Update rosidl_generator_java for Dashing compatibility (#66)

* Update rosidl_generator_java for new IDL pipeline

Supporting ROS Dashing or later.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix name JNI name mangling

Accidentally broken during update.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Remove java compile flags

This remove some compile warnings.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Refactor to support services

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Wide string support

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Avoid duplicate includes

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use test_interface_files

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Support for actions

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add suffix for long literals

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Handle unsigned literals

Though Java supports unsigned values, it doesn't support unsigned literals (ie. literals that are larger than the max signed value).
As a workaround, we can convert the literal to it's negative equivalent.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix escape string function

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use cast to workaround integer literals

Otherwise the compiler complains about potential loss of data.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Minor refactor

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Remove TODO

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Author: jacobperron

rcljava_common/CMakeLists.txt

@@ -36,6 +36,7 @@ set(${PROJECT_NAME}_java_sources
   "src/main/java/org/ros2/rcljava/common/JNIUtils.java"
   "src/main/java/org/ros2/rcljava/exceptions/RCLException.java"
   "src/main/java/org/ros2/rcljava/exceptions/RCLReturn.java"
+  "src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/Disposable.java"
   "src/main/java/org/ros2/rcljava/interfaces/MessageDefinition.java"
   "src/main/java/org/ros2/rcljava/interfaces/ServiceDefinition.java"

rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java

@@ -0,0 +1,18 @@
+/* Copyright 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.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.interfaces;
+
+public interface ActionDefinition {}

rosidl_generator_java/CMakeLists.txt

@@ -24,19 +24,17 @@ endif()
 include(UseJava)
 include(JavaExtra)
 
-set(CMAKE_JAVA_COMPILE_FLAGS "-source" "1.6" "-target" "1.6")
-
 ament_index_register_resource("rosidl_generator_packages")
 
 if(BUILD_TESTING)
   find_package(rosidl_cmake REQUIRED)
   find_package(rosidl_generator_c REQUIRED)
-
-  find_package(ament_lint_auto REQUIRED)
+  find_package(test_interface_files REQUIRED)
 
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  # TODO(jacobperron): Use test_interface_files instead and update tests
   set(message_files
     "msg/Bool.msg"
     "msg/Byte.msg"
@@ -70,7 +68,9 @@ if(BUILD_TESTING)
     "${CMAKE_CURRENT_SOURCE_DIR}/resource"
   )
 
-  rosidl_generate_interfaces(${PROJECT_NAME} ${message_files}
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    ${message_files}
+    ${test_interface_files_SRV_FILES}
     SKIP_INSTALL
   )
 

rosidl_generator_java/bin/rosidl_generator_java

@@ -27,17 +27,13 @@ def main(argv=sys.argv[1:]):
         '--generator-arguments-file',
         required=True,
         help='The location of the file containing the generator arguments')
-    parser.add_argument(
-        '--typesupport-impl',
-        required=True,
-        help='The typesupport implementation targeted by the C interface')
     parser.add_argument(
         '--typesupport-impls',
         required=True,
         help='All the available typesupport implementations')
     args = parser.parse_args(argv)
 
-    return generate_java(args.generator_arguments_file, args.typesupport_impl, args.typesupport_impls)
+    return generate_java(args.generator_arguments_file, args.typesupport_impls.split(';'))
 
 
 if __name__ == '__main__':

rosidl_generator_java/cmake/custom_command.cmake

@@ -11,19 +11,14 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
-
 add_custom_command(
   OUTPUT
-  ${_generated_msg_java_files}
-  ${_generated_msg_cpp_files}
-  ${_generated_srv_java_files}
-  ${_generated_srv_cpp_files}
+  ${_generated_extension_files}
+  ${_generated_java_files}
   COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_java_BIN}
   --generator-arguments-file "${generator_arguments_file}"
-  --typesupport-impl "${_typesupport_impl}"
   --typesupport-impls "${_typesupport_impls}"
-  DEPENDS ${target_dependencies}
+  DEPENDS ${target_dependencies} ${rosidl_generate_interfaces_TARGET}
   COMMENT "Generating Java code for ROS interfaces"
   VERBATIM
 )
@@ -34,17 +29,14 @@ else()
   add_custom_target(
     ${rosidl_generate_interfaces_TARGET}${_target_suffix}
     DEPENDS
-    ${_generated_msg_java_files}
-    ${_generated_msg_cpp_files}
-    ${_generated_srv_java_files}
-    ${_generated_srv_cpp_files}
+    ${_generated_extension_files}
+    ${_generated_java_files}
   )
 endif()
 
