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jacobperronjacobperron
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Compile generated action-related services (#140)
* Remove redundant code generation The request and response messages are already generated as part of the srv template. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Strip action service suffixes from C include prefix The generated C headers for actions are included in a single header named after the action. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Generate Java code for SendGoal and GetResult service definitions Though not strictly necessary, it is nice to have definitions for these action-specific services for the purpose of writing unit tests. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Compile generated service definitions for actions Previously, though we were generated service definitions for actions we were not compiling them. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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+54
-18
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5 files changed

+54
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‎rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake‎

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@@ -81,11 +81,23 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
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"${_output_path}/${_parent_folder}/${_idl_name}_Goal.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_Feedback.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_GetResult.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Request.java"
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"${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.java"
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)
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foreach(_typesupport_impl ${_typesupport_impls})
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Goal.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Result.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Request.ep.${_typesupport_impl}.cpp")
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list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.ep.${_typesupport_impl}.cpp")
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endforeach()
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endif()
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‎rosidl_generator_java/resource/action.cpp.em‎

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Original file line numberDiff line numberDiff line change
@@ -58,25 +58,8 @@ expand_template(
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data,
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output_file)
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# Generate SendGoal message type
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data.update({'msg': action.send_goal_service.request_message})
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output_file = os.path.join(output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
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expand_template(
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'msg.cpp.em',
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data,
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output_file)
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# Generate GetResult message type
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data.update({'msg': action.get_result_service.request_message})
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output_file = os.path.join(output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
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expand_template(
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'msg.cpp.em',
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data,
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output_file)
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data = {
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'package_name': package_name,
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'interface_path': interface_path,
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'output_dir': output_dir,
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'template_basepath': template_basepath,
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'typesupport_impl': typesupport_impl,

‎rosidl_generator_java/resource/action.java.em‎

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Original file line numberDiff line numberDiff line change
@@ -13,6 +13,8 @@ type_name = action.namespaced_type.name
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goal_type_name = action.goal.structure.namespaced_type.name
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result_type_name = action.result.structure.namespaced_type.name
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feedback_type_name = action.feedback.structure.namespaced_type.name
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send_goal_type_name = action.send_goal_service.namespaced_type.name
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get_result_type_name = action.get_result_service.namespaced_type.name
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data = {
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'package_name': package_name,
@@ -44,6 +46,22 @@ expand_template(
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output_file,
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template_basepath=template_basepath)
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data.update({'service': action.send_goal_service})
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output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
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expand_template(
52+
'srv.java.em',
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data,
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output_file,
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template_basepath=template_basepath)
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data.update({'service': action.get_result_service})
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output_file = os.path.join(output_dir, *namespaces[1:], get_result_type_name + '.java')
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expand_template(
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'srv.java.em',
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data,
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output_file,
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template_basepath=template_basepath)
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action_imports = [
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'org.ros2.rcljava.common.JNIUtils',
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'org.ros2.rcljava.interfaces.ActionDefinition',

‎rosidl_generator_java/resource/msg.cpp.em‎

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Original file line numberDiff line numberDiff line change
@@ -62,6 +62,7 @@ for member in message.structure.members:
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namespaced_types.add(get_jni_type(type_))
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include_prefix = idl_structure_type_to_c_include_prefix(type_)
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# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)
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# and https://github.com/ros2/rosidl/pull/538
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# Strip off any service or action suffix
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# There are several types that actions and services are composed of, but they are included
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# a common header that is based on the action or service name
@@ -76,10 +77,15 @@ for member in message.structure.members:
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include_prefix = include_prefix[:-8]
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elif include_prefix.endswith('__feedback'):
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include_prefix = include_prefix[:-10]
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elif include_prefix.endswith('__send_goal'):
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include_prefix = include_prefix[:-11]
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elif include_prefix.endswith('__get_result'):
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include_prefix = include_prefix[:-12]
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member_includes.add(include_prefix + '.h')
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}@
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@{
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# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)
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# and https://github.com/ros2/rosidl/pull/538
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message_c_include_prefix = idl_structure_type_to_c_include_prefix(message.structure.namespaced_type)
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# Strip off any service or action suffix
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if message_c_include_prefix.endswith('__request'):
@@ -92,6 +98,10 @@ elif message_c_include_prefix.endswith('__result'):
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message_c_include_prefix = message_c_include_prefix[:-8]
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elif message_c_include_prefix.endswith('__feedback'):
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message_c_include_prefix = message_c_include_prefix[:-10]
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elif message_c_include_prefix.endswith('__send_goal'):
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message_c_include_prefix = message_c_include_prefix[:-11]
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elif message_c_include_prefix.endswith('__get_result'):
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message_c_include_prefix = message_c_include_prefix[:-12]
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}@
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#include <jni.h>

‎rosidl_generator_java/resource/srv.cpp.em‎

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Original file line numberDiff line numberDiff line change
@@ -40,7 +40,20 @@ expand_template(
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#include "rosidl_generator_c/service_type_support_struct.h"
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43-
#include "@(idl_structure_type_to_c_include_prefix(service.namespaced_type)).h"
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@{
44+
include_prefix = idl_structure_type_to_c_include_prefix(service.namespaced_type)
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# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/538
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# Strip off any service suffix
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# There are a couple service types that actions are composed of, but they are included
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# a common header that is based on the action name
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# ie. there are not separate headers for each type
50+
if include_prefix.endswith('__send_goal'):
51+
include_prefix = include_prefix[:-11]
52+
elif include_prefix.endswith('__get_result'):
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include_prefix = include_prefix[:-12]
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}@
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#include "@(include_prefix).h"
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// Ensure that a jlong is big enough to store raw pointers
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static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");

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