: option
+# :param ADD_LINTER_TESTS: if set lint the interface files using
+#   the ``ament_lint`` package
+# :type ADD_LINTER_TESTS: option
+#
+# @public
+#
+function(rosidl_adapt_interfaces idl_var)
+  cmake_parse_arguments(ARG "" "TARGET" ""
+    ${ARGN})
+  if(NOT ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "rosidl_adapt_interfaces() called without any "
+      "interface files")
+  endif()
+
+  if(NOT rosidl_adapter_FOUND)
+    message(FATAL_ERROR "rosidl_adapt_interfaces() called without "
+      "find_package(rosidl_adapter) successfuly being called")
+  endif()
+
+  find_package(PythonInterp REQUIRED)
+  if(NOT PYTHON_EXECUTABLE)
+    message(FATAL_ERROR "Variable 'PYTHON_EXECUTABLE' must not be empty")
+  endif()
+
+  set(_idl_output "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter/${ARG_TARGET}.idls")
+  # TODO needs to use a JSON file for arguments otherwise the command might become too long
+  set(cmd
+    "${PYTHON_EXECUTABLE}" -m rosidl_adapter
+    --package-name ${PROJECT_NAME}
+    --interface-files ${ARG_UNPARSED_ARGUMENTS}
+    --output-dir "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter"
+    --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 "${_idl_output}" idl_files)
+
+  # split each absolute file into a tuple
+  set(idl_tuples "")
+  set(basepath "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter/${PROJECT_NAME}")
+  string(LENGTH "${basepath}" length)
+  foreach(idl_file ${idl_files})
+    string(SUBSTRING "${idl_file}" 0 ${length} prefix)
+    if(NOT "${prefix}" STREQUAL "${basepath}")
+      message(FATAL_ERROR "boom")
+    endif()
+    math(EXPR index "${length} + 1")
+    string(SUBSTRING "${idl_file}" ${index} -1 rel_idl_file)
+    list(APPEND idl_tuples "${basepath}:${rel_idl_file}")
+  endforeach()
+
+  set(${idl_var} ${idl_tuples} PARENT_SCOPE)
+endfunction()

rosidl_adapter/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>rosidl_adapter</name>
+  <version>0.5.1</version>
+  <description>
+    Scripts to convert .msg/.srv files to .idl.
+  </description>
+  <maintainer email="[email protected]">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>ament_cmake</build_depend>
+
+  <exec_depend>python3-empy</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

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

@@ -0,0 +1,32 @@
+# 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.
+
+
+def convert_to_idl(package_dir, package_name, interface_file, output_dir):
+    # TODO use plugin approach rather than hard coded alternatives
+
+    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')
+
+    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')
+
+    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/main.py

@@ -0,0 +1,53 @@
+# 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 os
+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(
+        '--interface-files', nargs='+',
+        help='The interface files 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 absolute paths to the .idl files')
+    args = parser.parse_args(argv)
+    output_dir = pathlib.Path(args.output_dir)
+
+    idl_files = []
+    for interface_tuple in args.interface_files:
+        basepath, relative_path = interface_tuple.split(':', 1)
+        idl_file = convert_to_idl(
+            pathlib.Path(basepath), args.package_name,
+            pathlib.Path(relative_path), output_dir)
+        idl_files.append(idl_file)
+
+    os.makedirs(os.path.dirname(args.output_file), exist_ok=True)
+    with open(args.output_file, 'w') as h:
+        for idl_file in idl_files:
+            h.write('{idl_file}\n'.format_map(locals()))

rosidl_adapter/rosidl_adapter/msg/__init__.py

@@ -0,0 +1,104 @@
+# 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.msg.parser import parse_message_string
+from rosidl_adapter.resource import expand_template
+
+
+def convert_msg_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 == '.msg'
+
+    print('Reading input file: {input_file}'.format_map(locals()))
+    abs_input_file = package_dir / input_file
+    content = abs_input_file.read_text(encoding='utf-8')
+    msg = parse_message_string(package_name, input_file.stem, content)
+
+    output_file = output_dir / input_file.with_suffix('.idl').name
+    print('Writing output file: {output_file}'.format_map(locals()))
+    data = {
+        'pkg_name': package_name,
+        'relative_input_file': input_file,
+        'msg': msg,
+    }
+
+    expand_template('msg.idl.em', data, output_file)
+    return output_file
+
+
+MSG_TYPE_TO_IDL = {
+    'bool': 'boolean',
+    'byte': 'octet',
+    'char': 'uint8',
+    'int8': 'int8',
+    'uint8': 'uint8',
+    'int16': 'int16',
+    'uint16': 'uint16',
+    'int32': 'int32',
+    'uint32': 'uint32',
+    'int64': 'int64',
+    'uint64': 'uint64',
+    'float32': 'float',
+    'float64': 'double',
+    'string': 'string',
+}
+
+
+def to_idl_literal(idl_type, value):
+    if idl_type[-1] in (']', '>'):
+        elements = [repr(v) for v in value]
+        while len(elements) < 2:
+            elements.append('')
+        return '"(%s)"' % ', '.join(e.replace('"', r'\"') for e in elements)
+
+    if 'boolean' == idl_type:
+        return 'TRUE' if value else 'FALSE'
+    if 'string' == idl_type:
+        return string_to_idl_string_literal(value)
+    return value
+
+
+def string_to_idl_string_literal(string):
+    """Convert string to character literal as described in IDL 4.2 section  7.2.6.3 ."""
+    estr = string.encode().decode('unicode_escape')
+    estr = estr.replace('"', r'\"')
+    return '"{0}"'.format(estr)
+
+
+def get_include_file(base_type):
+    if base_type.is_primitive_type():
+        return None
+    return '{base_type.pkg_name}/msg/{base_type.type}.idl'.format_map(locals())
+
+
+def get_idl_type(type_):
+    if isinstance(type_, str):
+        identifier = MSG_TYPE_TO_IDL[type_]
+    elif type_.is_primitive_type():
+        identifier = MSG_TYPE_TO_IDL[type_.type]
+    else:
+        identifier = '{type_.pkg_name}::msg::{type_.type}' \
+            .format_map(locals())
+
+    if isinstance(type_, str) or not type_.is_array:
+        return identifier
+
+    if type_.is_fixed_size_array():
+        return '{identifier}[{type_.array_size}]'.format_map(locals())
+
+    if not type_.is_upper_bound:
+        return 'sequence<{identifier}>'.format_map(locals())
+
+    return 'sequence<{identifier}, {type_.array_size}>'.format_map(locals())