def test_translation_extensions(tmp_path, capsys):
# NOTE(hidmic): pytest and empy do not play along,
# the latter expects some proxy will stay in sys.stdout
# and the former insists in overwriting it
with capsys.disabled(): # so do everything in one run
# Test .msg to .idl translation
idl_files = translate(package_name='test_msgs',
interface_files=[f'{DATA_PATH}:msg/Test.msg'],
output_path=tmp_path,
output_format='idl',
translators=['msg2idl'])
assert len(idl_files) == 1
idl_file = idl_files[0]
assert idl_file == f'{tmp_path}:msg/Test.idl'
assert filecmp.cmp(tmp_path / 'msg' / 'Test.idl',
DATA_PATH / 'msg' / 'Test.expected.idl',
shallow=False)
# Test .srv to .idl translation
idl_files = translate(package_name='test_msgs',
interface_files=[f'{DATA_PATH}:srv/Test.srv'],
output_path=tmp_path,
output_format='idl',
translators=['srv2idl'])
assert len(idl_files) == 1
idl_file = idl_files[0]
assert idl_file == f'{tmp_path}:srv/Test.idl'
assert filecmp.cmp(tmp_path / 'srv' / 'Test.idl',
DATA_PATH / 'srv' / 'Test.expected.idl',
shallow=False)
# Test .action to .idl translation
idl_files = translate(
package_name='test_msgs',
interface_files=[f'{DATA_PATH}:action/Test.action'],
output_path=tmp_path,
output_format='idl',
translators=['action2idl'])
assert len(idl_files) == 1
idl_file = idl_files[0]
assert idl_file == f'{tmp_path}:action/Test.idl'
assert filecmp.cmp(tmp_path / 'action' / 'Test.idl',
DATA_PATH / 'action' / 'Test.expected.idl',
shallow=False)
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 generate(self, package_name, interface_files, include_paths,
output_path):
idl_pp = find_rti_connext_idl_preprocessor()
# Normalize interface definition format to _.idl
dds_idl_interface_files = []
non_dds_idl_interface_files = []
for path in interface_files:
if not path.endswith('_.idl'):
non_dds_idl_interface_files.append(path)
else:
dds_idl_interface_files.append(path)
if non_dds_idl_interface_files:
dds_idl_interface_files.extend(
translate(
package_name=package_name,
interface_files=non_dds_idl_interface_files,
include_paths=include_paths,
output_format='dds_idl',
output_path=output_path / 'tmp',
))
generated_files = []
for idl_tuple in idl_tuples_from_interface_files(
dds_idl_interface_files):
prefix, _, stem = idl_tuple.rpartition(':')
idl_file = os.path.join(prefix, stem)
output_dir = os.path.join(output_path, os.path.dirname(stem))
os.makedirs(output_dir, exist_ok=True)
# Generate RTI Connext specific code
generated_files.extend(
generate_dds_connext_cpp_file(package_name, idl_file,
include_paths, output_dir,
idl_pp))
return generated_files
def generate(self, package_name, interface_files, include_paths,
output_path):
package_share_path = \
get_package_share_directory('rosidl_typesupport_cpp')
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 typesupport code
typesupport_implementations = list(
get_resources('rosidl_typesupport_cpp'))
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,
typesupport_implementations)
