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Fix service and action interface generation #76

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merged 7 commits into from
Mar 18, 2020
Merged

Fix service and action interface generation #76

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8f8a75b
Fix service and action interface generation
jacobperron Jan 30, 2020
6196b04
Add missing header include
jacobperron Feb 6, 2020
00260bf
Rename top level generated cpp file
jacobperron Feb 7, 2020
efaf468
Fix JNI name mangling function so it works for service and action sub…
jacobperron Feb 7, 2020
29d1eac
Remove vestigal references to jni_package_name
jacobperron Mar 4, 2020
97d0ead
Add comment about action and service headers
jacobperron Mar 4, 2020
dc5d64d
Simplify include logic
jacobperron Mar 4, 2020
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1 change: 1 addition & 0 deletions rosidl_generator_java/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ if(BUILD_TESTING)
set(_deps_library_dirs "")
list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR})
list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rosidl_generator_java/msg/)
list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rosidl_generator_java/srv/)

foreach(testsuite ${${PROJECT_NAME}_testsuites})
ament_add_junit_tests("${PROJECT_NAME}_tests_${testsuite}"
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9 changes: 9 additions & 0 deletions rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,10 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
"${_output_path}/${_parent_folder}/${_idl_name}_Request.java"
"${_output_path}/${_parent_folder}/${_idl_name}_Response.java"
)
foreach(_typesupport_impl ${_typesupport_impls})
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Request.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Response.ep.${_typesupport_impl}.cpp")
endforeach()
endif()
# Actions generate extra files
if(_parent_folder STREQUAL "action")
Expand All @@ -78,6 +82,11 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
"${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
"${_output_path}/${_parent_folder}/${_idl_name}_Feedback.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")
endforeach()
endif()

foreach(_typesupport_impl ${_typesupport_impls})
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94 changes: 82 additions & 12 deletions rosidl_generator_java/resource/action.cpp.em
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Original file line number Diff line number Diff line change
@@ -1,23 +1,93 @@
@# Included from rosidl_generator_java/resource/idl.cpp.em
@{
import os

from rosidl_cmake import expand_template
from rosidl_generator_c import idl_structure_type_to_c_include_prefix

action_includes = [
'rosidl_generator_c/action_type_support_struct.h',
]
namespaces = action.namespaced_type.namespaces
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
feedback_message_type_name = action.feedback_message.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,
'output_dir': output_dir,
'template_basepath': template_basepath,
}

# Generate Goal message type
data.update({'message': action.goal})
output_file = os.path.join(
output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(goal_type_name, typesupport_impl))
Comment on lines +25 to +26
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Just a question; why the ".ep." portion of the filename?

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ep originally stood for entry point, so that code could be split between common code and for each typesupport implementation

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If there are suggestions for renaming (or removing it) I'm happy to do so.

expand_template(
'msg.cpp.em',
data,
output_file)

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

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

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

# Generate SendGoal service type
data.update({'service': action.send_goal_service})
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 SendGoal service type
data.update({'service': action.get_result_service})
output_file = os.path.join(
output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(get_result_type_name, typesupport_impl))
expand_template(
'msg.cpp.em',
data,
output_file)
}@
@[for include in action_includes]@
@[ if include in include_directives]@
// already included above
// @
@[ else]@
@{include_directives.add(include)}@
@[ end if]@
#include "@(include)"
@[end for]@

#include <jni.h>

#include <cstdint>

#include "rosidl_generator_c/action_type_support_struct.h"

#include "@(idl_structure_type_to_c_include_prefix(action.namespaced_type)).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");

#ifdef __cplusplus
extern "C" {
#endif
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140 changes: 64 additions & 76 deletions rosidl_generator_java/resource/idl.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -9,102 +9,90 @@
@# - package_name (string)
@# - interface_path (Path relative to the directory named after the package)
@# - content (IdlContent, list of elements, e.g. Messages or Services)
@# - output_dir (Path)
@# - template_basepath (Path)
@# - typesupport_impl (string, the typesupport identifier of the generated code)
@#######################################################################
@{
include_directives = set()
import os

jni_includes = [
'jni.h',
]
include_directives.update(jni_includes)
std_includes = [
'cassert',
'cstdint',
'string',
]
include_directives.update(std_includes)
rosidl_includes = [
'rosidl_generator_c/message_type_support_struct.h',
]
include_directives.update(rosidl_includes)
rcljava_includes = [
'rcljava_common/exceptions.h',
'rcljava_common/signatures.h',
]
include_directives.update(rcljava_includes)
}@
@[for include in jni_includes]@
#include <@(include)>
@[end for]@

@[for include in std_includes]@
#include <@(include)>
@[end for]@

@[for include in rosidl_includes]@
#include "@(include)"
@[end for]@

@[for include in rcljava_includes]@
#include "@(include)"
@[end for]@

// 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");

using rcljava_common::exceptions::rcljava_throw_exception;
from rosidl_cmake import expand_template
from rosidl_parser.definition import Action
from rosidl_parser.definition import Message
from rosidl_parser.definition import Service

@{
jni_package_name = package_name.replace('_', '_1')
}@
@
@#######################################################################
@# Handle messages
@#######################################################################
@{
from rosidl_parser.definition import Message
}@
@[for message in content.get_elements_of_type(Message)]@
@{
TEMPLATE(
'msg.cpp.em',
package_name=package_name,
jni_package_name=jni_package_name,
message=message,
include_directives=include_directives)
data = {
'package_name': package_name,
'output_dir': output_dir,
'template_basepath': template_basepath,
}

for message in content.get_elements_of_type(Message):
data.update({'message': message})
type_name = message.structure.namespaced_type.name
namespaces = message.structure.namespaced_type.namespaces
output_file = os.path.join(
output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(type_name, typesupport_impl))
expand_template(
'msg.cpp.em',
data,
output_file,
template_basepath=template_basepath)
}@
@[end for]@
@
@#######################################################################
@# Handle services
@#######################################################################
@{
from rosidl_parser.definition import Service
}@
@[for service in content.get_elements_of_type(Service)]@
@{
TEMPLATE(
'srv.cpp.em',
package_name=package_name,
jni_package_name=jni_package_name,
service=service,
include_directives=include_directives)
data = {
'package_name': package_name,
'interface_path': interface_path,
'output_dir': output_dir,
'template_basepath': template_basepath,
'typesupport_impl': typesupport_impl,
}

for service in content.get_elements_of_type(Service):
data.update({'service': service})
type_name = service.namespaced_type.name
namespaces = service.namespaced_type.namespaces
output_file = os.path.join(
output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(type_name, typesupport_impl))
expand_template(
'srv.cpp.em',
data,
output_file,
template_basepath=template_basepath)

}@
@[end for]@
@
@#######################################################################
@# Handle actions
@#######################################################################
@{
from rosidl_parser.definition import Action
}@
@[for action in content.get_elements_of_type(Action)]@
@{
TEMPLATE(
'action.cpp.em',
package_name=package_name,
jni_package_name=jni_package_name,
action=action,
include_directives=include_directives)
data = {
'package_name': package_name,
'interface_path': interface_path,
'output_dir': output_dir,
'template_basepath': template_basepath,
'typesupport_impl': typesupport_impl,
}

for action in content.get_elements_of_type(Action):
data.update({'action': action})
type_name = action.namespaced_type.name
namespaces = action.namespaced_type.namespaces
output_file = os.path.join(
output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(type_name, typesupport_impl))
expand_template(
'action.cpp.em',
data,
output_file,
template_basepath=template_basepath)
}@
@[end for]@
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