def generate(self, package_name, interface_files, include_paths,
output_path):
package_share_path = \
pathlib.Path(get_package_share_directory('rosidl_generator_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 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:
return generate_cpp(path_to_arguments_file)
def generate(self, package_name, interface_files, include_paths,
output_path):
generated_files = []
package_share_path = \
get_package_share_directory('rosidl_typesupport_c')
templates_path = os.path.join(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_c__visibility_control.h.in'
visibility_control_file_template_path = \
templates_path / visibility_control_file_template_path
visibility_control_file_path = \
'rosidl_typesupport_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 typesupport code
typesupport_implementations = list(
get_resources('rosidl_typesupport_c'))
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_c(path_to_arguments_file,
typesupport_implementations))
return generated_files
def generate(self, package_name, interface_files, include_paths,
output_path):
generated_files = []
package_share_path = \
pathlib.Path(get_package_share_directory('rosidl_generator_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 = \
templates_path / 'rosidl_generator_c__visibility_control.h.in'
visibility_control_file_path = \
output_path / 'msg' / 'rosidl_generator_c__visibility_control.h'
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_c(path_to_arguments_file))
return generated_files
def test_legacy_generator_arguments_file(current_path):
with legacy_generator_arguments_file(
package_name='foo',
interface_files=['msg/Foo.idl'],
include_paths=['test_files/bar'],
templates_path='templates',
output_path='tmp',
) as path:
with open(path, 'r') as fd:
args = json.load(fd)
assert args['package_name'] == 'foo'
assert args['output_dir'] == str(current_path / 'tmp')
assert args['template_dir'] == str(current_path / 'templates')
assert args['idl_tuples'] == [f'{current_path}:msg/Foo.idl']
path_to_dep = pathlib.Path('test_files/bar/msg/Bar.idl')
assert args['ros_interface_dependencies'] == [
'bar:' + str(current_path / path_to_dep)
]
assert not pathlib.Path(path).exists()