def generate_dds_idl(generator_arguments_file, subfolders,
extension_module_name, additional_service_templates):
mapping = {'idl.idl.em': os.path.join(*subfolders, '%s_.idl')}
additional_context = {
'additional_service_templates': additional_service_templates,
'subfolders': subfolders,
'get_post_struct_lines': get_post_struct_lines,
'idl_typename': idl_typename,
'idl_literal': idl_literal,
}
# Look for extensions for additional context
if extension_module_name is not None:
pkg = __import__(extension_module_name)
module_name = extension_module_name.rsplit('.', 1)[1]
if hasattr(pkg, module_name):
module = getattr(pkg, module_name)
for entity_name in additional_context.keys():
if hasattr(module, entity_name):
additional_context[entity_name] = \
getattr(module, entity_name)
generate_files(generator_arguments_file,
mapping,
additional_context,
keep_case=True)
return 0
def generate_cpp(generator_arguments_file, type_supports):
mapping = {
'idl__type_support.cpp.em': '%s__type_support.cpp',
}
generate_files(generator_arguments_file,
mapping,
additional_context={'type_supports': type_supports})
def generate_idl(arguments_file):
mapping = {
'idl__rosidl_typesupport_opendds_cpp.idl.em':
'dds_opendds/%s__RequestResponse.idl'
}
generate_files(arguments_file, mapping, None, True)
return 0
def generate_cpp(generator_arguments_file):
mapping = {
'idl.hpp.em': '%s.hpp',
'idl__struct.hpp.em': '%s__struct.hpp',
'idl__traits.hpp.em': '%s__traits.hpp',
}
generate_files(generator_arguments_file, mapping)
def generate_cpp(generator_arguments_file):
mapping = {
'idl.hpp.em': '%s.hpp',
'idl__struct.hpp.em': '%s__struct.hpp',
'idl__traits.hpp.em': '%s__traits.hpp',
}
generate_files(generator_arguments_file, mapping)
def generate_typesupport_fastrtps_c(generator_arguments_file):
mapping = {
'idl__rosidl_typesupport_fastrtps_c.h.em':
'%s__rosidl_typesupport_fastrtps_c.h',
'idl__type_support_c.cpp.em': '%s__type_support_c.cpp',
}
generate_files(generator_arguments_file, mapping)
def generate_cpp(generator_arguments_file):
mapping = {
'idl__rosidl_typesupport_introspection_cpp.hpp.em':
'detail/%s__rosidl_typesupport_introspection_cpp.hpp',
'idl__type_support.cpp.em': 'detail/%s__type_support.cpp',
}
generate_files(generator_arguments_file, mapping)
def generate_c(generator_arguments_file):
mapping = {
'idl__rosidl_typesupport_introspection_c.h.em':
'%s__rosidl_typesupport_introspection_c.h',
'idl__type_support.c.em': '%s__type_support.c',
}
generate_files(generator_arguments_file, mapping)
def generate_dds_idl(
generator_arguments_file, subfolders, extension_module_name,
additional_service_templates
):
mapping = {
'idl.idl.em': os.path.join(*subfolders, '%s_.idl')
}
additional_context = {
'additional_service_templates': additional_service_templates,
'subfolders': subfolders,
'get_post_struct_lines': get_post_struct_lines,
'idl_typename': idl_typename,
'idl_literal': idl_literal,
}
# Look for extensions for additional context
if extension_module_name is not None:
pkg = __import__(extension_module_name)
module_name = extension_module_name.rsplit('.', 1)[1]
if hasattr(pkg, module_name):
module = getattr(pkg, module_name)
for entity_name in additional_context.keys():
if hasattr(module, entity_name):
additional_context[entity_name] = \
getattr(module, entity_name)
generate_files(generator_arguments_file, mapping, additional_context, keep_case=True)
return 0
def generate_typesupport_opensplice_cpp(arguments_file):
mapping = {
'idl__rosidl_typesupport_opensplice_cpp.hpp.em': # noqa
'%s__rosidl_typesupport_opensplice_cpp.hpp',
'idl__dds_opensplice__type_support.cpp.em': 'dds_opensplice/%s__type_support.cpp',
}
