change generators to IDL-based pipeline, change char type, separate a…

…ction types (#334)

* add Python function for IDL-based generators

* update C and C++ message generators to use IDL-based extension point

* update includes in typesupport packages

* replace separate action generation with IDL-based approach

* don't pass .action files to legacy message generators

* temporary use custom map in not yet updated generator

* strip action specific suffixes from include filename

* add action templates to list of dependencies

* match constants with message

* traits

* native path

* escape JSON correctly

* rsplit

* fix warning

* comment fix

* unique include directives

* make pydot optional

* fix linter

* linter

* fix comment

* remove service check for feedback suffix

* use UINT8_MAX

* fix comment

* extend action struct with FeedbackMessage

* update C and C++ introspection typesupport generators to use IDL-based extension point

* add missing symbols

* address linter warnings

* instantiate parser on demand

* Add option to generate_files() for keeping idl filename case (#336)

* remove unused var

* remove comment

* fix missing import introduced during rebase

* change exported variable from <pkg>_INTERFACE_FILES to <pkg>_IDL_FILES and only include .idl files

* keep <pkg>_INTERFACE_FILES for legacy generators

* fix upper string length for nested strings

* fix default value for strings with upper bounds

* fix classification of unbounded sequence of bounded strings

* fix previous fix

* Adds includes for action wrapper IDL messages fields. (#337)

* Adds includes for action wrapper IDL messages fields.

* move includes

* add includes before action

* Deduplicates implicit action includes.

* Use set comprehension instead (nit fix)

* fix adding actions

* Add missing closing brace for 'extern C'

* fix missing service request/response symbols

* don't generate png of AST by default

* expose function to get AST

* no enum support yet

* fix more missing symbols

* fixup

* fix includes

* undef NO_ERROR for Windows

This was causing a build issue in tf2_msgs where a constant with the same name is defined.

* dump working copy

* fix struct identifier extraction when having an annotation

* match renamed action types

* update grammar to improve parse performance

* remove obsolete ImplicitFieldCollision logic

* update action tests

* fix value range of char in adapter

* fix char being unsigned

* disable debug images of AST

* use unique_identifier_msgs for goal id

* up doc

* fix regression on Windows

* remove obsolete comment

* try to fix Windows warning

* remove obsolete constant

* targeting Dashing

* removed comment

* moved template calls

* remove obsolete todo

* removed commented code

* fix initialization of u16string

* fix u16string len

* avoid double initialization

* moved template calls

* comment in test

* fix has_bounded_size trait

* readd explicit dependency on absolute paths of idl files

* reduce logic with all action related types being in a single file

rosidl_adapter/rosidl_adapter/action/__init__.py

@@ -1,4 +1,4 @@
-# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Copyright 2018-2019 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.
@@ -27,28 +27,6 @@ def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
     content = abs_input_file.read_text(encoding='utf-8')
     action = parse_action_string(package_name, input_file.stem, content)
 
-    # HACK as long as the return action specification contains implicitly added
-    # fields they have to be skipped when generating .idl files
-    assert len(action.goal_service.request.fields) >= 1
-    assert action.goal_service.request.fields[0].name == 'action_goal_id'
-    action.goal_service.request.fields.pop(0)
-    assert len(action.goal_service.response.fields) >= 2
-    assert action.goal_service.response.fields[0].name == 'accepted'
-    assert action.goal_service.response.fields[1].name == 'stamp'
-    action.goal_service.response.fields.pop(1)
-    action.goal_service.response.fields.pop(0)
-
-    assert len(action.result_service.request.fields) >= 1
-    assert action.result_service.request.fields[0].name == 'action_goal_id'
-    action.result_service.request.fields.pop(0)
-    assert len(action.result_service.response.fields) >= 1
-    assert action.result_service.response.fields[0].name == 'action_status'
-    action.result_service.response.fields.pop(0)
-
-    assert len(action.feedback.fields) >= 1
-    assert action.feedback.fields[0].name == 'action_goal_id'
-    action.feedback.fields.pop(0)
-
     output_file = output_dir / input_file.with_suffix('.idl').name
     abs_output_file = output_file.absolute()
     print('Writing output file: {abs_output_file}'.format_map(locals()))

rosidl_adapter/rosidl_adapter/msg/__init__.py

@@ -59,15 +59,15 @@ def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
 
 
 def to_idl_literal(idl_type, value):
-    if idl_type[-1] in (']', '>'):
+    if idl_type[-1] == ']' or idl_type.startswith('sequence<'):
         elements = [repr(v) for v in value]
         while len(elements) < 2:
             elements.append('')
         return '"(%s)"' % ', '.join(e.replace('"', r'\"') for e in elements)
 
     if 'boolean' == idl_type:
         return 'TRUE' if value else 'FALSE'
-    if 'string' == idl_type:
+    if idl_type.startswith('string'):
         return string_to_idl_string_literal(value)
     return value
 
@@ -90,6 +90,8 @@ def get_idl_type(type_):
         identifier = MSG_TYPE_TO_IDL[type_]
     elif type_.is_primitive_type():
         identifier = MSG_TYPE_TO_IDL[type_.type]
+        if identifier == 'string' and type_.string_upper_bound is not None:
+            identifier += '<{type_.string_upper_bound}>'.format_map(locals())
     else:
         identifier = '{type_.pkg_name}::msg::{type_.type}' \
             .format_map(locals())