Rosidl cli generate proto test

rosidl_typesupport_protobuf_c/CMakeLists.txt

@@ -115,6 +115,8 @@ if(BUILD_TESTING)
     target_link_libraries(test_wstring_conversion
       ${PROJECT_NAME})
   endif()
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(test_rosidl_cli_ts_pb_c test/test_rosidl_cli_ts_pb_c.py)
 endif()
 
 ament_package(

rosidl_typesupport_protobuf_c/package.xml

@@ -30,6 +30,7 @@
   <exec_depend>rosidl_typesupport_interface</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
 
   <member_of_group>rosidl_typesupport_c_packages</member_of_group>
 

rosidl_typesupport_protobuf_c/rosidl_typesupport_protobuf_c/cli.py

@@ -0,0 +1,72 @@
+import pathlib
+
+from ament_index_python import get_package_share_directory
+
+from rosidl_cli.command.generate.extensions import GenerateCommandExtension
+from rosidl_cli.command.helpers import generate_visibility_control_file
+from rosidl_cli.command.helpers import legacy_generator_arguments_file
+from rosidl_cli.command.translate.api import translate
+
+from rosidl_typesupport_protobuf_c import generate_typesupport_protobuf_c
+
+
+class GenerateProtobufCTypesupport(GenerateCommandExtension):
+
+    def generate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        generated_files = []
+
+        package_share_path = pathlib.Path(
+            get_package_share_directory('rosidl_typesupport_protobuf_c'))
+        templates_path = package_share_path / 'resource'
+
+        # Normalize interface definition format to .idl
+        idl_interface_files = []
+        non_idl_interface_files = []
+        for path in interface_files:
+            if not path.endswith('.idl'):
+                non_idl_interface_files.append(path)
+            else:
+                idl_interface_files.append(path)
+        if non_idl_interface_files:
+            idl_interface_files.extend(translate(
+                package_name=package_name,
+                interface_files=non_idl_interface_files,
+                include_paths=include_paths,
+                output_format='idl',
+                output_path=output_path / 'tmp',
+            ))
+
+        # Generate visibility control file
+        visibility_control_file_template_path = \
+            'rosidl_typesupport_protobuf_c__visibility_control.h.in'
+        visibility_control_file_template_path = \
+            templates_path / visibility_control_file_template_path
+        visibility_control_file_path = \
+            'rosidl_typesupport_protobuf_c__visibility_control.h'
+        visibility_control_file_path = \
+            output_path / 'msg' / visibility_control_file_path
+
+        generate_visibility_control_file(
+            package_name=package_name,
+            template_path=visibility_control_file_template_path,
+            output_path=visibility_control_file_path
+        )
+        generated_files.append(visibility_control_file_path)
+
+        # Generate code
+        with legacy_generator_arguments_file(
+            package_name=package_name,
+            interface_files=idl_interface_files,
+            include_paths=include_paths,
+            templates_path=templates_path,
+            output_path=output_path
+        ) as path_to_arguments_file:
+            generated_files.extend(generate_typesupport_protobuf_c(path_to_arguments_file))
+
+        return generated_files

rosidl_typesupport_protobuf_c/setup.cfg

@@ -0,0 +1,3 @@
+[options.entry_points]
+rosidl_cli.command.generate.typesupport_extensions =
+  protobuf_c = rosidl_typesupport_protobuf_c.cli:GenerateProtobufCTypesupport

rosidl_typesupport_protobuf_c/test/test_rosidl_cli_ts_pb_c.py

@@ -0,0 +1,30 @@
+import pytest
+import os
+import pathlib
+import shutil
+import subprocess
+
+from ament_index_python import get_package_share_directory
+
+def test_ts_files_generation():
+    build_then_install('/tmp/pb')
+    files_exists('/tmp/pb')
+
+def build_then_install(output_path):
+    if os.path.exists(output_path):
+        shutil.rmtree(output_path)
+    os.makedirs(output_path)
+
+    package_share_path = pathlib.Path(
+            get_package_share_directory('std_msgs'))
+
+    subprocess.run([
+        'rosidl', 'generate', '-ts', 'protobuf_c', '-o', output_path, 'std_msgs', './msg/String.msg'
+    ], cwd=package_share_path, check=True)
+
+def files_exists(output_path):
+    assert pathlib.Path('/tmp/pb/tmp/msg/String.idl').exists()
+    assert pathlib.Path('/tmp/pb/msg/rosidl_typesupport_protobuf_c__visibility_control.h').exists()
+    assert pathlib.Path('/tmp/pb/msg/string__rosidl_typesupport_protobuf_c.hpp').exists()
+    assert pathlib.Path('/tmp/pb/msg/detail/string__type_support.cpp').exists()
+

rosidl_typesupport_protobuf_cpp/CMakeLists.txt

@@ -96,6 +96,8 @@ if(BUILD_TESTING)
     target_link_libraries(test_wstring_conversion
     ${PROJECT_NAME})
   endif()
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(test_rosidl_cli_ts_pb_cpp test/test_rosidl_cli_ts_pb_cpp.py)
 endif()
 
 ament_package(CONFIG_EXTRAS "cmake/rosidl_typesupport_protobuf_cpp-extras.cmake.in")

rosidl_typesupport_protobuf_cpp/package.xml

@@ -29,6 +29,7 @@
   <exec_depend>rosidl_typesupport_protobuf</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
 