generate_files(arguments_file, mapping)
def generate_dotnet(generator_arguments_file, typesupport_impls):
mapping = {
'idl.cs.em': '%s.cs',
'idl.c.em': '%s.c',
'idl.h.em': 'rcldotnet_%s.h'
}
generate_files(generator_arguments_file, mapping)
return 0
def generate_cpp(generator_arguments_file):
mapping = {
"idl__rosidl_typesupport_protobuf_cpp.hpp.em":
"%s__rosidl_typesupport_protobuf_cpp.hpp",
"idl__type_support.cpp.em": "detail/%s__type_support.cpp",
}
generate_files(generator_arguments_file, mapping)
return 0
def generate_cpp(generator_arguments_file):
mapping = {
'idl__rosidl_typesupport_fastrtps_cpp.hpp.em':
'detail/%s__rosidl_typesupport_fastrtps_cpp.hpp',
'idl__type_support.cpp.em': 'detail/dds_fastrtps/%s__type_support.cpp',
}
generate_files(generator_arguments_file, mapping)
return 0
def generate_c(generator_arguments_file):
mapping = {
'idl.h.em': '%s.h',
'idl__functions.c.em': '%s__functions.c',
'idl__functions.h.em': '%s__functions.h',
'idl__struct.h.em': '%s__struct.h',
'idl__type_support.h.em': '%s__type_support.h',
}
generate_files(generator_arguments_file, mapping)
def generate_c(generator_arguments_file):
mapping = {
'idl.h.em': '%s.h',
'idl__functions.c.em': '%s__functions.c',
'idl__functions.h.em': '%s__functions.h',
'idl__struct.h.em': '%s__struct.h',
'idl__type_support.h.em': '%s__type_support.h',
}
generate_files(generator_arguments_file, mapping)
def generate_cpp(generator_arguments_file):
mapping = {
'idl.hpp.em': '%s.hpp',
'idl__struct.hpp.em': '%s__struct.hpp',
'idl__traits.hpp.em': '%s__traits.hpp',
}
generate_files(
generator_arguments_file, mapping,
post_process_callback=prefix_with_bom_if_necessary)
def generate_typesupport_opensplice_c(arguments_file):
mapping = {
'idl__rosidl_typesupport_opensplice_c.h.em':
'%s__rosidl_typesupport_opensplice_c.h',
'idl__dds_opensplice__type_support.c.em':
'dds_opensplice_c/%s__type_support_c.cpp',
}
generate_files(arguments_file, mapping)
def generate_cpp(arguments_file):
mapping = {
'idl__rosidl_typesupport_coredx_cpp.hpp.em':
'%s__rosidl_typesupport_coredx_cpp.hpp',
'idl__dds_coredx__type_support.cpp.em':
'dds_coredx/%s__type_support.cpp'
}
generate_files(arguments_file, mapping)
return 0
def generate_typesupport_coredds_c(generator_arguments_file):
mapping = {
'idl__rosidl_typesupport_coredds_c.h.em':
'%s__rosidl_typesupport_coredds_c.h',
'idl__dds_coredds__type_support_c.cpp.em':
'dds_coredds/%s__type_support_c.cpp',
}
generate_files(generator_arguments_file, mapping)
return 0
def generate_typesupport_opendds_c(arguments_file):
mapping = {
'idl__rosidl_typesupport_opendds_c.h.em':
'%s__rosidl_typesupport_opendds_c.h',
'idl__dds_opendds__type_support_c.cpp.em':
'dds_opendds/%s__type_support_c.cpp'
}
generate_files(arguments_file, mapping)
return 0
def generate_dotnet(generator_arguments_file, typesupport_impls):
mapping = {'idl.cs.em': '%s.cs', 'idl.h.em': 'rcldotnet_%s.h'}
generate_files(generator_arguments_file, mapping)
typesupport_impls = typesupport_impls.split(';')
for impl in typesupport_impls:
typesupport_mapping = {'idl.c.em': '%s.ep.{0}.c'.format(impl)}
generate_files(generator_arguments_file, typesupport_mapping)
return 0
def generate_c(generator_arguments_file):
mapping = {
'idl.h.em': '%s.h',
'idl__functions.c.em': 'detail/%s__functions.c',
'idl__functions.h.em': 'detail/%s__functions.h',
'idl__struct.h.em': 'detail/%s__struct.h',
'idl__type_support.h.em': 'detail/%s__type_support.h',
}
generate_files(generator_arguments_file,
mapping,
post_process_callback=prefix_with_bom_if_necessary)
def generate_c(generator_arguments_file, type_supports):
"""
Generate the C type support to handle ROS messages.
