def generate_cpp(generator_arguments_file): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg.hpp.em'): '%s.hpp', os.path.join(template_dir, 'msg__struct.hpp.em'): '%s__struct.hpp', os.path.join(template_dir, 'msg__traits.hpp.em'): '%s__traits.hpp', } mapping_srvs = { os.path.join(template_dir, 'srv.hpp.em'): '%s.hpp', os.path.join(template_dir, 'srv__struct.hpp.em'): '%s__struct.hpp', os.path.join(template_dir, 'srv__traits.hpp.em'): '%s__traits.hpp', } for template_file in mapping_msgs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time( args['target_dependencies']) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) for template_file, generated_filename in mapping_msgs.items(): data = {'spec': spec, 'subfolder': subfolder} data.update(functions) generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore( spec.base_type.type)) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) for template_file, generated_filename in mapping_srvs.items(): data = {'spec': spec} data.update(functions) generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_cpp(generator_arguments_file): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__type_support.cpp.template'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__type_support.cpp.template'): '%s__type_support.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file pkg_name = args['package_name'] known_msg_types = extract_message_types( pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', [])) functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time(args['target_dependencies']) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(pkg_name, ros_interface_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.base_type.type)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(pkg_name, ros_interface_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_cpp(args, message_specs, service_specs, known_msg_types): template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__type_support.hpp.em'): '%s__type_support.hpp', os.path.join(template_dir, 'msg__type_support.cpp.em'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__type_support.cpp.em'): '%s__type_support.cpp', os.path.join(template_dir, 'srv__type_support.hpp.em'): '%s__type_support.hpp', } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } # generate_dds_connext_cpp() and therefore the make target depend on the additional files # therefore they must be listed here even if the generated type support files are independent latest_target_timestamp = get_newest_modification_time( args['target_dependencies'] + args.get('additional_files', [])) for idl_file, spec in message_specs: validate_field_types(spec, known_msg_types) subfolder = os.path.basename(os.path.dirname(idl_file)) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( args['output_dir'], subfolder, 'dds_connext', generated_filename % convert_camel_case_to_lower_case_underscore(spec.base_type.type)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) for spec in service_specs: validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join( args['output_dir'], 'srv', 'dds_connext', generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_c(generator_arguments_file): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg.h.em'): '%s.h', os.path.join(template_dir, 'msg__functions.c.em'): '%s__functions.c', os.path.join(template_dir, 'msg__functions.h.em'): '%s__functions.h', os.path.join(template_dir, 'msg__struct.h.em'): '%s__struct.h', os.path.join(template_dir, 'msg__type_support.h.em'): '%s__type_support.h', } mapping_srvs = { os.path.join(template_dir, 'srv.h.em'): '%s.h', } for template_file in list(mapping_msgs.keys()) + list(mapping_srvs.keys()): assert os.path.exists(template_file), 'Could not find template: ' + template_file functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time(args['target_dependencies']) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.base_type.type)) data = { 'spec': spec, 'pkg': spec.base_type.pkg_name, 'msg': spec.msg_name, 'type': spec.base_type.type, 'subfolder': subfolder, } data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) for template_file, generated_filename in mapping_srvs.items(): data = {'spec': spec} data.update(functions) generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def typesupport_header(package_name, interface_path): include_parts = [package_name] + list(interface_path.parents[0].parts) + [ convert_camel_case_to_lower_case_underscore(interface_path.stem) ] include_base = '/'.join(include_parts) return f"{include_base}__{_TYPE_SUPPORT_NAME}.hpp"
def ros_message_functions_header_c_from_namespace(namespace, name): include_parts = list(namespace) if CURRENT_DISTRO >= DISTROS["foxy"]: include_parts += ["detail"] include_parts += [convert_camel_case_to_lower_case_underscore(name)] include_base = '/'.join(include_parts) return f"{include_base}__functions.h"
