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Start porting rosidl_typesupport_fastrtps_cpp to new IDL pipeline #15

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Start porting rosidl_typesupport_fastrtps_cpp to new IDL pipeline #15

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35 changes: 1 addition & 34 deletions rosidl_typesupport_fastrtps_cpp/bin/rosidl_typesupport_fastrtps_cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,8 @@
import argparse
import sys

from rosidl_cmake import extract_message_types
from rosidl_cmake import read_generator_arguments
from rosidl_parser import UnknownMessageType
from rosidl_typesupport_fastrtps_cpp import generate_cpp
from rosidl_typesupport_fastrtps_cpp import generate_dds_fastrtps_cpp
from rosidl_typesupport_fastrtps_cpp import parse_ros_interface_files


def main(argv=sys.argv[1:]):
Expand All @@ -19,42 +15,13 @@ def main(argv=sys.argv[1:]):
'--generator-arguments-file',
required=True,
help='The location of the file containing the generator arguments')
parser.add_argument(
'--dds-interface-base-path',
required=True,
help='The base location of the DDS interface files')
parser.add_argument(
'--idl-pp',
required=True,
help='The location of the IDL preprocessor')
args = parser.parse_args(argv)

generator_args = read_generator_arguments(args.generator_arguments_file)

message_specs, service_specs = parse_ros_interface_files(
generator_args['package_name'], generator_args['ros_interface_files'])

known_msg_types = extract_message_types(
generator_args['package_name'], generator_args['ros_interface_files'],
generator_args.get('ros_interface_dependencies', []))

try:
rc = generate_cpp(generator_args, message_specs, service_specs, known_msg_types)
return generate_cpp(args.generator_arguments_file)
except UnknownMessageType as e:
print(str(e), file=sys.stderr)
return 1
if rc:
return rc
return generate_dds_fastrtps_cpp(
generator_args['package_name'],
generator_args.get('additional_files', []),
args.dds_interface_base_path,
generator_args.get('ros_interface_dependencies', []),
generator_args['output_dir'],
args.idl_pp,
message_specs,
service_specs,
)


if __name__ == '__main__':
Expand Down
126 changes: 65 additions & 61 deletions ..._typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -17,57 +17,45 @@ find_package(fastcdr REQUIRED CONFIG)
find_package(fastrtps REQUIRED CONFIG)
find_package(FastRTPS REQUIRED MODULE)

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(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp/${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)

# Create a list of files that will be generated from each IDL file
set(_generated_sources "")
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" _rel_idl_file "${_idl_tuple}")
get_filename_component(_parent_folder "${_rel_idl_file}" DIRECTORY)
get_filename_component(_parent_folder "${_parent_folder}" NAME)
get_filename_component(_msg_name "${_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_cpp.hpp")
list(APPEND _generated_files "${_output_path}/${_parent_folder}/dds_fastrtps/${_header_name}__type_support.cpp")
get_filename_component(_idl_name "${_rel_idl_file}" NAME_WE)
# Turn idl name into file names
string_camel_case_to_lower_case_underscore("${_idl_name}" _header_name)
list(APPEND _generated_sources
"${_output_path}/${_parent_folder}/dds_fastrtps/${_header_name}__type_support.cpp"
"${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_fastrtps_cpp.hpp"
)
endforeach()

# Create a list of IDL files from other packages that this generator should depend on
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})
# ${{_pkg_name}_DIR} is absolute path ending in 'share/<pkg_name>/cmake', so go back one
# directory for IDL files
set(_abs_idl_file "${${_pkg_name}_DIR}/../${_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()

# Create a list of templates and source files this generator uses, and check that they exist
set(target_dependencies
"${rosidl_typesupport_fastrtps_cpp_BIN}"
${rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES}
"${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/idl__rosidl_typesupport_fastrtps_cpp.hpp.em"
"${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/idl__dds_fastrtps__type_support.cpp.em"
"${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_cpp.hpp.em"
"${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__type_support.cpp.em"
"${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_cpp.hpp.em"
Expand All @@ -76,31 +64,27 @@ set(target_dependencies
${_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()

# Write all this to a file to work around command line length limitations on some platforms
set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp__arguments.json")
rosidl_write_generator_arguments(
"${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_cpp_TEMPLATE_DIR}"
TARGET_DEPENDENCIES ${target_dependencies}
)

set(_idl_pp "")
# Add a command that invokes generator at build time
add_custom_command(
OUTPUT ${_generated_files}
OUTPUT ${_generated_sources}
COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_fastrtps_cpp_BIN}
--generator-arguments-file "${generator_arguments_file}"
--dds-interface-base-path "${_dds_idl_base_path}"
--idl-pp "${_idl_pp}"
DEPENDS ${target_dependencies}
COMMENT "Generating C++ type support for eProsima Fast-RTPS"
VERBATIM
Expand All @@ -118,19 +102,27 @@ configure_file(

set(_target_suffix "__rosidl_typesupport_fastrtps_cpp")

