Uses rosidl_dds again for IDL2IDL conversion.

rosidl_typesupport_connext_cpp/cmake/rosidl_typesupport_connext_cpp_generate_interfaces.cmake

@@ -13,7 +13,14 @@
 # limitations under the License.
 
 set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_connext_cpp/${PROJECT_NAME}")
-set(_connext_idl_base_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_connext_idl")
+set(_dds_idl_base_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dds_idl")
+
+rosidl_generate_dds_interfaces(
+  ${rosidl_generate_interfaces_TARGET}__dds_connext_idl
+  IDL_TUPLES ${rosidl_generate_interfaces_IDL_TUPLES}
+  DEPENDENCY_PACKAGE_NAMES ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}
+  OUTPUT_SUBFOLDERS "dds_connext"
+)
 
 set(_dds_idl_files "")
 set(_generated_files "")
@@ -33,7 +40,7 @@ foreach(_idl_tuple ${rosidl_generate_interfaces_IDL_TUPLES})
   list(APPEND _generated_external_files "${_output_path}/${_parent_folder}/dds_connext/${_idl_name}_Support.cxx")
   list(APPEND _generated_files "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_connext_cpp.hpp")
   list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_connext/${_header_name}__type_support.cpp")
-  list(APPEND _dds_idl_files "${_abs_idl_file}")
+  list(APPEND _dds_idl_files "${_dds_idl_base_path}/${PROJECT_NAME}/${_parent_folder}/dds_connext/${_idl_name}_.idl")
 endforeach()
 
 # If not on Windows, disable some warnings with Connext's generated code
@@ -112,7 +119,7 @@ add_custom_command(
   OUTPUT ${_generated_files} ${_generated_external_files}
   COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_connext_cpp_BIN}
   --generator-arguments-file "${generator_arguments_file}"
-  --idl-base-path "${_connext_idl_base_path}"
+  --dds-interface-base-path "${_dds_idl_base_path}"
   --idl-pp "${_idl_pp}"
   DEPENDS ${target_dependencies} ${_dds_idl_files}
   COMMENT "Generating C++ type support for RTI Connext (using '${_idl_pp}')"
@@ -203,6 +210,10 @@ add_dependencies(
   ${rosidl_generate_interfaces_TARGET}${_target_suffix}
   ${rosidl_generate_interfaces_TARGET}__cpp
 )
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}__dds_connext_idl
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+)
 
 if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   install(

rosidl_typesupport_connext_cpp/rosidl_typesupport_connext_cpp/__init__.py

@@ -17,25 +17,33 @@
 import sys
 
 from rosidl_cmake import generate_files
-from .convert_to_connext_idl import convert_to_connext_idl
 
 
-def generate_dds_connext_cpp(pkg_name, dds_interface_files,
-                             dds_interface_base_path,
-                             output_basepath, idl_pp):
-    converted_dds_interface_files = []
+def generate_dds_connext_cpp(
+        pkg_name, dds_interface_files, dds_interface_base_path, deps,
+        output_basepath, idl_pp):
+
+    include_dirs = [dds_interface_base_path]
+    for dep in deps:
+        # Only take the first : for separation, as Windows follows with a C:\
+        dep_parts = dep.split(':', 1)
+        assert len(dep_parts) == 2, "The dependency '%s' must contain a double colon" % dep
+        idl_path = dep_parts[1]
+        idl_base_path = os.path.dirname(
+            os.path.dirname(os.path.dirname(os.path.normpath(idl_path))))
+        if idl_base_path not in include_dirs:
+            include_dirs.append(idl_base_path)
+
     for idl_file in dds_interface_files:
         assert os.path.exists(idl_file), 'Could not find IDL file: ' + idl_file
-        converted_dds_interface_files.append(
-            convert_to_connext_idl(idl_file, dds_interface_base_path)
-        )
 
-    include_dirs = [dds_interface_base_path]
-    for idl_file in converted_dds_interface_files:
-        idl_file_folder = os.path.basename(os.path.dirname(idl_file))
+        # get two level of parent folders for idl file
+        folder = os.path.dirname(idl_file)
+        parent_folder = os.path.dirname(folder)
         output_path = os.path.join(
-            output_basepath, idl_file_folder, 'dds_connext'
-        )
+            output_basepath,
+            os.path.basename(parent_folder),
+            os.path.basename(folder))
         try:
             os.makedirs(output_path)
         except FileExistsError:
@@ -58,7 +66,6 @@ def generate_dds_connext_cpp(pkg_name, dds_interface_files,
         msg_name = os.path.splitext(os.path.basename(idl_file))[0]
         count = 1
         max_count = 5
-        print(' '.join(cmd))
         while True:
             subprocess.check_call(cmd)