Add rosidl_generator_cpp templates for actions #312
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apojomovsky
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| #include <action_msgs/msg/goal_status_array.hpp> | ||
| #include <@(spec.pkg_name)/action/@(get_header_filename_from_msg_name(spec.action_name))__feedback.hpp> | ||
| #include <@(spec.pkg_name)/action/@(get_header_filename_from_msg_name(spec.action_name))__goal.hpp> | ||
| #include <@(spec.pkg_name)/action/@(get_header_filename_from_msg_name(spec.action_name))__result.hpp> |
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@apojomovsky I think we should be consistent with rosidl_generator_c equivalent template: either we hard-code action or we pass in @(subfolder).
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| using Goal = GoalRequestService::Request; | ||
| using Result = GoalResultService::Response; | ||
| using Feedback = @(spec.pkg_name)::action::@(spec.action_name)_Feedback; |
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@apojomovsky same thing about action vs. @(subfolder).
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CI with ros2/rosidl_typesupport#36, ros2/rosidl#312 and ros2/rcl_interfaces#48
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| add_dependencies( | ||
| ${rosidl_generate_interfaces_TARGET} | ||
| ${rosidl_generate_interfaces_TARGET}${_target_suffix} | ||
| ) |
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@apojomovsky @sloretz I don't entirely follow why we check for ${rosidl_generate_action_interfaces_TARGET} but use ${rosidl_generate_interfaces_TARGET}.
| add_dependencies( | ||
| ${rosidl_generate_interfaces_TARGET} | ||
| ${rosidl_generate_interfaces_TARGET}${_target_suffix} | ||
| ) |
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@apojomovsky @sloretz same as above.
| "${rosidl_generator_c_TEMPLATE_DIR}/rosidl_generator_c__action_visibility_control.h.in" | ||
| "${_visibility_control_file}" | ||
| @ONLY | ||
| ) |
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@apojomovsky @sloretz seems we're not installing the generated _visibility_control_file.
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Installed visibility file in db68926
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As just mentioned here, the latest changes from @sloretz in ros2/rosidl_typesupport#36 in conjunction with the ones here enabled us to successfully build/run the |
Addresses parts of #303
Built on top of sloretz/speficication-to-str which is in turn based on sservulo/305-parse_action_file
This PR:
action__struct.hpp.emandaction.hpp.emin therosidl_generator_cpp's resource directory.action__struct.h.emandaction.h.emin therosidl_generator_c's resource directory.rosidl_generator_cppandrosidl_generator_clogic to process.actionfiles.ActionSpecificationclass to therosidl_parser.EDIT:
It wasn't possible to add a
test_action_initializationtest because of an implicit dependency tobuiltin_interfacespackage in the generated c++ code which ended up in a circular dependency with the package.Since this can't be tested in the generation pipeline yet, I've extended some of my notes in this gist with some instructions on how to run the generator by hand against an example package.
connects to ros2/rcl_interfaces#48