# link_directories(${fastrtps_LIBRARY_DIRS})
# Create a library that builds the generated files
add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} SHARED
${_generated_files})
${_generated_sources})

# Change output library name if asked to
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}")
endif()

# set C++ standard
set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
PROPERTIES CXX_STANDARD 14)

# Set flag for visibility macro
if(WIN32)
target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
PRIVATE "ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_${PROJECT_NAME}")
endif()

# Set compiler flags
if(NOT WIN32)
set(_target_compile_flags "-Wall -Wextra -Wpedantic")
else()
Expand All @@ -141,37 +133,49 @@ endif()
string(REPLACE ";" " " _target_compile_flags "${_target_compile_flags}")
set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
PROPERTIES COMPILE_FLAGS "${_target_compile_flags}")

# Include headers from other generators
target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
PUBLIC
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp
${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp
)

ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
"fastcdr"
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Adding fastcdr here instead of the target_link_libraries below doesn't work since it changes the library link order. fastcdr must be linked after all the other libraries.

"fastrtps"
"rmw"
"rosidl_typesupport_fastrtps_cpp"
"rosidl_typesupport_interface")

# Depend on dependencies
foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
set(_msg_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/msg/dds_fastrtps")
set(_srv_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/srv/dds_fastrtps")
set(_action_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/action/dds_fastrtps")
normalize_path(_msg_include_dir "${_msg_include_dir}")
normalize_path(_srv_include_dir "${_srv_include_dir}")
normalize_path(_action_include_dir "${_action_include_dir}")
target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
PUBLIC
"${_msg_include_dir}"
"${_srv_include_dir}"
"${_action_include_dir}"
)
# TODO(sloretz) parent_folder/dds_fastrtps in template instead of here
# set(_msg_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/msg/dds_fastrtps")
# set(_srv_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/srv/dds_fastrtps")
# set(_action_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/action/dds_fastrtps")
# normalize_path(_msg_include_dir "${_msg_include_dir}")
# normalize_path(_srv_include_dir "${_srv_include_dir}")
# normalize_path(_action_include_dir "${_action_include_dir}")
# target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
# PUBLIC
# "${_msg_include_dir}"
# "${_srv_include_dir}"
# "${_action_include_dir}"
# )
ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
${_pkg_name})
endforeach()
target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} fastrtps fastcdr)

# target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} fastrtps fastcdr)

# Make top level generation target depend on this library
add_dependencies(
${rosidl_generate_interfaces_TARGET}
${rosidl_generate_interfaces_TARGET}${_target_suffix}
)

# Make this library depend on target created by rosidl_generator_cpp
add_dependencies(
${rosidl_generate_interfaces_TARGET}${_target_suffix}
${rosidl_generate_interfaces_TARGET}__cpp
Expand Down
Empty file added rosidl_typesupport_fastrtps_cpp/resource/idl__dds_fastrtps__type_support.cpp.em
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Empty file.
53 changes: 53 additions & 0 deletions rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
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Original file line number Diff line number Diff line change
@@ -0,0 +1,53 @@
// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_cpp.hpp.em
// generated code does not contain a copyright notice

@{
#######################################################################
# EmPy template for generating <idl>__rosidl_typesupport_cpp.hpp 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.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.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(
'srv__type_support.cpp.em',
package_name=package_name, interface_path=interface_path, service=action.goal_service,
include_directives=include_directives)
TEMPLATE(
'srv__type_support.cpp.em',
package_name=package_name, interface_path=interface_path, service=action.result_service,
include_directives=include_directives)
TEMPLATE(
'msg__type_support.cpp.em',
package_name=package_name, interface_path=interface_path, message=action.feedback,
include_directives=include_directives)
}@
20 changes: 4 additions & 16 deletions rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
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Original file line number Diff line number Diff line change
@@ -1,18 +1,6 @@
// generated from rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
// generated code does not contain a copyright notice

@#######################################################################
@# EmPy template for generating <msg>__type_support.cpp 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)
@#######################################################################
@
@# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__dds_fastrtps__type_support.cpp.em


#include "@(spec.base_type.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.base_type.type))__rosidl_typesupport_fastrtps_cpp.hpp"

#include <limits>
Expand All @@ -29,7 +17,7 @@

// forward declaration of message dependencies and their conversion functions
@[for field in spec.fields]@
@[ if not field.type.is_primitive_type()]@
@[ if isinstance(field, rosidl_parser.NestedType)]@
namespace @(field.type.pkg_name)
{
namespace msg
Expand Down
2 changes: 1 addition & 1 deletion rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
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Expand Up @@ -14,7 +14,7 @@ if(NOT FastRTPS_FOUND)
else()
find_package(ament_cmake_core QUIET REQUIRED)
ament_register_extension(
"rosidl_generate_interfaces"
"rosidl_generate_idl_interfaces"
"rosidl_typesupport_fastrtps_cpp"
"rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake")

Expand Down
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