update C and C++ typesupport to use IDL-based extension point

rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake

@@ -1,4 +1,4 @@
-# Copyright 2016 Open Source Robotics Foundation, Inc.
+# Copyright 2016-2018 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.
@@ -14,66 +14,49 @@
 
 set(_output_path
   "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_c/${PROJECT_NAME}")
-set(_generated_files "")
-foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
-  get_filename_component(_extension "${_idl_file}" EXT)
-  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+set(_generated_sources "")
+foreach(_idl_tuple ${rosidl_generate_interfaces_IDL_TUPLES})
+  string(REGEX REPLACE ":([^:]*)$" "/\\1" _abs_idl_file "${_idl_tuple}")
+  get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
   get_filename_component(_parent_folder "${_parent_folder}" NAME)
-  if(_extension STREQUAL ".msg")
-    set(_allowed_parent_folders "msg" "srv" "action")
-    if(NOT _parent_folder IN_LIST _allowed_parent_folders)
-      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
-    endif()
-  elseif(_extension STREQUAL ".srv")
-    set(_allowed_parent_folders "srv" "action")
-    if(NOT _parent_folder IN_LIST _allowed_parent_folders)
-      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
-    endif()
-  else()
-    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
-  endif()
-  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
-  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
-  list(APPEND _generated_files
+  get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_idl_name}" _header_name)
+  list(APPEND _generated_sources
     "${_output_path}/${_parent_folder}/${_header_name}__type_support.cpp"
   )
 endforeach()
 
 set(_dependency_files "")
 set(_dependencies "")
 foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
-  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
-  get_filename_component(_extension "${_idl_file}" EXT)
-  if(_extension STREQUAL ".msg")
+  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
     set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
     normalize_path(_abs_idl_file "${_abs_idl_file}")
     list(APPEND _dependency_files "${_abs_idl_file}")
     list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
-  endif()
   endforeach()
 endforeach()
 
 set(target_dependencies
   "${rosidl_typesupport_c_BIN}"
   ${rosidl_typesupport_c_GENERATOR_FILES}
+  "${rosidl_typesupport_c_TEMPLATE_DIR}/action__type_support.c.em"
+  "${rosidl_typesupport_c_TEMPLATE_DIR}/idl__type_support.cpp.em"
   "${rosidl_typesupport_c_TEMPLATE_DIR}/msg__type_support.cpp.em"
   "${rosidl_typesupport_c_TEMPLATE_DIR}/srv__type_support.cpp.em"
   ${rosidl_generate_interfaces_IDL_FILES}
   ${_dependency_files})
 foreach(dep ${target_dependencies})
   if(NOT EXISTS "${dep}")
-    get_property(is_generated SOURCE "${dep}" PROPERTY GENERATED)
-    if(NOT ${_is_generated})
-      message(FATAL_ERROR "Target dependency '${dep}' does not exist")
-    endif()
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
   endif()
 endforeach()
 
 set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_c__arguments.json")
 rosidl_write_generator_arguments(
   "${generator_arguments_file}"
   PACKAGE_NAME "${PROJECT_NAME}"
-  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
+  IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
   ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_typesupport_c_TEMPLATE_DIR}"
@@ -82,7 +65,7 @@ rosidl_write_generator_arguments(
 
 get_used_typesupports(typesupports "rosidl_typesupport_c")
 add_custom_command(
-  OUTPUT ${_generated_files}
+  OUTPUT ${_generated_sources}
   COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_c_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   --typesupports ${typesupports}
@@ -103,7 +86,7 @@ configure_file(
 
 set(_target_suffix "__rosidl_typesupport_c")
 
-add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${rosidl_typesupport_c_LIBRARY_TYPE} ${_generated_files})
+add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${rosidl_typesupport_c_LIBRARY_TYPE} ${_generated_sources})
 if(rosidl_generate_interfaces_LIBRARY_NAME)
   set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
     PROPERTIES OUTPUT_NAME "${rosidl_generate_interfaces_LIBRARY_NAME}${_target_suffix}")
@@ -172,7 +155,7 @@ if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
 endif()
 
