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Refactor C and C++ typesupport (#18)
* Switch C++ type support generation pipeline. * Adds outer C++ IDL templates. * Adapts C++ msg & srv header templates. * Adapts C++ msg & srv source templates. * Switch C type support generation pipeline. * Adds outer C IDL templates. * Adapts C msg & srv header templates. * Adapts C msg source template. * Adapts C msg & srv source templates. * Adds missing Python imports in templates. * Converts IDL files to RTI Connext IDL files. * Fixing typesupport generation issues. * Uses rosidl_dds again for IDL2IDL conversion. * Applies many fixes to C & C++ typesupport. * Fixes for C++ srv templates. * Many fixes to C & C++ type support. * Yet more fixes to C & C++ type support. * Fixes copyright dates. * Adds back attribute to generated code constants. * Adds missing type support for action messages.
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76 changes: 76 additions & 0 deletions
76
rosidl_typesupport_connext_c/resource/idl__dds_connext__type_support_c.cpp.em
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| // generated from rosidl_typesupport_connext_c/resource/idl__dds_connext__type_support_c.cpp.em | ||
| // with input from @(package_name):@(interface_path) | ||
| // generated code does not contain a copyright notice | ||
|
|
||
| @{ | ||
| ####################################################################### | ||
| # EmPy template for generating <idl>__type_support_c.cpp files | ||
| # | ||
| # Context: | ||
| # - package_name (string) | ||
| # - content (rosidl_parser.definition.IdlContent result of parsing IDL file) | ||
| # - interface_path (Path relative to the directory named after the package) | ||
| ####################################################################### | ||
| include_directives = set() | ||
| ####################################################################### | ||
| # Handle message | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Message | ||
| for message in content.get_elements_of_type(Message): | ||
| TEMPLATE( | ||
| 'msg__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| message=message, include_directives=include_directives | ||
| ) | ||
| ####################################################################### | ||
| # Handle service | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Service | ||
| for service in content.get_elements_of_type(Service): | ||
| TEMPLATE( | ||
| 'srv__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| service=service, include_directives=include_directives | ||
| ) | ||
| ####################################################################### | ||
| # Handle action | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Action | ||
| for action in content.get_elements_of_type(Action): | ||
| TEMPLATE( | ||
| 'msg__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| service=action.goal_request, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'srv__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| service=action.goal_service, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'msg__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| service=action.result_response, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'srv__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| service=action.result_service, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'msg__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| message=action.feedback, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'msg__type_support_c.cpp.em', | ||
| package_name=package_name, interface_path=interface_path, | ||
| message=action.feedback_message, | ||
| include_directives=include_directives | ||
| ) | ||
| }@ |
68 changes: 68 additions & 0 deletions
68
rosidl_typesupport_connext_c/resource/idl__rosidl_typesupport_connext_c.h.em
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| // generated from rosidl_typesupport_connext_c/resource/idl__rosidl_typesupport_connext_c.h.em | ||
| // with input from @(package_name):@(interface_path) | ||
| // generated code does not contain a copyright notice | ||
|
|
||
| @{ | ||
| ####################################################################### | ||
| # EmPy template for generating <idl>__rosidl_typesupport_connext_c.h files | ||
| # | ||
| # Context: | ||
| # - package_name (string) | ||
| # - content (rosidl_parser.definition.IdlContent result of parsing IDL file) | ||
| # - interface_path (Path relative to the directory named after the package) | ||
| ####################################################################### | ||
| 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)] | ||
