WIP Parser rewrite

.gitmodules

@@ -1,12 +1,12 @@
 [submodule "ros2_interfaces/common_interfaces"]
-	path = jros2Generator/ros2_interfaces/common_interfaces
+	path = ros2_interfaces/common_interfaces
 	url = https://github.com/ros2/common_interfaces
 	branch = humble
 [submodule "ros2_interfaces/rcl_interfaces"]
-	path = jros2Generator/ros2_interfaces/rcl_interfaces
+	path = ros2_interfaces/rcl_interfaces
 	url = https://github.com/ros2/rcl_interfaces
 	branch = humble
 [submodule "ros2_interfaces/example_interfaces"]
-	path = jros2Generator/ros2_interfaces/example_interfaces
+	path = ros2_interfaces/example_interfaces
 	url = https://github.com/ros2/example_interfaces
 	branch = humble

build.gradle.kts

@@ -1,3 +1,5 @@
+import us.ihmc.jros2.generator.jros2GenTask
+
 /*
  *  Copyright 2025 Florida Institute for Human and Machine Cognition (IHMC)
  *
@@ -13,92 +15,118 @@
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
  */
-import us.ihmc.jros2.generator.task.jros2GenTask
 
 plugins {
-    id("java-library")
+   id("java-library")
+   id("java-gradle-plugin")
+   id("us.ihmc.ihmc-build")
 
-    id("us.ihmc.ihmc-build")
-    id("us.ihmc.jros2.generator") version "1.0.2"
+   id("us.ihmc.jros2.generator") version "1.0.999"
 }
 
 ihmc {
-    group = "us.ihmc"
-    version = "1.0.1"
-    vcsUrl = "https://github.com/ihmcrobotics/jros2"
-    openSource = true
+   group = "us.ihmc"
+   version = "1.0.999"
+   vcsUrl = "https://github.com/ihmcrobotics/jros2"
+   openSource = true
+
+   configureDependencyResolution()
+   configurePublications()
+}
 
-    configureDependencyResolution()
-    configurePublications()
+ihmc.sourceSetProject("generator").plugins.apply("java-gradle-plugin")
+ihmc.sourceSetProject("generator").gradlePlugin {
+   website.set("https://github.com/ihmcrobotics/jros2")
+   vcsUrl.set("https://github.com/ihmcrobotics/jros2")
+
+   plugins {
+      create("jros2Generator") {
+         id = "us.ihmc.jros2.generator"
+         displayName = "jros2 Interface Generator"
+         description = "Gradle plugin to generate Java ROS 2 interface classes from .msg files"
+         tags.set(listOf("jros2", "ros2"))
+         implementationClass = "us.ihmc.jros2.generator.jros2GeneratorPlugin"
+      }
+   }
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+   sourceCompatibility = JavaVersion.VERSION_17
+   targetCompatibility = JavaVersion.VERSION_17
 }
 
 tasks.javadoc {
-    exclude("us/ihmc/fastddsjava/**")
-    exclude("us/ihmc/fastddsjava/**")
+   exclude("us/ihmc/fastddsjava/**")
 }
 
 sourceSets {
-    named("main") {
-        java.srcDirs("src/main/java-interfaces")
-    }
+   named("main") {
+      java.srcDirs("src/main/java-interfaces")
+   }
 }
 
 mainDependencies {
-    // Transitive dependencies
-    api("us.ihmc:javacpp:1.5.11-ihmc-2") {
-        isTransitive = true
-    }
-    api("us.ihmc:ihmc-native-library-loader:2.0.6") {
-        isTransitive = true
-    }
-    api("us.ihmc:log-tools:0.6.5") {
-        isTransitive = true
-    }
-    // Match this version with YoVariables
-    api("com.sun.xml.bind:jaxb-impl:4.0.5") {
-        isTransitive = true
-    }
-    api("org.antlr:ST4:4.3.4") {
-        isTransitive = true
-    }
+   api("org.bytedeco:javacpp:1.5.11") {
+      isTransitive = true
+   }
+   api("us.ihmc:ihmc-native-library-loader:2.0.6") {
+      isTransitive = true
+   }
+   api("us.ihmc:log-tools:0.6.5") {
+      isTransitive = true
+   }
+   // Match this version with YoVariables
+   api("com.sun.xml.bind:jaxb-impl:4.0.5") {
+      isTransitive = true
+   }
+}
+
+parserDependencies {
+}
+
+generatorDependencies {
+   api(gradleApi())
+
+   api(ihmc.sourceSetProject("parser"))
+
+   api("org.antlr:ST4:4.3.4") {
+      isTransitive = true
+   }
 }
 
 testDependencies {
+   api(ihmc.sourceSetProject("parser"))
+   api(ihmc.sourceSetProject("generator"))
 }
 
-tasks.register<jros2GenTask>("generate_default_interfaces") {
+tasks.register<jros2GenTask>("jros2GenerateDefaultInterfaces") {
     // Make sure the git submodules are updated
     ProcessBuilder("git", "submodule", "update", "--init", "--recursive").directory(projectDir).start().waitFor()
 
     description = "Generate ROS 2 default interfaces source files"
     group = Char.MIN_VALUE + "jros2" // Hack to prevent Gradle from capitalizing jros2
     packagePaths = listOf(
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("example_interfaces").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("example_interfaces").absolutePath,
 
         // rcl_interfaces used as dependency to common_interfaces; we include it here
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("builtin_interfaces").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("lifecycle_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("rcl_interfaces").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("rosgraph_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("statistics_msgs").absolutePath,
-
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("actionlib_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("diagnostic_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("geometry_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("nav_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("sensor_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("shape_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("std_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("stereo_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("trajectory_msgs").absolutePath,
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("common_interfaces").resolve("visualization_msgs").absolutePath,
-
-        projectDir.resolve("jros2Generator").resolve("ros2_interfaces").resolve("jros2_example_interfaces").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("builtin_interfaces").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("lifecycle_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("rcl_interfaces").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("rosgraph_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("rcl_interfaces").resolve("statistics_msgs").absolutePath,
+
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("actionlib_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("diagnostic_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("geometry_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("nav_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("sensor_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("shape_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("std_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("stereo_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("trajectory_msgs").absolutePath,
+        projectDir.resolve("ros2_interfaces").resolve("common_interfaces").resolve("visualization_msgs").absolutePath,
+
+        projectDir.resolve("ros2_interfaces").resolve("jros2_example_interfaces").absolutePath,
     )
     outputDir = sourceSets["main"].java.srcDirs.find { it.name == "java-interfaces" }.toString()
 }

gradle.properties

@@ -1,4 +1,4 @@
 title = jros2
-extraSourceSets = ["test"]
+extraSourceSets = ["test", "parser", "generator"]
 compositeSearchHeight = 0
 excludeFromCompositeBuild = false