change generators to IDL-based pipeline

rosidl_typesupport_fastrtps_c/bin/rosidl_typesupport_fastrtps_c

@@ -4,7 +4,6 @@ import argparse
 import os
 import sys
 
-from rosidl_cmake import read_generator_arguments
 from rosidl_parser import UnknownMessageType
 from rosidl_typesupport_fastrtps_c import generate_typesupport_fastrtps_c
 
@@ -28,10 +27,8 @@ 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_fastrtps_c(generator_args)
+        rc = generate_typesupport_fastrtps_c(args.generator_arguments_file)
     except UnknownMessageType as e:
         print(str(e), file=sys.stderr)
         return 1

rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_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.
@@ -19,64 +19,49 @@ find_package(FastRTPS REQUIRED MODULE)
 
 set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_c/${PROJECT_NAME}")
 set(_generated_files "")
-foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
-  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
+  get_filename_component(_parent_folder "${_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")
-    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: ${_idl_file}")
-  endif()
-  list(APPEND _generated_files "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_fastrtps_c.h")
-  list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_fastrtps_c/${_header_name}__type_support_c.cpp")
+  get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_idl_name}" _header_name)
+  list(APPEND _generated_files
+    "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_fastrtps_c.h"
+    "${_output_path}/${_parent_folder}/${_header_name}__type_support_c.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 "${_idl_file}" EXT)
-    if(_extension STREQUAL ".msg")
-      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_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()
+  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}")
   endforeach()
 endforeach()
 
 set(target_dependencies
   "${rosidl_typesupport_fastrtps_c_BIN}"
   ${rosidl_typesupport_fastrtps_c_GENERATOR_FILES}
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/idl__rosidl_typesupport_fastrtps_c.h.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/idl__type_support_c.cpp.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_c.h.em"
   "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__type_support_c.cpp.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_c.h.em"
   "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__type_support_c.cpp.em"
-  ${rosidl_generate_interfaces_IDL_FILES}
+  ${rosidl_generate_interfaces_ABS_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 "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_c__arguments.json")
 rosidl_write_generator_arguments(
   "${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_fastrtps_c_TEMPLATE_DIR}"

rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em

@@ -0,0 +1,110 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_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_fastrtps_c.h files
+@#
+@# Context:
+@#  - package_name (string)
+@#  - interface_path (Path relative to the directory named after the package)
+@#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#######################################################################
+@
+@{
+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_FASTRTPS_C_H_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+@{
+include_directives = set()
+}@
+@#######################################################################
+@# Handle message
+@#######################################################################
+@{
+from rosidl_parser.definition import Message
+}@
+@[for message in content.get_elements_of_type(Message)]@
+
+@{
+TEMPLATE(
+    'msg__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, message=message,
+    include_directives=include_directives)
+}@
+@[end for]@
+@
+@#######################################################################
+@# Handle service
+@#######################################################################
+@{
+from rosidl_parser.definition import Service
+}@
+@[for service in content.get_elements_of_type(Service)]@
+
+@{
+TEMPLATE(
+    'srv__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, service=service,
+    include_directives=include_directives)
+}@
+@[end for]@
+@
+@#######################################################################
+@# Handle action
+@#######################################################################
+@{
+from rosidl_parser.definition import Action
+}@
+@[for action in content.get_elements_of_type(Action)]@
+
+@{
+TEMPLATE(
+    'msg__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, message=action.goal,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, message=action.result,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, message=action.feedback,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'srv__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, service=action.send_goal_service,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'srv__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, service=action.get_result_service,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__rosidl_typesupport_fastrtps_c.h.em',
+    package_name=package_name, interface_path=interface_path, message=action.feedback_message,
+    include_directives=include_directives)
+}@
+@[end for]@
+
+#endif  // @(header_guard_variable)

rosidl_typesupport_fastrtps_c/resource/idl__type_support_c.cpp.em

@@ -0,0 +1,106 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/idl__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.cpp files
+@#
+@# Context:
+@#  - package_name (string)
+@#  - interface_path (Path relative to the directory named after the package)
+@#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#######################################################################
+@
+@{
+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)
+}@
+#include "@(include_base)__rosidl_typesupport_fastrtps_c.h"
+
+@{
+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)
+}@
+@[end for]@
+@
+@#######################################################################
+@# 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)
+}@
+@[end for]@
+@
+@#######################################################################
+@# 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,
+    message=action.goal, include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__type_support_c.cpp.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.result, 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(
+    'srv__type_support_c.cpp.em',
+    package_name=package_name, interface_path=interface_path,
+    service=action.send_goal_service, include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'srv__type_support_c.cpp.em',
+    package_name=package_name, interface_path=interface_path,
+    service=action.get_result_service, 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)
+}@
+@[end for]@