| header_guard_variable = '__'.join([x.upper() for x in include_parts]) + \ | ||
| '__ROSIDL_TYPESUPPORT_CONNEXT_C_H_' | ||
| include_directives = set() | ||
| }@ | ||
|
|
||
| #ifndef @(header_guard_variable) | ||
| #define @(header_guard_variable) | ||
|
|
||
| @{ | ||
| ####################################################################### | ||
| # Handle message | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Message | ||
| for message in content.get_elements_of_type(Message): | ||
| TEMPLATE( | ||
| 'msg__rosidl_typesupport_connext_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, message=message, | ||
| include_directives=include_directives | ||
| ) | ||
| ####################################################################### | ||
| # Handle service | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Service | ||
| for service in content.get_elements_of_type(Service): | ||
| TEMPLATE( | ||
| 'srv__rosidl_typesupport_connext_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, service=service, | ||
| include_directives=include_directives | ||
| ) | ||
| ####################################################################### | ||
| # Handle action | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Action | ||
| for action in content.get_elements_of_type(Action): | ||
| TEMPLATE( | ||
| 'srv__rosidl_typesupport_connext_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, service=action.goal_service, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'srv__rosidl_typesupport_connext_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, service=action.result_service, | ||
| include_directives=include_directives | ||
| ) | ||
| TEMPLATE( | ||
| 'msg__rosidl_typesupport_connext_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, message=action.feedback_message, | ||
| include_directives=include_directives | ||
| ) | ||
| }@ | ||
|
|
||
| #endif // @(header_guard_variable) |
51 changes: 21 additions & 30 deletions
51
rosidl_typesupport_connext_c/resource/msg__rosidl_typesupport_connext_c.h.em
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,45 +1,36 @@ | ||
| // generated from | ||
| // rosidl_typesupport_connext_c/resource/msg__rosidl_typesupport_connext_c.h.em | ||
| // generated code does not contain a copyright notice | ||
| @# Included from rosidl_typesupport_connext_c/resource/idl__rosidl_typesupport_connext_c.h.em | ||
|
|
||
| @####################################################################### | ||
| @# EmPy template for generating | ||
| @# <msg>__rosidl_typesupport_connext_c.h files | ||
| @# | ||
| @# Context: | ||
| @# - spec (rosidl_parser.MessageSpecification) | ||
| @# Parsed specification of the .msg file | ||
| @# - subfolder (string) | ||
| @# The subfolder / subnamespace of the message | ||
| @# Could be 'msg', 'srv' or 'action' | ||
| @# - get_header_filename_from_msg_name (function) | ||
| @####################################################################### | ||
| @ | ||
| @{ | ||
| header_guard_parts = [ | ||
| spec.base_type.pkg_name, subfolder, | ||
| get_header_filename_from_msg_name(spec.base_type.type) + '__rosidl_typesupport_connext_c_h'] | ||
| header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_' | ||
| header_files = [ | ||
| 'rosidl_generator_c/message_type_support_struct.h', | ||
| 'rosidl_typesupport_interface/macros.h', | ||
| package_name + '/msg/rosidl_typesupport_connext_c__visibility_control.h' | ||
| ] | ||
| }@ | ||
| #ifndef @(header_guard_variable) | ||
| #define @(header_guard_variable) | ||
|
|
||
| #include "rosidl_generator_c/message_type_support_struct.h" | ||
| #include "rosidl_typesupport_interface/macros.h" | ||
|
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| #include "@(spec.base_type.pkg_name)/msg/rosidl_typesupport_connext_c__visibility_control.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]@ | ||
|
|
||
| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
|
|
||
| ROSIDL_TYPESUPPORT_CONNEXT_C_PUBLIC_@(spec.base_type.pkg_name) | ||
| ROSIDL_TYPESUPPORT_CONNEXT_C_PUBLIC_@(package_name) | ||
| const rosidl_message_type_support_t * | ||
| ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_connext_c, @(spec.base_type.pkg_name), @(subfolder), @(spec.base_type.type))(); | ||
| ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME( | ||
| rosidl_typesupport_connext_c, | ||
| @(', '.join([package_name] + list(interface_path.parents[0].parts))), | ||
| @(message.structure.type.name))(); | ||
|
|
||
|
|
||
| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
|
||
| #endif // @(header_guard_variable) |
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