:param generator_arguments_file: Path location of the file containing the generator arguments
:param type_support: List of type supports to be used
"""
mapping = {
'idl__type_support.cpp.em': '%s__type_support.cpp',
}
generate_files(generator_arguments_file,
mapping,
additional_context={'type_supports': type_supports})
def generate_typesupport_connext_c(arguments_file):
mapping = {
'idl__rosidl_typesupport_connext_c.h.em':
'%s__rosidl_typesupport_connext_c.h',
'idl__dds_connext__type_support_c.cpp.em':
'dds_connext/%s__type_support_c.cpp'
}
return generate_files(arguments_file, mapping)
def generate_cs(generator_arguments_file, typesupport_impls):
type_support_impl_by_filename = {
'%s.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping = {'idl.cs.em': '%s.cs', 'idl.c.em': '%s_s.c'}
#print("Type_support mapping " + str(type_support_impl_by_filename), file=sys.stderr)
additional_context = {
'get_field_name': get_field_name,
'get_dotnet_type': get_dotnet_type,
'constant_value_to_dotnet': constant_value_to_dotnet,
'get_c_type': get_c_type,
'get_marshal_type': get_marshal_type,
'get_marshal_array_type': get_marshal_array_type
}
generate_files(generator_arguments_file, mapping, additional_context)
for type_support in type_support_impl_by_filename.keys():
typemapping = {'idl_typesupport.c.em': type_support}
generate_files(generator_arguments_file, typemapping)
def generate_swift(generator_arguments_file, typesupport_impls):
mapping = {
'idl.swift.em': '%s.swift',
'idl.c.em': '%s.c',
'idl.h.em': 'rclswift_%s.h',
}
generated_files = generate_files(generator_arguments_file, mapping)
header_files = list(filter(lambda file: os.path.splitext(file)[1] == '.h', generated_files))
args = read_generator_arguments(generator_arguments_file)
data = {
'package_name': args['package_name'],
'headers': header_files,
}
template_basepath = pathlib.Path(args['template_dir'])
generated_file = os.path.join(
args['output_dir'], 'module.modulemap')
latest_target_timestamp = get_newest_modification_time(args['target_dependencies'])
expand_template(os.path.basename('idl.modulemap.em'), data, generated_file, minimum_timestamp=latest_target_timestamp, template_basepath=template_basepath)
return 0
def generate(generator_arguments_file: str) -> List[str]:
mapping = {
"_idl.pyi.em": "_%s.pyi",
}
generated_files: List[str] = generate_files(generator_arguments_file,
mapping)
args = read_generator_arguments(generator_arguments_file)
package_name = args["package_name"]
# For __init__.pyi, it is required to output the exact same contents as
# rosidl_python does.
modules: Dict[str, Set[str]] = {}
idl_content = IdlContent()
for idl_tuple in args.get("idl_tuples", []):
idl_parts = idl_tuple.rsplit(":", 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
for subfolder in modules.keys():
with open(os.path.join(args["output_dir"], subfolder, "__init__.pyi"),
"w") as f:
for idl_stem in sorted(modules[subfolder]):
module_name = "_{}".format(
convert_camel_case_to_lower_case_underscore(idl_stem))
f.write(
f"from {package_name}.{subfolder}.{module_name} import "
f"{idl_stem} as {idl_stem} # noqa: F401\n")
return generated_files
def generate_py(generator_arguments_file, typesupport_impls):
mapping = {
'_idl.py.em': '_%s.py',
'_idl_support.c.em': '_%s_s.c',
}
generate_files(generator_arguments_file, mapping)
args = read_generator_arguments(generator_arguments_file)
package_name = args['package_name']
# expand init modules for each directory
modules = {}
idl_content = IdlContent()
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
# NOTE(sam): remove when a language specific name mangling is implemented
def print_warning_if_reserved_keyword(member_name, interface_type,
interface_name):
if (keyword.iskeyword(member.name)):
print("Member name '{}' in the {} '{}' is a "
'reserved keyword in Python and is not supported '
'at the moment. Please use a different name.'.format(
member_name, interface_type, interface_name),
file=sys.stderr)
for message in idl_content.get_elements_of_type(Message):
for member in message.structure.members:
print_warning_if_reserved_keyword(
member.name, 'message', message.structure.namespaced_type.name)
for service in idl_content.get_elements_of_type(Service):
for member in service.request_message.structure.members:
print_warning_if_reserved_keyword(member.name, 'service request',
service.namespaced_type.name)
