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change generator to IDL-based pipeline (#47)
* sketch of idl2idl templates * invoke idl2idl template * Update rosidl_generate_dds_interfaces to accept tuples of IDL files to convert * Updates IDL templates for messages. * Ok * Fixes * Allow context to be extended and add optional 'post-struct line generation' * Add trailing underscores to struct member names * Add header guards * Refactor idl.idl.em * Propagates variables to nested templates. * Fixes bad indentation in templates. * Propagates yet more variables. * Fixes installation paths for IDL files. * Moves header guards one template level up. * Add wrapper_msg.idl.em * Fixes bad install macro call. * Rename variable for Service object to 'service' * Add message templates for user-defined components of actions * Pass in service wrapper templates rather than having them here * Always use slashes in IDL include paths. * Add missing check when converting negative int8 values to octet * Avoid duplicate include directives. * Add underscore suffix to constants * add space between two > * Removes backup srv IDL template. * fix linter warnings * fix double slash * Remove extra brace in namespace comment * match renamed action types * remove usage of unset variable * pass through key annotations * Update rosidl_generator_dds_idl/bin/rosidl_generator_dds_idl Co-Authored-By: dirk-thomas <[email protected]> * Update rosidl_generator_dds_idl/bin/rosidl_generator_dds_idl Co-Authored-By: dirk-thomas <[email protected]> * document SERVICE_TEMPLATES * fix wrong variable name * readd explicit dependency on absolute paths of idl files * declare missing dependency on additional templates
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| @# Included from rosidl_generator_dds_idl/resource/idl.idl.em | ||
| @{ | ||
| TEMPLATE( | ||
| 'msg.idl.em', | ||
| package_name=package_name, | ||
| interface_path=interface_path, | ||
| message=action.goal, | ||
| get_post_struct_lines=get_post_struct_lines | ||
| ) | ||
| TEMPLATE( | ||
| 'srv.idl.em', | ||
| package_name=package_name, | ||
| interface_path=interface_path, | ||
| service=action.send_goal_service, | ||
| get_post_struct_lines=get_post_struct_lines, | ||
| additional_service_templates=additional_service_templates | ||
| ) | ||
| TEMPLATE( | ||
| 'msg.idl.em', | ||
| package_name=package_name, | ||
| interface_path=interface_path, | ||
| message=action.result, | ||
| get_post_struct_lines=get_post_struct_lines | ||
| ) | ||
| TEMPLATE( | ||
| 'srv.idl.em', | ||
| package_name=package_name, | ||
| interface_path=interface_path, | ||
| service=action.get_result_service, | ||
| get_post_struct_lines=get_post_struct_lines, | ||
| additional_service_templates=additional_service_templates | ||
| ) | ||
| TEMPLATE( | ||
| 'msg.idl.em', | ||
| package_name=package_name, | ||
| interface_path=interface_path, | ||
| message=action.feedback, | ||
| get_post_struct_lines=get_post_struct_lines | ||
| ) | ||
| TEMPLATE( | ||
| 'msg.idl.em', | ||
| package_name=package_name, | ||
| interface_path=interface_path, | ||
| message=action.feedback_message, | ||
| get_post_struct_lines=get_post_struct_lines | ||
| ) | ||
| }@ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| // generated from rosidl_generator_dds_idl/resource/idl.idl.em | ||
| // with input from @(package_name):@(interface_path) | ||
| // generated code does not contain a copyright notice | ||
| @{ | ||
| import os | ||
| from rosidl_parser.definition import Include | ||
| includes = content.get_elements_of_type(Include) | ||
| }@ | ||
| @[if includes]@ | ||
| @{ | ||
| include_directives = set() | ||
| }@ | ||
| @[ for include in includes]@ | ||
| @{ | ||
| name, ext = os.path.splitext(include.locator) | ||
| dir_name = os.path.dirname(name) | ||
| include_name = '{}_{}'.format('/'.join([dir_name] + subfolders + [os.path.basename(name)]), ext) | ||
| }@ | ||
| @[ if include_name not in include_directives]@ | ||
| #include "@(include_name)" | ||
| @[ end if]@ | ||
| @{ | ||
| include_directives.add(include_name) | ||
| }@ | ||
| @[ end for]@ | ||
| @[end if]@ | ||
| @{ | ||
| from rosidl_parser.definition import Action | ||
| from rosidl_parser.definition import Message | ||
| from rosidl_parser.definition import Service | ||
|
|
||
| from rosidl_cmake import convert_camel_case_to_lower_case_underscore | ||
| header_guard_parts = [package_name] + list(interface_path.parents[0].parts) + \ | ||
| [convert_camel_case_to_lower_case_underscore(interface_path.stem)] + \ | ||
| ['idl'] | ||
| }@ | ||
|
|
||
| #ifndef __@('__'.join(header_guard_parts))__ | ||
| #define __@('__'.join(header_guard_parts))__ | ||
|
|
||
| @{ | ||
| for message in content.get_elements_of_type(Message): | ||
| TEMPLATE( | ||
| 'msg.idl.em', package_name=package_name, | ||
| interface_path=interface_path, message=message, | ||
| get_post_struct_lines=get_post_struct_lines | ||
| ) | ||
|
|
||
| for service in content.get_elements_of_type(Service): | ||
| TEMPLATE( | ||
| 'srv.idl.em', package_name=package_name, | ||
| interface_path=interface_path, service=service, | ||
| get_post_struct_lines=get_post_struct_lines, | ||
| additional_service_templates=additional_service_templates | ||
| ) | ||
|
|
||
| for action in content.get_elements_of_type(Action): | ||
| TEMPLATE( | ||
| 'action.idl.em', package_name=package_name, | ||
| interface_path=interface_path, action=action, | ||
| get_post_struct_lines=get_post_struct_lines, | ||
| additional_service_templates=additional_service_templates | ||
| ) | ||
| }@ | ||
|
|
||
| #endif // __@('__'.join(header_guard_parts))__ |
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