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
-  if(NOT _generated_files STREQUAL "")
+  if(NOT _generated_sources STREQUAL "")
     find_package(ament_cmake_cppcheck REQUIRED)
     ament_cppcheck(
       TESTNAME "cppcheck_rosidl_typesupport_c"

rosidl_typesupport_c/resource/action__type_support.c.em

@@ -1,52 +1,59 @@
-// generated from
-// rosidl_typesupport_c/resource/action__type_support_c.em
-// generated code does not contain a copyright notice
-
-@#######################################################################
-@# EmPy template for generating <action>__type_support.c files
-@#
-@# Context:
-@#  - spec (rosidl_parser.ActionSpecification)
-@#    Parsed specification of the .action file
-@#  - subfolder (string)
-@#    The subfolder / subnamespace of the message, usually 'action'
-@#  - get_header_filename_from_msg_name (function)
-@#######################################################################
-@
-
-#include <action_msgs/msg/goal_status_array.h>
-#include <action_msgs/srv/cancel_goal.h>
-
-#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__feedback.h>
-#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__goal.h>
-#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__result.h>
-
-
-#include "@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__type_support.h"
-
-
-static rosidl_action_type_support_t _@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c;
+@# Included from rosidl_typesupport_c/resource/idl__type_support.c.em
+@{
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+include_parts = [package_name] + list(interface_path.parents[0].parts) + \
+    [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+include_base = '/'.join(include_parts)
+
+header_files = (
+    'action_msgs/msg/goal_status_array.h',
+    'action_msgs/srv/cancel_goal.h',
+    include_base + '.h',
+    include_base + '__type_support.h',
+)
+}@
+@[for header_file in header_files]@
+@[    if header_file in include_directives]@
+// already included above
+// @
+@[    else]@
+@{include_directives.add(header_file)}@
+@[    end if]@
+#include "@(header_file)"
+@[end for]@
+
+static rosidl_action_type_support_t _@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c;
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
 
+ROSIDL_TYPESUPPORT_C_EXPORT_@(package_name)
 const rosidl_action_type_support_t *
 ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
-  rosidl_typesupport_c, @(spec.pkg_name), @(subfolder), @(spec.action_name))()
+  rosidl_typesupport_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(interface_path.stem))()
 {
   // Thread-safe by always writing the same values to the static struct
-  _@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c.goal_service_type_support =
+  _@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c.goal_service_type_support =
     ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
-    rosidl_typesupport_c, @(spec.pkg_name), @(subfolder), @(spec.action_name)_Goal)();
-  _@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c.result_service_type_support =
+    rosidl_typesupport_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(interface_path.stem)_Action_Goal)();
+  _@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c.result_service_type_support =
     ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
-    rosidl_typesupport_c, @(spec.pkg_name), @(subfolder), @(spec.action_name)_Result)();
-  _@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c.cancel_service_type_support =
+    rosidl_typesupport_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(interface_path.stem)_Action_Result)();
+  _@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c.cancel_service_type_support =
     ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
     rosidl_typesupport_c, action_msgs, srv, CancelGoal)();
-  _@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c.feedback_message_type_support =
+  _@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c.feedback_message_type_support =
     ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_c, @(spec.pkg_name), @(subfolder), @(spec.action_name)_Feedback)();
-  _@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c.status_message_type_support =
+    rosidl_typesupport_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(interface_path.stem)_Feedback)();
+  _@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c.status_message_type_support =
     ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
     rosidl_typesupport_c, action_msgs, msg, GoalStatusArray)();
 
-  return &_@(spec.pkg_name)__@(subfolder)__@(spec.action_name)__typesupport_c;
+  return &_@('__'.join([package_name] + list(interface_path.parents[0].parts)))__@(interface_path.stem)__typesupport_c;
+}
+
+#ifdef __cplusplus
 }
+#endif