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StefanFabianStefanFabian
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Generate typesupport getter declarations for actions, messages and services. (#778)
Signed-off-by: Stefan Fabian <[email protected]>
1 parent cf3b637 commit 6a18bbf

8 files changed

+262
-0
lines changed

‎rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake

+12
Original file line numberDiff line numberDiff line change
@@ -28,6 +28,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
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"${_output_path}/${_parent_folder}/detail/${_header_name}__builder.hpp"
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"${_output_path}/${_parent_folder}/detail/${_header_name}__struct.hpp"
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"${_output_path}/${_parent_folder}/detail/${_header_name}__traits.hpp"
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"${_output_path}/${_parent_folder}/detail/${_header_name}__type_support.hpp"
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)
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endforeach()
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@@ -89,6 +90,17 @@ add_custom_command(
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VERBATIM
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)
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# generate header to switch between export and import for a specific package
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set(_visibility_control_file
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"${_output_path}/msg/rosidl_generator_cpp__visibility_control.hpp")
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string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
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configure_file(
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"${rosidl_generator_cpp_TEMPLATE_DIR}/rosidl_generator_cpp__visibility_control.hpp.in"
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"${_visibility_control_file}"
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@ONLY
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)
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list(APPEND _generated_headers "${_visibility_control_file}")
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# INTERFACE libraries can't have file-level dependencies in CMake,
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# so make a custom target depending on the generated files
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# TODO(sloretz) make this target name less generic than "__cpp" when other

‎rosidl_generator_cpp/resource/action__type_support.hpp.em

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@@ -0,0 +1,66 @@
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@# Included from rosidl_generator_cpp/resource/action__type_support.hpp.em
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@{header_file = 'rosidl_typesupport_cpp/action_type_support.hpp'}@
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@[if header_file in include_directives]@
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// already included above
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// @
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@[else]@
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@{include_directives.add(header_file)}@
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@[end if]@
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#include "@(header_file)"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// Forward declare the get type support functions for this type.
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ROSIDL_GENERATOR_CPP_PUBLIC_@(package_name)
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const rosidl_action_type_support_t *
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ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
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rosidl_typesupport_cpp,
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@(',\n '.join(action.namespaced_type.namespaced_name()))
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)();
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#ifdef __cplusplus
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}
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#endif
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@{
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TEMPLATE(
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'msg__type_support.hpp.em',
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package_name=package_name, message=action.goal,
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__type_support.hpp.em',
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package_name=package_name, message=action.result,
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__type_support.hpp.em',
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package_name=package_name, message=action.feedback,
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'srv__type_support.hpp.em',
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package_name=package_name, service=action.send_goal_service,
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'srv__type_support.hpp.em',
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package_name=package_name, service=action.get_result_service,
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include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__type_support.hpp.em',
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package_name=package_name, message=action.feedback_message,
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include_directives=include_directives)
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}@

‎rosidl_generator_cpp/resource/idl.hpp.em

+1
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@@ -25,5 +25,6 @@ include_base = '/'.join(include_parts_detail)
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#include "@(include_base)__struct.hpp"
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#include "@(include_base)__builder.hpp"
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#include "@(include_base)__traits.hpp"
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#include "@(include_base)__type_support.hpp"
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#endif // @(header_guard_variable)

‎rosidl_generator_cpp/resource/idl__type_support.hpp.em

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@@ -0,0 +1,77 @@
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// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
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// with input from @(package_name):@(interface_path)
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// generated code does not contain a copyright notice
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@
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@#######################################################################
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@# EmPy template for generating <idl>__struct.h files
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@#
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@# Context:
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@# - package_name (string)
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@# - interface_path (Path relative to the directory named after the package)
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@# - content (IdlContent, list of elements, e.g. Messages or Services)
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@#######################################################################
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@{
14+
from rosidl_cmake import convert_camel_case_to_lower_case_underscore
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include_parts = [package_name] + list(interface_path.parents[0].parts) + [
16+
'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
17+
header_guard_variable = '__'.join([x.upper() for x in include_parts]) + \
18+
'__TYPE_SUPPORT_HPP_'
19+
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include_directives = set()
21+
}@
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#ifndef @(header_guard_variable)
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#define @(header_guard_variable)
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#include "rosidl_typesupport_interface/macros.h"
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#include "@(package_name)/msg/rosidl_generator_cpp__visibility_control.hpp"
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@#######################################################################
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@# Handle message
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@#######################################################################
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@{
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from rosidl_parser.definition import Message
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}@
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@[for message in content.get_elements_of_type(Message)]@
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@{
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TEMPLATE(
39+
'msg__type_support.hpp.em',
40+
package_name=package_name, message=message,
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include_directives=include_directives)
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}@
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@[end for]@
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@
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@#######################################################################
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@# Handle service
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@#######################################################################
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@{
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from rosidl_parser.definition import Service
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}@
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@[for service in content.get_elements_of_type(Service)]@
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@{
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TEMPLATE(
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'srv__type_support.hpp.em',
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package_name=package_name, service=service,
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include_directives=include_directives)
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}@
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@[end for]@
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@
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@#######################################################################
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@# Handle action
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@#######################################################################
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@{
66+
from rosidl_parser.definition import Action
67+
}@
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@[for action in content.get_elements_of_type(Action)]@
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@{
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TEMPLATE(
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'action__type_support.hpp.em',
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package_name=package_name, action=action,
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include_directives=include_directives)
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}@
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@[end for]@
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#endif // @(header_guard_variable)

