change generator to IDL-based pipeline

rosidl_generator_dds_idl/bin/rosidl_generator_dds_idl

@@ -10,6 +10,10 @@ def main(argv=sys.argv[1:]):
     parser = argparse.ArgumentParser(
         description='Generate the DDS interfaces for ROS interfaces.',
         formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--additional-service-templates',
+        nargs='*',
+        help='Additional EmPy templates to evaluate when generating services')
     parser.add_argument(
         '--generator-arguments-file',
         required=True,
@@ -28,7 +32,8 @@ def main(argv=sys.argv[1:]):
     return generate_dds_idl(
         args.generator_arguments_file,
         args.subfolders,
-        args.extension
+        args.extension,
+        args.additional_service_templates,
     )
 
 

rosidl_generator_dds_idl/cmake/rosidl_generate_dds_interfaces.cmake

@@ -17,10 +17,14 @@
 #
 # :param target: the name of the generation target,
 # :type target: string
-# :param IDL_FILES: a list of ROS interface files
-# :type IDL_FILES: list of strings
+# :param IDL_TUPLES: a list of IDL files of the form
+#   "path/to:subfolder/Message.idl"
+# :type IDL_TUPLES: list of tuples of colon separated strings
 # :param DEPENDENCY_PACKAGE_NAMES: a list of dependency package names
 # :type DEPENDENCY_PACKAGE_NAMES: list of strings
+# :param SERVICE_TEMPLATES: a list of additional EmPy templates to evaluate
+#   when generating services
+# :type SERVICE_TEMPLATES: list of strings
 # :param OUTPUT_SUBFOLDERS: a list of subfolders between the package name and
 #   the interface name
 # :type OUTPUT_SUBFOLDERS: optional list of strings
@@ -31,64 +35,48 @@
 #
 macro(rosidl_generate_dds_interfaces target)
   cmake_parse_arguments(_ARG "" "EXTENSION"
-    "IDL_FILES;DEPENDENCY_PACKAGE_NAMES;OUTPUT_SUBFOLDERS" ${ARGN})
+    "IDL_TUPLES;DEPENDENCY_PACKAGE_NAMES;OUTPUT_SUBFOLDERS;SERVICE_TEMPLATES" ${ARGN})
   if(_ARG_UNPARSED_ARGUMENTS)
     message(FATAL_ERROR "rosidl_generate_dds_interfaces() called with "
       "unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
   endif()
 
   set(_output_basepath "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dds_idl/${PROJECT_NAME}")
-  set(_generated_msg_files "")
-  set(_generated_srv_files "")
-  set(_generated_action_files "")
-  foreach(_idl_file ${_ARG_IDL_FILES})
-    get_filename_component(_extension "${_idl_file}" EXT)
-    get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+  set(_generated_files "")
+  set(_generated_dirs "")
+  foreach(_idl_tuple ${_ARG_IDL_TUPLES})
+    string(REGEX REPLACE ":([^:]*)$" "/\\1" _abs_idl_file "${_idl_tuple}")
+    get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
     get_filename_component(_parent_folder "${_parent_folder}" NAME)
-    set(_output_path "${_output_basepath}/${_parent_folder}")
+    get_filename_component(_name "${_abs_idl_file}" NAME_WE)
+    set(_output_dirpath "${_parent_folder}")
     foreach(_subfolder ${_ARG_OUTPUT_SUBFOLDERS})
-      set(_output_path "${_output_path}/${_subfolder}")
+      set(_output_dirpath "${_output_dirpath}/${_subfolder}")
     endforeach()
-    get_filename_component(_name "${_idl_file}" NAME_WE)
-    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: ${_idl_file}")
-      endif()
-      set(_generated_files "_generated_${_parent_folder}_files")
-      list(APPEND ${_generated_files} "${_output_path}/${_name}_.idl")
-    elseif(_extension STREQUAL ".srv")
-      # TODO(dirk-thomas) this is only done for opensplice
-      # and should be move to the opensplice specific generator package
-      set(_allowed_parent_folders "srv" "action")
-      if(NOT _parent_folder IN_LIST _allowed_parent_folders)
-        message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
-      endif()
-      set(_generated_files "_generated_${_parent_folder}_files")
-      list(APPEND ${_generated_files} "${_output_path}/Sample_${_name}_Request_.idl")
-      list(APPEND ${_generated_files} "${_output_path}/Sample_${_name}_Response_.idl")
-    else()
-      message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
-    endif()
+    list(APPEND _generated_dirs "${_output_dirpath}")
+    set(_output_path "${_output_basepath}/${_output_dirpath}")
+    list(APPEND _generated_files "${_output_path}/${_name}_.idl")
   endforeach()
+  list(REMOVE_DUPLICATES _generated_dirs)
 
   set(_dependency_files "")
   set(_dependencies "")
   foreach(_pkg_name ${_ARG_DEPENDENCY_PACKAGE_NAMES})
-    foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+    foreach(_idl_file ${${_pkg_name}_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()
 