def generate_py(generator_arguments_file): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, '_msg.py.template'): '_%s.py', } mapping_srvs = { os.path.join(template_dir, '_srv.py.template'): '_%s.py', } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), \ 'Messages template file %s not found' % template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), \ 'Services template file %s not found' % template_file functions = { 'constant_value_to_py': constant_value_to_py, 'value_to_py': value_to_py, } latest_target_timestamp = get_newest_modification_time(args['target_dependencies']) modules = defaultdict(list) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) mapping = mapping_msgs type_name = spec.base_type.type elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) mapping = mapping_srvs type_name = spec.srv_name else: continue module_name = convert_camel_case_to_lower_case_underscore(type_name) modules[subfolder].append((module_name, type_name)) for template_file, generated_filename in mapping.items(): data = {'package_name': args['package_name'], 'spec': spec} data.update(functions) generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % module_name) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) open(os.path.join(args['output_dir'], '__init__.py'), 'w').close() for module in modules: with open(os.path.join(args['output_dir'], module, '__init__.py'), 'w') as f: for module_, type_ in modules[module]: f.write('from %s.msg._%s import %s\n' % (args['package_name'], module_, type_)) return 0
def ros_message_functions_header_c(package_name, interface_path): include_parts = [package_name] + list(interface_path.parents[0].parts) if CURRENT_DISTRO >= DISTROS["foxy"]: include_parts += ["detail"] include_parts += [ convert_camel_case_to_lower_case_underscore(interface_path.stem) ] include_base = '/'.join(include_parts) return f"{include_base}__functions.h"
def idl_structure_type_to_c_include_prefix(namespaced_type): include_prefix = '/'.join( convert_camel_case_to_lower_case_underscore(x) for x in (namespaced_type.namespaced_name())) # Strip service or action suffixes if include_prefix.endswith('__request'): include_prefix = include_prefix[:-9] elif include_prefix.endswith('__response'): include_prefix = include_prefix[:-10] if include_prefix.endswith('__goal'): include_prefix = include_prefix[:-6] elif include_prefix.endswith('__result'): include_prefix = include_prefix[:-8] elif include_prefix.endswith('__feedback'): include_prefix = include_prefix[:-10] return include_prefix
def idl_structure_type_to_c_include_prefix(namespaced_type, subdirectory=None): parts = [ convert_camel_case_to_lower_case_underscore(x) for x in (namespaced_type.namespaced_name()) ] if subdirectory is not None: parts[-1:-1] = [subdirectory] include_prefix = '/'.join(parts) # Strip service or action suffixes if include_prefix.endswith('__request'): include_prefix = include_prefix[:-9] elif include_prefix.endswith('__response'): include_prefix = include_prefix[:-10] if include_prefix.endswith('__goal'): include_prefix = include_prefix[:-6] elif include_prefix.endswith('__result'): include_prefix = include_prefix[:-8] elif include_prefix.endswith('__feedback'): include_prefix = include_prefix[:-10] return include_prefix
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): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] type_support_impl_by_filename = { '_%s_s.ep.{0}.c'.format(impl): impl for impl in typesupport_impls } mapping_msgs = { os.path.join(template_dir, '_msg.py.em'): ['_%s.py'], os.path.join(template_dir, '_msg_support.c.em'): ['_%s_s.c'], } mapping_msg_pkg_extension = { os.path.join(template_dir, '_msg_pkg_typesupport_entry_point.c.em'): type_support_impl_by_filename.keys(), } mapping_srvs = { os.path.join(template_dir, '_srv.py.em'): ['_%s.py'], } mapping_actions = { os.path.join(template_dir, '_action.py.em'): ['_%s.py'], } for template_file in mapping_msgs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_msg_pkg_extension.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_actions.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file functions = { 'constant_value_to_py': constant_value_to_py, 'get_python_type': get_python_type, 'primitive_msg_type_to_c': primitive_msg_type_to_c, 'value_to_py': value_to_py, 'convert_camel_case_to_lower_case_underscore': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time( args['target_dependencies']) modules = defaultdict(list) message_specs = [] service_specs = [] action_specs = [] for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) message_specs.append((spec, subfolder)) mapping = mapping_msgs type_name = spec.base_type.type elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) service_specs.append((spec, subfolder)) mapping = mapping_srvs type_name = spec.srv_name elif extension == '.action': spec = parse_action_file(args['package_name'], ros_interface_file) action_specs.append((spec, subfolder)) mapping = mapping_actions type_name = spec.action_name else: continue module_name = convert_camel_case_to_lower_case_underscore(type_name) modules[subfolder].append((module_name, type_name)) for template_file, generated_filenames in mapping.items(): for generated_filename in generated_filenames: data = { 'module_name': module_name, 'package_name': args['package_name'], 'spec': spec, 'subfolder': subfolder, } data.update(functions) generated_file = os.path.join(args['output_dir'], subfolder, generated_filename % module_name) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) for subfolder in modules.keys(): import_list = {} for module_name, type_ in modules[subfolder]: if (subfolder == 'srv' or subfolder == 'action') and \ (type_.endswith('Request') or type_.endswith('Response')): continue import_list['%s # noqa\n' % type_] = 'from %s.