change generators to IDL-based pipeline, change char type, separate action types

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())