-
   set(target_dependencies
     "${rosidl_generator_dds_idl_BIN}"
     ${rosidl_generator_dds_idl_GENERATOR_FILES}
+    "${rosidl_generator_dds_idl_TEMPLATE_DIR}/action.idl.em"
+    "${rosidl_generator_dds_idl_TEMPLATE_DIR}/idl.idl.em"
     "${rosidl_generator_dds_idl_TEMPLATE_DIR}/msg.idl.em"
-    ${rosidl_generate_interfaces_IDL_FILES}
+    "${rosidl_generator_dds_idl_TEMPLATE_DIR}/srv.idl.em"
     ${_dependency_files})
   foreach(dep ${target_dependencies})
     if(NOT EXISTS "${dep}")
@@ -108,16 +96,17 @@ macro(rosidl_generate_dds_interfaces target)
   rosidl_write_generator_arguments(
     "${generator_arguments_file}"
     PACKAGE_NAME "${PROJECT_NAME}"
-    ROS_INTERFACE_FILES "${_ARG_IDL_FILES}"
+    IDL_TUPLES "${_ARG_IDL_TUPLES}"
     ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
     OUTPUT_DIR "${_output_basepath}"
     TEMPLATE_DIR "${rosidl_generator_dds_idl_TEMPLATE_DIR}"
     TARGET_DEPENDENCIES ${target_dependencies}
   )
 
   add_custom_command(
-    OUTPUT ${_generated_msg_files} ${_generated_srv_files} ${_generated_action_files}
+    OUTPUT ${_generated_files}
     COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_dds_idl_BIN}
+    --additional-service-templates ${_ARG_SERVICE_TEMPLATES}
     --generator-arguments-file "${generator_arguments_file}"
     --subfolders ${_ARG_OUTPUT_SUBFOLDERS}
     --extension ${_ARG_EXTENSION}
@@ -129,35 +118,18 @@ macro(rosidl_generate_dds_interfaces target)
   add_custom_target(
     ${target}
     DEPENDS
-    ${_generated_msg_files} ${_generated_srv_files} ${_generated_action_files}
+    ${_generated_files}
   )
 
-  set(_msg_destination "share/${PROJECT_NAME}/msg")
-  set(_srv_destination "share/${PROJECT_NAME}/srv")
-  set(_action_destination "share/${PROJECT_NAME}/action")
-  foreach(_subfolder ${_ARG_OUTPUT_SUBFOLDERS})
-    set(_msg_destination "${_msg_destination}/${_subfolder}")
-    set(_srv_destination "${_srv_destination}/${_subfolder}")
-    set(_action_destination "${_action_destination}/${_subfolder}")
-  endforeach()
+  set(_idl_destination "share/${PROJECT_NAME}")
   if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
-    if(NOT _generated_msg_files STREQUAL "")
-      install(
-        FILES ${_generated_msg_files}
-        DESTINATION "${_msg_destination}"
-      )
-    endif()
-    if(NOT _generated_srv_files STREQUAL "")
-      install(
-        FILES ${_generated_srv_files}
-        DESTINATION "${_srv_destination}"
-      )
-    endif()
-    if(NOT _generated_action_files STREQUAL "")
-      install(
-        FILES ${_generated_action_files}
-        DESTINATION "${_action_destination}"
-      )
+    if(NOT _generated_dirs STREQUAL "")
+      foreach(_dir ${_generated_dirs})
+        install(
+          DIRECTORY "${_output_basepath}/${_dir}/"
+          DESTINATION "${_idl_destination}/${_dir}"
+        )
+      endforeach()
     endif()
   endif()
 endmacro()

rosidl_generator_dds_idl/resource/action.idl.em

@@ -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
+)
+}@

rosidl_generator_dds_idl/resource/idl.idl.em

@@ -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))__