for member in service.response_message.structure.members:
print_warning_if_reserved_keyword(member.name, 'service response',
service.namespaced_type.name)
for action in idl_content.get_elements_of_type(Action):
for member in action.goal.structure.members:
print_warning_if_reserved_keyword(member.name, 'action goal',
action.namespaced_type.name)
for member in action.feedback.structure.members:
print_warning_if_reserved_keyword(member.name, 'action feedback',
action.namespaced_type.name)
for member in action.result.structure.members:
print_warning_if_reserved_keyword(member.name, 'action result',
action.namespaced_type.name)
for subfolder in modules.keys():
with open(os.path.join(args['output_dir'], subfolder, '__init__.py'),
'w') as f:
for idl_stem in sorted(modules[subfolder]):
module_name = '_' + \
convert_camel_case_to_lower_case_underscore(idl_stem)
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem} # noqa: F401\n')
# expand templates per available typesupport implementation
template_dir = args['template_dir']
type_support_impl_by_filename = {
'_%s_s.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping_msg_pkg_extension = {
os.path.join(template_dir, '_idl_pkg_typesupport_entry_point.c.em'):
type_support_impl_by_filename.keys(),
}
for template_file in mapping_msg_pkg_extension.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for template_file, generated_filenames in mapping_msg_pkg_extension.items(
):
for generated_filename in generated_filenames:
package_name = args['package_name']
data = {
'package_name':
args['package_name'],
'content':
idl_content,
'typesupport_impl':
type_support_impl_by_filename.get(generated_filename, ''),
}
generated_file = os.path.join(args['output_dir'],
generated_filename % package_name)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def generate_py(generator_arguments_file, typesupport_impls):
mapping = {
'_idl.py.em': '_%s.py',
'_idl_support.c.em': '_%s_s.c',
}
generate_files(generator_arguments_file, mapping)
args = read_generator_arguments(generator_arguments_file)
package_name = args['package_name']
# expand init modules for each directory
modules = {}
idl_content = IdlContent()
for idl_tuple in args.get('idl_tuples', []):
idl_parts = idl_tuple.rsplit(':', 1)
assert len(idl_parts) == 2
idl_rel_path = pathlib.Path(idl_parts[1])
idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
idl_stems.add(idl_rel_path.stem)
locator = IdlLocator(*idl_parts)
idl_file = parse_idl_file(locator)
idl_content.elements += idl_file.content.elements
for subfolder in modules.keys():
with open(os.path.join(args['output_dir'], subfolder, '__init__.py'),
'w') as f:
for idl_stem in sorted(modules[subfolder]):
module_name = '_' + \
convert_camel_case_to_lower_case_underscore(idl_stem)
f.write('from {package_name}.{subfolder}.{module_name} import '
'{idl_stem} # noqa: F401\n'.format_map(locals()))
# expand templates per available typesupport implementation
template_dir = args['template_dir']
type_support_impl_by_filename = {
'_%s_s.ep.{0}.c'.format(impl): impl
for impl in typesupport_impls
}
mapping_msg_pkg_extension = {
os.path.join(template_dir, '_idl_pkg_typesupport_entry_point.c.em'):
type_support_impl_by_filename.keys(),
}
for template_file in mapping_msg_pkg_extension.keys():
assert os.path.exists(
template_file), 'Could not find template: ' + template_file
latest_target_timestamp = get_newest_modification_time(
args['target_dependencies'])
for template_file, generated_filenames in mapping_msg_pkg_extension.items(
):
for generated_filename in generated_filenames:
package_name = args['package_name']
data = {
'package_name':
args['package_name'],
'content':
idl_content,
'typesupport_impl':
type_support_impl_by_filename.get(generated_filename, ''),
}
generated_file = os.path.join(args['output_dir'],
generated_filename % package_name)
expand_template(template_file,
data,
generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def generate_proto(generator_arguments_file):
mapping = {
'idl.proto.em': '%s.proto',
}
generate_files(generator_arguments_file, mapping, keep_case=True)
return 0
def generate_typesupport_protobuf_c(generator_arguments_file):
mapping = {
'idl__rosidl_typesupport_protobuf_c.hpp.em': '%s__rosidl_typesupport_protobuf_c.hpp',
'idl__type_support.cpp.em': 'detail/%s__type_support.cpp',
}
generate_files(generator_arguments_file, mapping)