 add_jar("${PROJECT_NAME}_messages_jar"
   SOURCES
-  ${_generated_msg_java_files}
-  ${_generated_srv_java_files}
+  ${_generated_java_files}
   OUTPUT_NAME
   ${PROJECT_NAME}_messages
   INCLUDE_JARS

rosidl_generator_java/cmake/register_java.cmake

@@ -13,9 +13,9 @@
 # limitations under the License.
 
 macro(rosidl_generator_java_extras BIN GENERATOR_FILES TEMPLATE_DIR)
-  find_package(ament_cmake_core QUIET REQUIRED)
+  find_package(ament_cmake_core REQUIRED)
   ament_register_extension(
-    "rosidl_generate_interfaces"
+    "rosidl_generate_idl_interfaces"
     "rosidl_generator_java"
     "rosidl_generator_java_generate_interfaces.cmake")
 

rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake

@@ -39,8 +39,6 @@ if(NOT WIN32)
   endif()
 endif()
 
-set(CMAKE_JAVA_COMPILE_FLAGS "-source" "1.6" "-target" "1.6")
-
 # Get a list of typesupport implementations from valid rmw implementations.
 rosidl_generator_java_get_typesupports(_typesupport_impls)
 
@@ -51,48 +49,53 @@ endif()
 
 set(_output_path
   "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/${PROJECT_NAME}")
-set(_generated_cpp_files "")
-set(_generated_msg_java_files "")
-set(_generated_msg_cpp_files "")
-set(_generated_srv_java_files "")
-set(_generated_srv_cpp_files "")
+set(_generated_extension_files "")
+set(_generated_java_files "")
 
-foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
-  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
-  get_filename_component(_parent_folder "${_parent_folder}" NAME)
-  get_filename_component(_module_name "${_idl_file}" NAME_WE)
+foreach(_typesupport_impl ${_typesupport_impls})
+  set(_generated_extension_${_typesupport_impl}_files "")
+endforeach()
 
-  if(_parent_folder STREQUAL "msg")
-    list(APPEND _generated_msg_java_files
-      "${_output_path}/${_parent_folder}/${_module_name}.java"
+foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
+  get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE)
+  list(APPEND _generated_java_files
+    "${_output_path}/${_parent_folder}/${_idl_name}.java"
+  )
+  # TODO(jacobperron): Is there a more robust way of detecting services and actions
+  # Services generate extra files
+  if(_parent_folder STREQUAL "srv")
+    list(APPEND _generated_java_files
+      "${_output_path}/${_parent_folder}/${_idl_name}_Request.java"
+      "${_output_path}/${_parent_folder}/${_idl_name}_Response.java"
     )
-
-    foreach(_typesupport_impl ${_typesupport_impls})
-      list_append_unique(_generated_msg_cpp_files
-        "${_output_path}/${_parent_folder}/${_module_name}.ep.${_typesupport_impl}.cpp"
-      )
-      list(APPEND _type_support_by_generated_msg_cpp_files "${_typesupport_impl}")
-    endforeach()
-  elseif(_parent_folder STREQUAL "srv")
-    list(APPEND _generated_srv_java_files
-      "${_output_path}/${_parent_folder}/${_module_name}.java"
+  endif()
+  # Actions generate extra files
+  if(_parent_folder STREQUAL "action")
+    list(APPEND _generated_java_files
+      "${_output_path}/${_parent_folder}/${_idl_name}_Goal.java"
+      "${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
+      "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.java"
     )
-
-    foreach(_typesupport_impl ${_typesupport_impls})
-      list_append_unique(_generated_srv_cpp_files
-        "${_output_path}/${_parent_folder}/${_module_name}.ep.${_typesupport_impl}.cpp"
-      )
-      list(APPEND _type_support_by_generated_srv_cpp_files "${_typesupport_impl}")
-    endforeach()
-  else()
-    message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
   endif()
+
+  foreach(_typesupport_impl ${_typesupport_impls})
+    list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}.ep.${_typesupport_impl}.cpp")
+  endforeach()
+endforeach()
+
+foreach(_typesupport_impl ${_typesupport_impls})
+  foreach(_generated_file ${_generated_extension_${_typesupport_impl}_files})
+    list(APPEND _generated_extension_files "${_generated_file}")
+    list(APPEND _typesupport_by_generated_cpp_files "${_typesupport_impl}")
+  endforeach()
 endforeach()
 
