Fix code generation for nested types with same name as parent type

rosidl_generator_java/resource/action.java.em

@@ -10,6 +10,7 @@ from rosidl_cmake import expand_template
 
 namespaces = action.namespaced_type.namespaces
 type_name = action.namespaced_type.name
+fully_qualified_type_name = '.'.join(namespaces + [type_name])
 goal_type_name = action.goal.structure.namespaced_type.name
 result_type_name = action.result.structure.namespaced_type.name
 feedback_type_name = action.feedback.structure.namespaced_type.name
@@ -25,7 +26,8 @@ data = {
 }
 data.update({
   'message': action.goal,
-  'marker_interfaces': [f'org.ros2.rcljava.interfaces.GoalDefinition<{type_name}>'],
+  'imports': ['org.ros2.rcljava.interfaces.GoalDefinition'],
+  'implements': [f'GoalDefinition<{fully_qualified_type_name}>'],
 })
 output_file = os.path.join(output_dir, *namespaces[1:], goal_type_name + '.java')
 expand_template(
@@ -36,7 +38,8 @@ expand_template(
 
 data.update({
   'message': action.result,
-  'marker_interfaces': [f'org.ros2.rcljava.interfaces.ResultDefinition<{type_name}>'],
+  'imports': ['org.ros2.rcljava.interfaces.ResultDefinition'],
+  'implements': [f'ResultDefinition<{fully_qualified_type_name}>'],
 })
 output_file = os.path.join(output_dir, *namespaces[1:], result_type_name + '.java')
 expand_template(
@@ -47,7 +50,8 @@ expand_template(
 
 data.update({
   'message': action.feedback,
-  'marker_interfaces': [f'org.ros2.rcljava.interfaces.FeedbackDefinition<{type_name}>'],
+  'imports': ['org.ros2.rcljava.interfaces.FeedbackDefinition'],
+  'implements': [f'FeedbackDefinition<{fully_qualified_type_name}>'],
 })
 output_file = os.path.join(output_dir, *namespaces[1:], feedback_type_name + '.java')
 expand_template(
@@ -58,7 +62,8 @@ expand_template(
 
 data.update({
   'message': action.feedback_message,
-  'marker_interfaces': [],
+  'imports': [],
+  'implements': [],
 })
 output_file = os.path.join(output_dir, *namespaces[1:], feedback_message_type_name + '.java')
 expand_template(
@@ -67,7 +72,8 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
-del data['marker_interfaces']
+del data['imports']
+del data['implements']
 del data['message']
 data.update({'service': action.send_goal_service})
 output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
@@ -109,13 +115,13 @@ import @(action_import);
 
 public class @(type_name) implements ActionDefinition {
 
-  public static class SendGoalRequest extends @(type_name)_SendGoal_Request implements GoalRequestDefinition<@(type_name)> {
+  public static class SendGoalRequest extends @(type_name)_SendGoal_Request implements GoalRequestDefinition<@(fully_qualified_type_name)> {
     public List<Byte> getGoalUuid() {
       return super.getGoalId().getUuidAsList();
     }
   }
 
-  public static class SendGoalResponse extends @(type_name)_SendGoal_Response implements GoalResponseDefinition<@(type_name)> {
+  public static class SendGoalResponse extends @(type_name)_SendGoal_Response implements GoalResponseDefinition<@(fully_qualified_type_name)> {
     public void accept(boolean accepted) {
       super.setAccepted(accepted);
     }
@@ -128,63 +134,63 @@ public class @(type_name) implements ActionDefinition {
     }
   }
 
-  public static class GetResultRequest extends @(type_name)_GetResult_Request implements ResultRequestDefinition<@(type_name)> {
+  public static class GetResultRequest extends @(type_name)_GetResult_Request implements ResultRequestDefinition<@(fully_qualified_type_name)> {
     public List<Byte> getGoalUuid() {
       return super.getGoalId().getUuidAsList();
     }
   }
 
-  public static class GetResultResponse extends @(type_name)_GetResult_Response implements ResultResponseDefinition<@(type_name)> {
-    public void setResult(ResultDefinition<@(type_name)> result) {
+  public static class GetResultResponse extends @(type_name)_GetResult_Response implements ResultResponseDefinition<@(fully_qualified_type_name)> {
+    public void setResult(ResultDefinition<@(fully_qualified_type_name)> result) {
       super.setResult((@(type_name)_Result)result);
     }
     public void setGoalStatus(byte status) {
       super.setStatus(status);
     }
   }
 
-  public static class FeedbackMessage extends @(type_name)_FeedbackMessage implements FeedbackMessageDefinition<@(type_name)> {
-    public void setFeedback(FeedbackDefinition<@(type_name)> feedback) {
+  public static class FeedbackMessage extends @(type_name)_FeedbackMessage implements FeedbackMessageDefinition<@(fully_qualified_type_name)> {
+    public void setFeedback(FeedbackDefinition<@(fully_qualified_type_name)> feedback) {
       super.setFeedback((@(type_name)_Feedback) feedback);
     }
     public void setGoalUuid(List<Byte> goalUuid) {
       super.getGoalId().setUuid(goalUuid);
     }
   }
 
-  public Class<? extends GoalRequestDefinition<@(type_name)>> getSendGoalRequestType() {
+  public Class<? extends GoalRequestDefinition<@(fully_qualified_type_name)>> getSendGoalRequestType() {
     return SendGoalRequest.class;
   }
 
-  public Class<? extends GoalResponseDefinition<@(type_name)>> getSendGoalResponseType() {
+  public Class<? extends GoalResponseDefinition<@(fully_qualified_type_name)>> getSendGoalResponseType() {
     return SendGoalResponse.class;
   }
 
