Refactor C and C++ typesupport

rosidl_typesupport_connext_c/bin/rosidl_typesupport_connext_c

@@ -28,10 +28,8 @@ def main(argv=sys.argv[1:]):
         help='The location of the file containing the generator arguments')
     args = parser.parse_args(argv)
 
-    generator_args = read_generator_arguments(args.generator_arguments_file)
-
     try:
-        rc = generate_typesupport_connext_c(generator_args)
+        rc = generate_typesupport_connext_c(args.generator_arguments_file)
     except UnknownMessageType as e:
         print(str(e), file=sys.stderr)
         return 1

rosidl_typesupport_connext_c/cmake/rosidl_typesupport_connext_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.
@@ -12,65 +12,31 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-set(_ros_idl_files "")
-foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
-  get_filename_component(_extension "${_idl_file}" EXT)
-  # Skip .srv files
-  if(_extension STREQUAL ".msg")
-    list(APPEND _ros_idl_files "${_idl_file}")
-  endif()
-endforeach()
-
-set(_dds_idl_files "")
-set(_dds_idl_base_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dds_idl")
-foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
-  get_filename_component(_extension "${_idl_file}" EXT)
-  if(_extension STREQUAL ".msg")
-    get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
-    get_filename_component(_parent_folder "${_parent_folder}" NAME)
-    get_filename_component(_name "${_idl_file}" NAME_WE)
-    list(APPEND _dds_idl_files
-      "${_dds_idl_base_path}/${PROJECT_NAME}/${_parent_folder}/dds_connext/${_name}_.idl")
-  endif()
-endforeach()
 
 set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_connext_c/${PROJECT_NAME}")
 set(_dds_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_connext_cpp/${PROJECT_NAME}")
+set(_dds_idl_base_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dds_idl")
+
+set(_dds_idl_files "")
 set(_generated_files "")
 set(_generated_external_files "")
-foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
-  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+foreach(_idl_tuple ${rosidl_generate_interfaces_IDL_TUPLES})
+  # Get second part of tuple which has form "msg/Name.idl" or "srv/Name.idl" or "action/Name.idl"
+  string(REGEX REPLACE ":([^:]*)$" "/\\1" _abs_idl_file "${_idl_tuple}")
+  get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
   get_filename_component(_parent_folder "${_parent_folder}" NAME)
-  get_filename_component(_extension "${_idl_file}" EXT)
-  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
-  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
-  if(_extension STREQUAL ".msg" AND _msg_name MATCHES "Response$|Request$")
-    # Don't do anything
-  elseif(_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: ${_idl_file}")
-    endif()
-    list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_msg_name}_.h")
-    list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_msg_name}_.cxx")
-    list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_msg_name}_Plugin.h")
-    list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_msg_name}_Plugin.cxx")
-    list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_msg_name}_Support.h")
-    list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_msg_name}_Support.cxx")
-    list(APPEND _generated_files "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_connext_c.h")
-    list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_connext_c/${_header_name}__type_support_c.cpp")
-  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: ${_idl_file}")
-    endif()
-    list(APPEND _generated_files "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_connext_c.h")
-    list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_connext_c/${_header_name}__type_support_c.cpp")
-    list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_connext_c/${_header_name}__request__type_support_c.cpp")
-    list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_connext_c/${_header_name}__response__type_support_c.cpp")
-  else()
-    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
-  endif()
+  get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE)
+  # Turn idl name into file names
+  string_camel_case_to_lower_case_underscore("${_idl_name}" _header_name)
+  list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_idl_name}_.h")
+  list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_idl_name}_.cxx")
+  list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_idl_name}_Plugin.h")
+  list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_idl_name}_Plugin.cxx")
+  list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_idl_name}_Support.h")
+  list(APPEND _generated_external_files "${_dds_output_path}/${_parent_folder}/dds_connext/${_idl_name}_Support.cxx")
+  list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_connext/${_header_name}__type_support_c.cpp")
+  list(APPEND _generated_files "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_connext_c.h")
+  list(APPEND _dds_idl_files "${_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
@@ -101,42 +67,37 @@ endif()
 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 "${_idl_file}" EXT)
-    if(_extension STREQUAL ".msg")
-      get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
-      get_filename_component(_parent_folder "${_parent_folder}" NAME)
-      get_filename_component(_name "${_idl_file}" NAME_WE)
-      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_parent_folder}/dds_connext/${_name}_.idl")
-      normalize_path(_abs_idl_file "${_abs_idl_file}")
-      list(APPEND _dependency_files "${_abs_idl_file}")
-      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
-      normalize_path(_abs_idl_file "${_abs_idl_file}")
-      list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
-    endif()
+  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
+    # ${{_pkg_name}_DIR} is absolute path ending in 'share/<pkg_name>/cmake', so go back one
+    # directory for IDL files
+    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_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}")
   endforeach()
 endforeach()
 
 set(target_dependencies
   "${rosidl_typesupport_connext_c_BIN}"
   ${rosidl_typesupport_connext_c_GENERATOR_FILES}
+  "${rosidl_typesupport_connext_c_TEMPLATE_DIR}/idl__rosidl_typesupport_connext_c.h.em"
+  "${rosidl_typesupport_connext_c_TEMPLATE_DIR}/idl__dds_connext__type_support_c.cpp.em"
+  "${rosidl_typesupport_connext_c_TEMPLATE_DIR}/msg__rosidl_typesupport_connext_c.h.em"
   "${rosidl_typesupport_connext_c_TEMPLATE_DIR}/msg__type_support_c.cpp.em"
+  "${rosidl_typesupport_connext_c_TEMPLATE_DIR}/srv__rosidl_typesupport_connext_c.h.em"
   "${rosidl_typesupport_connext_c_TEMPLATE_DIR}/srv__type_support_c.cpp.em"
   ${_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()
   endif()
 endforeach()
 
 set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_connext_c__arguments.json")
 rosidl_write_generator_arguments(
   "${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_connext_c_TEMPLATE_DIR}"
@@ -150,7 +111,7 @@ add_custom_command(
   --generator-arguments-file "${generator_arguments_file}"
   DEPENDS
     ${target_dependencies}
-    ${generated_external_files}
+    ${_generated_external_files}
     ${_dds_idl_files}
   COMMENT "Generating C type support for RTI Connext"
   VERBATIM

rosidl_typesupport_connext_c/resource/idl__dds_connext__type_support_c.cpp.em

@@ -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
+    )
+}@

rosidl_typesupport_connext_c/resource/idl__rosidl_typesupport_connext_c.h.em

@@ -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)

rosidl_typesupport_connext_c/resource/msg__rosidl_typesupport_connext_c.h.em

@@ -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"
-
-#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)