   <member_of_group>rosidl_typesupport_cpp_packages</member_of_group>
 

rosidl_typesupport_protobuf_cpp/rosidl_typesupport_protobuf_cpp/__init__.py

@@ -15,9 +15,6 @@
 # limitations under the License.
 #
 # ================================= Apache 2.0 =================================
-
-from rosidl_cmake import generate_files
-
 from rosidl_pycommon import generate_files
 
 def get_template_mapping():

rosidl_typesupport_protobuf_cpp/rosidl_typesupport_protobuf_cpp/cli.py

@@ -0,0 +1,72 @@
+import pathlib
+
+from ament_index_python import get_package_share_directory
+
+from rosidl_cli.command.generate.extensions import GenerateCommandExtension
+from rosidl_cli.command.helpers import generate_visibility_control_file
+from rosidl_cli.command.helpers import legacy_generator_arguments_file
+from rosidl_cli.command.translate.api import translate
+
+from rosidl_typesupport_protobuf_cpp import generate_cpp
+
+
+class GenerateProtobufCppTypesupport(GenerateCommandExtension):
+
+    def generate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        generated_files = []
+
+        package_share_path = pathlib.Path(
+            get_package_share_directory('rosidl_typesupport_protobuf_cpp'))
+        templates_path = package_share_path / 'resource'
+
+        # Normalize interface definition format to .idl
+        idl_interface_files = []
+        non_idl_interface_files = []
+        for path in interface_files:
+            if not path.endswith('.idl'):
+                non_idl_interface_files.append(path)
+            else:
+                idl_interface_files.append(path)
+        if non_idl_interface_files:
+            idl_interface_files.extend(translate(
+                package_name=package_name,
+                interface_files=non_idl_interface_files,
+                include_paths=include_paths,
+                output_format='idl',
+                output_path=output_path / 'tmp',
+            ))
+
+        # Generate visibility control file
+        visibility_control_file_template_path = \
+            'rosidl_typesupport_protobuf_cpp__visibility_control.h.in'
+        visibility_control_file_template_path = \
+            templates_path / visibility_control_file_template_path
+        visibility_control_file_path = \
+            'rosidl_typesupport_protobuf_cpp__visibility_control.h'
+        visibility_control_file_path = \
+            output_path / 'msg' / visibility_control_file_path
+
+        generate_visibility_control_file(
+            package_name=package_name,
+            template_path=visibility_control_file_template_path,
+            output_path=visibility_control_file_path
+        )
+        generated_files.append(visibility_control_file_path)
+
+        # Generate code
+        with legacy_generator_arguments_file(
+            package_name=package_name,
+            interface_files=idl_interface_files,
+            include_paths=include_paths,
+            templates_path=templates_path,
+            output_path=output_path
+        ) as path_to_arguments_file:
+            generated_files.extend(generate_cpp(path_to_arguments_file))
+
+        return generated_files

rosidl_typesupport_protobuf_cpp/setup.cfg

@@ -0,0 +1,3 @@
+[options.entry_points]
+rosidl_cli.command.generate.typesupport_extensions =
+  protobuf_cpp = rosidl_typesupport_protobuf_cpp.cli:GenerateProtobufCppTypesupport

rosidl_typesupport_protobuf_cpp/test/test_rosidl_cli_ts_pb_cpp.py

@@ -0,0 +1,31 @@
+import pytest
+import os
+import pathlib
+import shutil
+import subprocess
+
+from ament_index_python import get_package_share_directory
+
+def test_ts_files_generation():
+    build_then_install('/tmp/pb')
+    files_exists('/tmp/pb')
+
+def build_then_install(output_path):
+    if os.path.exists(output_path):
+        shutil.rmtree(output_path)
+    os.makedirs(output_path)
+
+    package_share_path = pathlib.Path(
+            get_package_share_directory('std_msgs'))
+
+    subprocess.run([
+        'rosidl', 'generate', '-ts', 'protobuf_cpp', '-o', output_path, 'std_msgs', './msg/String.msg'
+    ], cwd=package_share_path, check=True)
+
+def files_exists(output_path):
+    assert pathlib.Path('/tmp/pb/tmp/msg/String.idl').exists()
+    assert pathlib.Path('/tmp/pb/msg/rosidl_typesupport_protobuf_cpp__visibility_control.h').exists()
+    assert pathlib.Path('/tmp/pb/msg/string__rosidl_typesupport_protobuf_cpp.hpp').exists()
+    assert pathlib.Path('/tmp/pb/msg/string__typeadapter_protobuf_cpp.hpp').exists()
+    assert pathlib.Path('/tmp/pb/msg/detail/string__type_support.cpp').exists()
+