 set(_dependency_files "")
 set(_dependencies "")
 foreach(_pkg_name ${rosidl_generate_interfaces_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 "${_abs_idl_file}")
@@ -103,11 +106,15 @@ endforeach()
 set(target_dependencies
   "${rosidl_generator_java_BIN}"
   ${rosidl_generator_java_GENERATOR_FILES}
+  "${rosidl_generator_java_TEMPLATE_DIR}/action.cpp.em"
+  "${rosidl_generator_java_TEMPLATE_DIR}/idl.cpp.em"
   "${rosidl_generator_java_TEMPLATE_DIR}/msg.cpp.em"
   "${rosidl_generator_java_TEMPLATE_DIR}/srv.cpp.em"
+  "${rosidl_generator_java_TEMPLATE_DIR}/action.java.em"
+  "${rosidl_generator_java_TEMPLATE_DIR}/idl.java.em"
   "${rosidl_generator_java_TEMPLATE_DIR}/msg.java.em"
   "${rosidl_generator_java_TEMPLATE_DIR}/srv.java.em"
-  ${rosidl_generate_interfaces_IDL_FILES}
+  ${rosidl_generate_interfaces_ABS_IDL_FILES}
   ${_dependency_files})
 foreach(dep ${target_dependencies})
   if(NOT EXISTS "${dep}")
@@ -119,7 +126,7 @@ set(generator_arguments_file "${CMAKE_BINARY_DIR}/rosidl_generator_java__argumen
 rosidl_write_generator_arguments(
   "${generator_arguments_file}"
   PACKAGE_NAME "${PROJECT_NAME}"
-  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
+  IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
   ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_generator_java_TEMPLATE_DIR}"
@@ -128,7 +135,6 @@ rosidl_write_generator_arguments(
 
 file(MAKE_DIRECTORY "${_output_path}")
 
-set(_generated_extension_files "")
 set(_extension_dependencies "")
 set(_target_suffix "__java")
 
@@ -156,10 +162,8 @@ add_subdirectory("${_subdir}" ${rosidl_generate_interfaces_TARGET}${_target_suff
 
 set_property(
   SOURCE
-  ${_generated_msg_java_files}
-  ${_generated_msg_cpp_files}
-  ${_generated_srv_java_files}
-  ${_generated_srv_cpp_files}
+  ${_generated_extension_files}
+  ${_generated_java_files}
   PROPERTY GENERATED 1)
 
 macro(set_properties _build_type)
@@ -172,35 +176,29 @@ macro(set_properties _build_type)
     OUTPUT_NAME "${_library_path}")
 endmacro()
 
