Update rosidl_generator_java for Dashing compatibility #66

jacobperron · 2019-09-26T03:23:21Z

These changes enable compiling rosidl_generator_java (and other interfaces packages like test_msgs) for Dashing.

Changes include:

Switch to new IDL-based pipeline
Wide string support
Actions support
Fixes related to integer literals

I plan to follow-up these changes with updates to rcljava, so that it too will compile for Dashing.

@esteve This is the first of several updates I plan to make related ROS 2 Java support.
Let me know if you'd like to continue to host the primary repository or if you think it would be better to move this to the ros2 organization.
I can assist in maintenance in either case.

Supporting ROS Dashing or later. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Accidentally broken during update. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

This remove some compile warnings. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Though Java supports unsigned values, it doesn't support unsigned literals (ie. literals that are larger than the max signed value). As a workaround, we can convert the literal to it's negative equivalent. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Otherwise the compiler complains about potential loss of data. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

jacobperron

Leaving myself some comments so I don't forget.

rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake

jacobperron · 2019-09-26T18:51:48Z

rosidl_generator_java/package.xml

  <test_depend>rosidl_cmake</test_depend>
+  <test_depend>rosidl_parser</test_depend>
  <!-- Duplicated from rosidl_default_generator in order to avoid a circular dependency. -->


I think most (if not all) of the rosidl dependencies below can be removed. I'll give it a try.

@jacobperron were you able to remove the rest of the dependencies? Does it still work?

It didn't seem to work. Needs more investigation, but leaving these dependencies here for now is okay.

rosidl_generator_java/resource/action.cpp.em

rosidl_generator_java/resource/msg.cpp.em

rosidl_generator_java/CMakeLists.txt

esteve · 2019-10-01T16:10:05Z

@jacobperron thank you so much for your PR! I'm thinking of creating a dashing branch so that all the PRs can go in there and then merge the big one into master. What do you think? I'll review your changes shortly, give me a couple of days. Thanks!

jacobperron · 2019-10-01T16:12:46Z

Yeah, a dashing branch makes sense if you want to review/merge my Dashing updates separately without breaking master 👍

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

esteve · 2019-10-03T09:23:26Z

@jacobperron I've created the dashing branch and changed the base for this pull request.

esteve · 2019-12-04T15:36:44Z

rcljava_common/src/main/java/org/ros2/rcljava/interfaces/ActionDefinition.java

@@ -0,0 +1,18 @@
+/* Copyright 2019 Open Source Robotics Foundation, Inc.


Would it be ok with OSRF if the copyright notice is the same as the rest of the files?

For this specific file it should no problem to use the same copyright notice since the actual code snippet is minimal / trivial. In other case where the contributions is significant I think the copyright notice should reflect the entity providing it.

In rviz we would also have multiple copyright claims when there were large changes, e.g.:

https://github.com/ros2/rviz/blob/5595a69398df4d93aea711d408772ea34c53c230/rviz_common/include/rviz_common/factory/factory.hpp#L2-L4

esteve · 2019-12-04T15:37:56Z

@jacobperron sorry for the slow response, just a couple of comments but overall looks great. Thanks!

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

jacobperron · 2019-12-13T23:58:31Z

@esteve Friendly ping. I think I've answered your comments.

Let me know if you'd like me to change the copyright line for the small file(s); but I think it makes sense to include copyright lines for authors who make significant contributions.

jacobperron · 2020-01-09T20:11:22Z

@esteve I have more changes ready to be reviewed, bringing rcljava up-to-date with Dashing and Eloquent. I'd prefer to get this PR merged before opening others that build on top of this (including enabling CI).

I can probably recruit additional maintainers to help with reviews to lessen the burden.

esteve · 2020-01-10T13:44:44Z

@jacobperron oops, I missed the latest changes. LGTM

* Update rosidl_generator_java for new IDL pipeline Supporting ROS Dashing or later. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix name JNI name mangling Accidentally broken during update. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove java compile flags This remove some compile warnings. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor to support services Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Wide string support Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Avoid duplicate includes Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use test_interface_files Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Support for actions Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add suffix for long literals Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Handle unsigned literals Though Java supports unsigned values, it doesn't support unsigned literals (ie. literals that are larger than the max signed value). As a workaround, we can convert the literal to it's negative equivalent. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix escape string function Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use cast to workaround integer literals Otherwise the compiler complains about potential loss of data. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor refactor Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove TODO Signed-off-by: Jacob Perron <jacob@openrobotics.org>

jacobperron added 12 commits September 24, 2019 17:40

Update rosidl_generator_java for new IDL pipeline

2de9069

Supporting ROS Dashing or later. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Fix name JNI name mangling

430c70d

Accidentally broken during update. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Remove java compile flags

58f81f0

This remove some compile warnings. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Refactor to support services

d2c4b6e

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Wide string support

0926d5e

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Avoid duplicate includes

77a762e

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Use test_interface_files

b9d74d9

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Support for actions

7e9bb7f

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Add suffix for long literals

c0cc2fc

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Handle unsigned literals

edab2cc

Though Java supports unsigned values, it doesn't support unsigned literals (ie. literals that are larger than the max signed value). As a workaround, we can convert the literal to it's negative equivalent. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Fix escape string function

8a7e102

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Use cast to workaround integer literals

bbb4c3a

Otherwise the compiler complains about potential loss of data. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

esteve self-requested a review September 26, 2019 11:15

jacobperron commented Sep 26, 2019

View reviewed changes

Minor refactor

49b303c

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

esteve changed the base branch from master to dashing October 3, 2019 09:22

jacobperron mentioned this pull request Oct 4, 2019

Support for ROS2 Crystal #60

Closed

esteve requested changes Dec 4, 2019

View reviewed changes

esteve mentioned this pull request Dec 4, 2019

"Built target builtin_interfaces__rosidl_typesupport_introspection_cpp" failed #67

Closed

Remove TODO

b59c5b2

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

esteve merged commit 6247167 into ros2-java:dashing Jan 10, 2020

jacobperron deleted the dashing branch January 15, 2020 00:01

This was referenced Jan 29, 2020

Update rcljava for Dashing #75

Merged

Foxy Fitzroy Roadmap #82

Closed

jacobperron mentioned this pull request Oct 7, 2020

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Update rosidl_generator_java for Dashing compatibility #66

Update rosidl_generator_java for Dashing compatibility #66

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esteve commented Jan 10, 2020

		@@ -0,0 +1,18 @@
		/* Copyright 2019 Open Source Robotics Foundation, Inc.

Update rosidl_generator_java for Dashing compatibility #66

Update rosidl_generator_java for Dashing compatibility #66

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