‎rosidl_generator_cpp/resource/msg__type_support.hpp.em

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@@ -0,0 +1,24 @@
1+
@# Included from rosidl_generator_cpp/resource/msg__type_support.hpp.em
2+
@{header_file = 'rosidl_typesupport_cpp/message_type_support.hpp'}@
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@[if header_file in include_directives]@
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// already included above
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// @
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@[else]@
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@{include_directives.add(header_file)}@
8+
@[end if]@
9+
#include "@(header_file)"
10+
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#ifdef __cplusplus
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extern "C"
13+
{
14+
#endif
15+
// Forward declare the get type support functions for this type.
16+
ROSIDL_GENERATOR_CPP_PUBLIC_@(package_name)
17+
const rosidl_message_type_support_t *
18+
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
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rosidl_typesupport_cpp,
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@(',\n '.join(message.structure.namespaced_type.namespaced_name()))
21+
)();
22+
#ifdef __cplusplus
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}
24+
#endif

‎rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in

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@@ -0,0 +1,42 @@
1+
// generated from rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in
2+
// generated code does not contain a copyright notice
3+
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#ifndef @PROJECT_NAME_UPPER@__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
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#define @PROJECT_NAME_UPPER@__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
6+
7+
#ifdef __cplusplus
8+
extern "C"
9+
{
10+
#endif
11+
12+
// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
13+
// https://gcc.gnu.org/wiki/Visibility
14+
15+
#if defined _WIN32 || defined __CYGWIN__
16+
#ifdef __GNUC__
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#define ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@ __attribute__ ((dllexport))
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#define ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@ __attribute__ ((dllimport))
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#else
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#define ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@ __declspec(dllexport)
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#define ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@ __declspec(dllimport)
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#endif
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#ifdef ROSIDL_GENERATOR_CPP_BUILDING_DLL_@PROJECT_NAME@
24+
#define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@ ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@
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#else
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#define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@ ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@
27+
#endif
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#else
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#define ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@ __attribute__ ((visibility("default")))
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#define ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@
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#if __GNUC__ >= 4
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#define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@ __attribute__ ((visibility("default")))
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#else
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#define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@
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#endif
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#endif
37+
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#ifdef __cplusplus
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}
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#endif
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42+
#endif // @PROJECT_NAME_UPPER@__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_

‎rosidl_generator_cpp/resource/srv__type_support.hpp.em

+39
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@@ -0,0 +1,39 @@
1+
@# Included from rosidl_generator_cpp/resource/srv__type_support.hpp.em
2+
@{header_file = 'rosidl_typesupport_cpp/service_type_support.hpp'}@
3+
@[if header_file in include_directives]@
4+
// already included above
5+
// @
6+
@[else]@
7+
@{include_directives.add(header_file)}@
8+
@[end if]@
9+
#include "@(header_file)"
10+
11+
#ifdef __cplusplus
12+
extern "C"
13+
{
14+
#endif
15+
// Forward declare the get type support functions for this type.
16+
ROSIDL_GENERATOR_CPP_PUBLIC_@(package_name)
17+
const rosidl_service_type_support_t *
18+
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
19+
rosidl_typesupport_cpp,
20+
@(',\n '.join(service.namespaced_type.namespaced_name()))
21+
)();
22+
#ifdef __cplusplus
23+
}
24+
#endif
25+
26+
@{
27+
TEMPLATE(
28+
'msg__type_support.hpp.em',
29+
package_name=package_name, message=service.request_message,
30+
include_directives=include_directives)
31+
}@
32+
33+
@{
34+
TEMPLATE(
35+
'msg__type_support.hpp.em',
36+
package_name=package_name, message=service.response_message,
37+
include_directives=include_directives)
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}@
39+

‎rosidl_generator_cpp/rosidl_generator_cpp/__init__.py

+1
Original file line numberDiff line numberDiff line change
@@ -34,6 +34,7 @@ def generate_cpp(generator_arguments_file):
3434
'idl__builder.hpp.em': 'detail/%s__builder.hpp',
3535
'idl__struct.hpp.em': 'detail/%s__struct.hpp',
3636
'idl__traits.hpp.em': 'detail/%s__traits.hpp',
37+
'idl__type_support.hpp.em': 'detail/%s__type_support.hpp',
3738
}
3839
return generate_files(
3940
generator_arguments_file, mapping,

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