-set(_type_support_by_generated_cpp_files ${_type_support_by_generated_msg_cpp_files} ${_type_support_by_generated_srv_cpp_files})
-set(_generated_cpp_files ${_generated_msg_cpp_files} ${_generated_srv_cpp_files})
-
-set(_javaext_suffix "__javaext")
-foreach(_generated_cpp_file ${_generated_cpp_files})
-  get_filename_component(_full_folder "${_generated_cpp_file}" DIRECTORY)
-  get_filename_component(_package_folder "${_full_folder}" DIRECTORY)
-  get_filename_component(_package_name "${_package_folder}" NAME)
-  get_filename_component(_parent_folder "${_full_folder}" NAME)
-  get_filename_component(_base_msg_name "${_generated_cpp_file}" NAME_WE)
-  list(FIND _generated_cpp_files ${_generated_cpp_file} _file_index)
-  list(GET _type_support_by_generated_cpp_files ${_file_index} _typesupport_impl)
+foreach(_generated_cpp_file ${_generated_extension_files})
+  list(FIND _generated_extension_files ${_generated_cpp_file} _file_index)
+  list(GET _typesupport_by_generated_cpp_files ${_file_index} _typesupport_impl)
   find_package(${_typesupport_impl} REQUIRED)
-  set(_generated_msg_cpp_common_file "${_full_folder}/${_base_msg_name}.cpp")
+  get_filename_component(_parent_folder "${_generated_cpp_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  get_filename_component(_base_name "${_generated_cpp_file}" NAME_WE)
   string(REGEX REPLACE "^rosidl_typesupport_" "" _short_typesupport_impl ${_typesupport_impl})
-  set(_library_name
-    "${_parent_folder}${_base_msg_name}${_short_typesupport_impl}"
-  )
+  set(_library_name "${_parent_folder}${_base_name}${_short_typesupport_impl}")
   set(_library_path
-    "${_package_name}_${_parent_folder}_${_base_msg_name}__jni__${_typesupport_impl}"
+    "${rosidl_generate_interfaces_TARGET}_${_parent_folder}_${_base_name}__jni__${_typesupport_impl}"
   )
   string_camel_case_to_lower_case_underscore(${_library_path} _library_path)
+
   add_library(${_library_name} SHARED
     ${_generated_cpp_file}
   )
   add_dependencies(
     ${_library_name}
     ${rosidl_generate_interfaces_TARGET}${_target_suffix}
     ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
+    ${_target_dependencies}
   )
   set(_extension_compile_flags "")
   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -248,9 +246,6 @@ foreach(_generated_cpp_file ${_generated_cpp_files})
     )
     target_link_libraries(${_library_name} ${${_pkg_name}_JNI_LIBRARIES})
   endforeach()
-  add_dependencies(${_library_name}
-    ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
-  )
   if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
     install(TARGETS ${_library_name}
       ARCHIVE DESTINATION lib/jni
@@ -277,18 +272,16 @@ add_custom_command(
 
 if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   set(_install_jar_dir "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}")
-  if(NOT _generated_msg_java_files STREQUAL "" OR NOT _generated_srv_java_files STREQUAL "")
+  if(NOT _generated_java_files STREQUAL "")
     install_jar("${PROJECT_NAME}_messages_jar" "share/${PROJECT_NAME}/java")
     ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}_messages.jar")
   endif()
 endif()
 
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
   if(
-    NOT _generated_msg_java_files STREQUAL "" OR
-    NOT _generated_msg_cpp_files STREQUAL "" OR
-    NOT _generated_srv_java_files STREQUAL "" OR
-    NOT _generated_srv_cpp_files STREQUAL ""
+    NOT _generated_java_files STREQUAL "" OR
+    NOT _generated_extension_files STREQUAL ""
   )
     find_package(ament_cmake_cppcheck REQUIRED)
     ament_cppcheck(

rosidl_generator_java/package.xml

@@ -35,15 +35,18 @@
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rosidl_generator_c</test_depend>
 
-  <test_depend>rosidl_parser</test_depend>
   <test_depend>rosidl_cmake</test_depend>
+  <test_depend>rosidl_parser</test_depend>
   <!-- Duplicated from rosidl_default_generator in order to avoid a circular dependency. -->
   <test_depend>rosidl_typesupport_c</test_depend>
   <test_depend>rosidl_typesupport_connext_c</test_depend>
+  <test_depend>rosidl_typesupport_fastrtps_c</test_depend>
   <test_depend>rosidl_typesupport_introspection_c</test_depend>
   <test_depend>rosidl_typesupport_opensplice_c</test_depend>
+  <test_depend>test_interface_files</test_depend>
 
   <member_of_group>rosidl_generator_packages</member_of_group>
+  <member_of_group>rosidl_runtime_packages</member_of_group>
 
   <export>
     <build_type>ament_cmake</build_type>