%s._%s import %s\n' % \ (args['package_name'], subfolder, module_name, type_) path_to_module = os.path.join(args['output_dir'], subfolder, '__init__.py') content = '' if os.path.isfile(path_to_module): with open(path_to_module, 'r') as f: content = f.read() with open(path_to_module, 'w') as f: block_name = args['package_name'] if action_specs: block_name += '_action' content = re.sub( r'# BEGIN %s$.*^# END %s' % (block_name, block_name), '', content, 0, re.M | re.S) content = re.sub(r'^\s*$', '', content, 0, re.M) content = ''.join(['# BEGIN %s\n' % block_name] + sorted(import_list.values()) + # import_line sorted(import_list.keys()) + # noqa_line ['# END %s\n' % block_name]) + content f.write(content) for template_file, generated_filenames in mapping_msg_pkg_extension.items( ): for generated_filename in generated_filenames: package_name = args['package_name'] if action_specs: package_name += '_action' data = { 'package_name': package_name, 'action_specs': action_specs, 'message_specs': message_specs, 'service_specs': service_specs, 'typesupport_impl': type_support_impl_by_filename.get(generated_filename, ''), } data.update(functions) 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_cpp(generator_arguments_file): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__rosidl_typesupport_introspection_cpp.hpp.em'): '%s__rosidl_typesupport_introspection_cpp.hpp', os.path.join(template_dir, 'msg__type_support.cpp.em'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__rosidl_typesupport_introspection_cpp.hpp.em'): '%s__rosidl_typesupport_introspection_cpp.hpp', os.path.join(template_dir, 'srv__type_support.cpp.em'): '%s__type_support.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file pkg_name = args['package_name'] known_msg_types = extract_message_types( pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', [])) functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time( args['target_dependencies']) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(pkg_name, ros_interface_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore( spec.base_type.type)) data = { 'spec': spec, 'subfolder': subfolder, 'cpp_primitives': MSG_TYPE_TO_CPP } data.update(functions) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(pkg_name, ros_interface_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_cpp(args, message_specs, service_specs, known_msg_types): template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__rosidl_typesupport_coredx_cpp.hpp.em'): '%s__rosidl_typesupport_coredx_cpp.hpp', os.path.join(template_dir, 'msg__type_support.cpp.em'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__rosidl_typesupport_coredx_cpp.hpp.em'): '%s__rosidl_typesupport_coredx_cpp.hpp', os.path.join(template_dir, 'srv__type_support.cpp.em'): '%s__type_support.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists( template_file), '**** Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists( template_file), '**** Could not find template: ' + template_file functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } # generate_dds_coredx_cpp() and therefore the make target depend on the additional files # therefore they must be listed here even if the generated type support files are independent latest_target_timestamp = get_newest_modification_time( args['target_dependencies'] + args.get('additional_files', [])) for idl_file, spec in message_specs: validate_field_types(spec, known_msg_types) subfolder = os.path.basename(os.path.dirname(idl_file)) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join(args['output_dir'], subfolder) if generated_filename.endswith('.cpp'): generated_file = os.path.join(generated_file, 'dds_coredx') generated_file = os.path.join( generated_file, generated_filename % convert_camel_case_to_lower_case_underscore( spec.base_type.type)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) # print(" ... expanding msg " + template_file + " for idl_file " # + idl_file + " to " + generated_file) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) for spec in service_specs: validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join(args['output_dir'], 'srv') if generated_filename.endswith('.cpp'): generated_file = os.path.join(generated_file, 'dds_coredx') generated_file = os.path.join( generated_file, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec} data.update(functions) # print(" ... expanding srv " + template_file + " for idl_file " + # idl_file + " to " + generated_file) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_typesupport_freertps_cpp(template_dir, pkg_name, ros_interface_files, ros_interface_dependencies, target_dependencies, additional_files, output_dir): mapping_msgs = { os.path.join(template_dir, 'msg__type_support.hpp.template'): '%s__type_support.hpp', os.path.join(template_dir, 'msg__type_support.cpp.template'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__type_support.cpp.template'): '%s__type_support.