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change generators to IDL-based pipeline (#11)
* update includes and type mapping * update includes and type mapping * remove service check for feedback suffix * Update python, cmake, and msg resource files * Messages working now * Update service EmPy files * cleanup * [wip] typesupport for opensplice c refactor * Update typsupport_opensplice_cpp script to accept output path for converted IDL files * Add function for converting from IDL to OpenSplice compatible IDL * Minor fixups in cpp typesupport * Update c typesupport message template * Update C typesupport EmPy files * Fixes to C++ typesupport * Update C typesupport service templates * Update C++ typesupport service templates * Offload conversion stuff to rosidl_dds * Rename generated external files in C ts * Refactor rosidl_generator_dds_idl extension * Fix C typesupport * Fix C++ typesupport (messages compiling now!) * Fixes post-rebase * Fix template bug * More fixes to C++ templates * Fixes to templates (services compiling now) * Pass in additional service template wrappers to rosidl_generator_dds_idl * More fixes to templates Moved header guards to top-level files. Prepend type names to static variables. * Add missing conversion function implementations and remove debug prints * Call msg template from inside srv template * Call msg template from inside srv template for C type support * Fix lint * add missing action symbols * Fix lint * add missing C action symbols * Fix typo * fix missing C service request/response symbols * Replace defintions in C++ service header template with equivalent expansion of message templates * match renamed action types * remove commented stuff * deterministic order * readd explicit dependency on absolute paths of idl files * include non-nested namespaced types, fix forward declaration * strip action suffix * remove dead block of code * remove duplicate variable * simplify logic * proper syntax * fix target dependency * simplify diff * remove unused/invalid operator
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74 changes: 74 additions & 0 deletions
74
rosidl_typesupport_opensplice_c/resource/idl__dds_opensplice__type_support.c.em
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| // generated from rosidl_typesupport_opensplice_c/resource/idl__dds_opensplice__type_support.c.em | ||
| // generated code does not contain a copyright notice | ||
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| #include <cassert> | ||
| #include <cstring> | ||
| #include <iostream> | ||
| #include <limits> | ||
| #include <sstream> | ||
|
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| #include <CdrTypeSupport.h> | ||
| #include <u_instanceHandle.h> | ||
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| @{ | ||
| ####################################################################### | ||
| # EmPy template for generating <idl>__rosidl_typesupport.c 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) | ||
| ####################################################################### | ||
|
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| include_directives = set() | ||
|
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| ####################################################################### | ||
| # 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) | ||
|
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| ####################################################################### | ||
| # 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) | ||
|
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| ####################################################################### | ||
| # 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) | ||
| }@ |
74 changes: 74 additions & 0 deletions
74
rosidl_typesupport_opensplice_c/resource/idl__rosidl_typesupport_opensplice_c.h.em
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| // generated from rosidl_typesupport_opensplice_c/resource/idl__rosidl_typesupport_c.h.em | ||
| // generated code does not contain a copyright notice | ||
| @{ | ||
| 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_OPENSPLICE_C_H_' | ||
| }@ | ||
| #ifndef @(header_guard_variable) | ||
| #define @(header_guard_variable) | ||
| @{ | ||
| ####################################################################### | ||
| # EmPy template for generating <idl>__rosidl_typesupport_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) | ||
| ####################################################################### | ||
|
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| include_directives = set() | ||
|
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||
| ####################################################################### | ||
| # Handle message | ||
| ####################################################################### | ||
| from rosidl_parser.definition import Message | ||
| for message in content.get_elements_of_type(Message): | ||
| TEMPLATE( | ||
| 'msg__rosidl_typesupport_opensplice_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_opensplice_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( | ||
| 'msg__rosidl_typesupport_opensplice_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, message=action.goal, | ||
| include_directives=include_directives) | ||
| TEMPLATE( | ||
| 'msg__rosidl_typesupport_opensplice_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, message=action.result, | ||
| include_directives=include_directives) | ||
| TEMPLATE( | ||
| 'msg__rosidl_typesupport_opensplice_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, message=action.feedback, | ||
| include_directives=include_directives) | ||
| TEMPLATE( | ||
| 'srv__rosidl_typesupport_opensplice_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, service=action.send_goal_service, | ||
| include_directives=include_directives) | ||
| TEMPLATE( | ||
| 'srv__rosidl_typesupport_opensplice_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, service=action.get_result_service, | ||
| include_directives=include_directives) | ||
| TEMPLATE( | ||
| 'msg__rosidl_typesupport_opensplice_c.h.em', | ||
| package_name=package_name, interface_path=interface_path, message=action.feedback_message, | ||
| include_directives=include_directives) | ||
| }@ | ||
| #endif // @(header_guard_variable) |
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