Skip to content

Compile generated action-related services #140

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jacobperron merged 4 commits into from
Nov 9, 2020
Merged

Compile generated action-related services #140

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
7da1faf
Remove redundant code generation
jacobperron Oct 20, 2020
50d2789
Strip action service suffixes from C include prefix
jacobperron Oct 20, 2020
e1a70cf
Generate Java code for SendGoal and GetResult service definitions
jacobperron Oct 20, 2020
86b4240
Compile generated service definitions for actions
jacobperron Oct 20, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 12 additions & 0 deletions rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -81,11 +81,23 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
"${_output_path}/${_parent_folder}/${_idl_name}_Goal.java"
"${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
"${_output_path}/${_parent_folder}/${_idl_name}_Feedback.java"
"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.java"
"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.java"
"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.java"
"${_output_path}/${_parent_folder}/${_idl_name}_GetResult.java"
"${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Request.java"
"${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.java"
)
foreach(_typesupport_impl ${_typesupport_impls})
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Goal.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Result.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Request.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.ep.${_typesupport_impl}.cpp")
endforeach()
endif()

Expand Down
17 changes: 0 additions & 17 deletions rosidl_generator_java/resource/action.cpp.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,25 +58,8 @@ expand_template(
data,
output_file)

# Generate SendGoal message type
data.update({'msg': action.send_goal_service.request_message})
output_file = os.path.join(output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
expand_template(
'msg.cpp.em',
data,
output_file)

# Generate GetResult message type
data.update({'msg': action.get_result_service.request_message})
output_file = os.path.join(output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
expand_template(
'msg.cpp.em',
data,
output_file)

data = {
'package_name': package_name,
'interface_path': interface_path,
'output_dir': output_dir,
'template_basepath': template_basepath,
'typesupport_impl': typesupport_impl,
Expand Down
18 changes: 18 additions & 0 deletions rosidl_generator_java/resource/action.java.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@ type_name = action.namespaced_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
send_goal_type_name = action.send_goal_service.namespaced_type.name
get_result_type_name = action.get_result_service.namespaced_type.name

data = {
'package_name': package_name,
Expand Down Expand Up @@ -44,6 +46,22 @@ expand_template(
output_file,
template_basepath=template_basepath)

data.update({'service': action.send_goal_service})
output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
expand_template(
'srv.java.em',
data,
output_file,
template_basepath=template_basepath)

data.update({'service': action.get_result_service})
output_file = os.path.join(output_dir, *namespaces[1:], get_result_type_name + '.java')
expand_template(
'srv.java.em',
data,
output_file,
template_basepath=template_basepath)

action_imports = [
'org.ros2.rcljava.common.JNIUtils',
'org.ros2.rcljava.interfaces.ActionDefinition',
Expand Down
10 changes: 10 additions & 0 deletions rosidl_generator_java/resource/msg.cpp.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ for member in message.structure.members:
namespaced_types.add(get_jni_type(type_))
include_prefix = idl_structure_type_to_c_include_prefix(type_)
# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)
# and https://github.com/ros2/rosidl/pull/538
# Strip off any service or action suffix
# There are several types that actions and services are composed of, but they are included
# a common header that is based on the action or service name
Expand All @@ -76,10 +77,15 @@ for member in message.structure.members:
include_prefix = include_prefix[:-8]
elif include_prefix.endswith('__feedback'):
include_prefix = include_prefix[:-10]
elif include_prefix.endswith('__send_goal'):
include_prefix = include_prefix[:-11]
elif include_prefix.endswith('__get_result'):
include_prefix = include_prefix[:-12]
member_includes.add(include_prefix + '.h')
}@
@{
# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)
# and https://github.com/ros2/rosidl/pull/538
message_c_include_prefix = idl_structure_type_to_c_include_prefix(message.structure.namespaced_type)
# Strip off any service or action suffix
if message_c_include_prefix.endswith('__request'):
Expand All @@ -92,6 +98,10 @@ elif message_c_include_prefix.endswith('__result'):
message_c_include_prefix = message_c_include_prefix[:-8]
elif message_c_include_prefix.endswith('__feedback'):
message_c_include_prefix = message_c_include_prefix[:-10]
elif message_c_include_prefix.endswith('__send_goal'):
message_c_include_prefix = message_c_include_prefix[:-11]
elif message_c_include_prefix.endswith('__get_result'):
message_c_include_prefix = message_c_include_prefix[:-12]
}@

#include <jni.h>
Expand Down
15 changes: 14 additions & 1 deletion rosidl_generator_java/resource/srv.cpp.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,20 @@ expand_template(

#include "rosidl_generator_c/service_type_support_struct.h"

#include "@(idl_structure_type_to_c_include_prefix(service.namespaced_type)).h"
@{
include_prefix = idl_structure_type_to_c_include_prefix(service.namespaced_type)
# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/538
# Strip off any service suffix
# There are a couple service types that actions are composed of, but they are included
# a common header that is based on the action name
# ie. there are not separate headers for each type
if include_prefix.endswith('__send_goal'):
include_prefix = include_prefix[:-11]
elif include_prefix.endswith('__get_result'):
include_prefix = include_prefix[:-12]
}@

#include "@(include_prefix).h"

// Ensure that a jlong is big enough to store raw pointers
static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");
Expand Down