-  public Class<? extends ResultRequestDefinition<@(type_name)>> getGetResultRequestType() {
+  public Class<? extends ResultRequestDefinition<@(fully_qualified_type_name)>> getGetResultRequestType() {
     return GetResultRequest.class;
   }
 
-  public Class<? extends ResultResponseDefinition<@(type_name)>> getGetResultResponseType() {
+  public Class<? extends ResultResponseDefinition<@(fully_qualified_type_name)>> getGetResultResponseType() {
     return GetResultResponse.class;
   }
 
-  public Class<? extends ResultDefinition<@(type_name)>> getResultType() {
+  public Class<? extends ResultDefinition<@(fully_qualified_type_name)>> getResultType() {
     return @(type_name)_Result.class;
   }
 
-  public Class<? extends FeedbackDefinition<@(type_name)>> getFeedbackType() {
+  public Class<? extends FeedbackDefinition<@(fully_qualified_type_name)>> getFeedbackType() {
     return @(type_name)_Feedback.class;
   }
 
-  public Class<? extends FeedbackMessageDefinition<@(type_name)>> getFeedbackMessageType() {
+  public Class<? extends FeedbackMessageDefinition<@(fully_qualified_type_name)>> getFeedbackMessageType() {
     return FeedbackMessage.class;
   }
 
-  private static final Logger logger = LoggerFactory.getLogger(@(type_name).class);
+  private static final Logger logger = LoggerFactory.getLogger(@(fully_qualified_type_name).class);
 
   static {
     try {
-      JNIUtils.loadTypesupport(@(type_name).class);
+      JNIUtils.loadTypesupport(@(fully_qualified_type_name).class);
     } catch (UnsatisfiedLinkError ule) {
       logger.error("Native code library failed to load.\n" + ule);
       System.exit(1);

rosidl_generator_java/resource/idl.java.em

@@ -29,7 +29,8 @@ data = {
     'interface_path': interface_path,
     'output_dir': output_dir,
     'template_basepath': template_basepath,
-    'marker_interfaces': [],
+    'imports': [],
+    'implements': [],
 }
 
 for message in content.get_elements_of_type(Message):

rosidl_generator_java/resource/msg.java.em

@@ -17,8 +17,7 @@ from rosidl_parser.definition import BoundedSequence
 from rosidl_parser.definition import NamespacedType
 
 type_name = message.structure.namespaced_type.name
-interfaces_implemented = ['MessageDefinition']
-interfaces_implemented.extend(f"{t.rsplit('.', 1)[1]}" for t in marker_interfaces)
+interfaces_implemented = ['MessageDefinition'] + implements
 interfaces_implemented = ', '.join(interfaces_implemented)
 
 message_imports = [
@@ -29,7 +28,7 @@ message_imports = [
     'org.slf4j.Logger',
     'org.slf4j.LoggerFactory',
 ]
-message_imports.extend(f"{t.split('<', 1)[0]}" for t in marker_interfaces)
+message_imports.extend(imports)
 }@
 @[for message_import in message_imports]@
 import @(message_import);

rosidl_generator_java/resource/srv.java.em

@@ -18,7 +18,8 @@ data = {
     'interface_path': interface_path,
     'output_dir': output_dir,
     'template_basepath': template_basepath,
-    'marker_interfaces': [],
+    'imports': [],
+    'implements': [],
 }
 data.update({'message': service.request_message})
 output_file = os.path.join(output_dir, *namespaces[1:], request_type_name + '.java')

test_rosidl_generator_java/CMakeLists.txt

@@ -20,6 +20,7 @@ if(BUILD_TESTING)
     ${test_interface_files_MSG_FILES}
     ${test_interface_files_SRV_FILES}
     action/BasicTypes.action
+    action/Nested.action
     SKIP_INSTALL
   )
 

test_rosidl_generator_java/action/Nested.action

@@ -0,0 +1,5 @@
+Nested nested_value
+---
+Nested nested_value
+---
+Nested nested_value

test_rosidl_generator_java/src/test/java/org/ros2/generator/InterfacesTest.java

@@ -1187,4 +1187,34 @@ public final void testBasicTypesAction() {
     assertEquals(expectedInt643, basicTypesResult.getInt64Value());
   }
 
+  @Test
+  public final void testNestedAction() {
+    test_rosidl_generator_java.action.Nested_Goal nestedGoal =
+      new test_rosidl_generator_java.action.Nested_Goal();
+    test_rosidl_generator_java.action.Nested_Feedback nestedFeedback =
+      new test_rosidl_generator_java.action.Nested_Feedback();
+    test_rosidl_generator_java.action.Nested_Result nestedResult =
+      new test_rosidl_generator_java.action.Nested_Result();
+
+    // Set goal field
+    int expectedInt32Goal = 123;
+    nestedGoal.getNestedValue().getBasicTypesValue().setInt32Value(expectedInt32Goal);
+
+    // Set feedback field
+    int expectedInt32Feedback = 231;
+    nestedFeedback.getNestedValue().getBasicTypesValue().setInt32Value(expectedInt32Feedback);
+
+    // Set result field
+    int expectedInt32Result = 132;
+    nestedResult.getNestedValue().getBasicTypesValue().setInt32Value(expectedInt32Result);
+
+    // Get fields
+    assertEquals(
+      expectedInt32Goal, nestedGoal.getNestedValue().getBasicTypesValue().getInt32Value());
+    assertEquals(
+      expectedInt32Feedback, nestedFeedback.getNestedValue().getBasicTypesValue().getInt32Value());
+    assertEquals(
+      expectedInt32Result, nestedResult.getNestedValue().getBasicTypesValue().getInt32Value());
+  }
+
 }