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file known_msg_types = extract_message_types( pkg_name, ros_interface_files, ros_interface_dependencies) functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, 'enforce_alignment': enforce_alignment, 'enforce_read_alignment': enforce_read_alignment, 'enforce_alignment_buffer_size': enforce_alignment_buffer_size, 'get_alignment': get_alignment, 'msg_type_to_cpp': msg_type_to_cpp, } # generate_dds_freertps_cpp() and therefore the make target depend on the additional files # therefore they must be listed here even if the generated type support files are independent latest_target_timestamp = get_newest_modification_time( target_dependencies + additional_files) for idl_file in ros_interface_files: extension = os.path.splitext(idl_file)[1] if extension == '.msg': spec = parse_message_file(pkg_name, idl_file) validate_field_types(spec, known_msg_types) subfolder = os.path.basename(os.path.dirname(idl_file)) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( output_dir, subfolder, 'freertps', generated_filename % convert_camel_case_to_lower_case_underscore(spec.base_type.type)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(pkg_name, idl_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join( output_dir, 'srv', 'freertps', generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def idl_structure_type_to_c_include_prefix(namespaced_type): return '/'.join( convert_camel_case_to_lower_case_underscore(x) for x in (namespaced_type.namespaced_name()))
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 format_field(self, value, spec): if spec.endswith('underscore'): value = convert_camel_case_to_lower_case_underscore(value) spec = spec[:-(len('underscore'))] + 's' return super(Underscorer, self).format_field(value, spec)
def generate_py(generator_arguments_file, typesupport_impls): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] type_support_impl_by_filename = { '_%s_s.ep.{0}.c'.format(impl): impl for impl in typesupport_impls } mapping_msgs = { os.path.join(template_dir, '_msg.py.em'): ['_%s.py'], os.path.join(template_dir, '_msg_support.c.em'): ['_%s_s.c'], } mapping_extension_msgs = { os.path.join(template_dir, '_msg_support.entry_point.c.em'): type_support_impl_by_filename.keys(), } mapping_srvs = { os.path.join(template_dir, '_srv.py.em'): ['_%s.py'], } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_extension_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file functions = { 'constant_value_to_py': constant_value_to_py, 'get_python_type': get_python_type, 'primitive_msg_type_to_c': primitive_msg_type_to_c, 'value_to_py': value_to_py, 'convert_camel_case_to_lower_case_underscore': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time(args['target_dependencies']) modules = defaultdict(list) message_specs = [] service_specs = [] for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) message_specs.append((spec, subfolder)) mapping = mapping_msgs type_name = spec.base_type.type elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) service_specs.append((spec, subfolder)) mapping = mapping_srvs type_name = spec.srv_name else: continue module_name = convert_camel_case_to_lower_case_underscore(type_name) modules[subfolder].append((module_name, type_name)) for template_file, generated_filenames in mapping.items(): for generated_filename in generated_filenames: data = { 'module_name': module_name, 'package_name': args['package_name'], 'spec': spec, 'subfolder': subfolder, 'typesupport_impl': type_support_impl_by_filename.get(generated_filename, ''), } data.update(functions) generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % module_name) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) for subfolder in modules.keys(): import_list = {} for module_name, type_ in modules[subfolder]: if subfolder == 'srv' and (type_.endswith('Request') or type_.endswith('Response')): continue import_list['%s # noqa\n' % type_] = 'from %s.%s._%s import %s\n' % \ (args['package_name'], subfolder, module_name, type_) with open(os.path.join(args['output_dir'], subfolder, '__init__.py'), 'w') as f: for import_line in sorted(import_list.values()): f.write(import_line) for noqa_line in sorted(import_list.keys()): f.write(noqa_line) for template_file, generated_filenames in mapping_extension_msgs.items(): for generated_filename in generated_filenames: data = { 'module_name': module_name, 'package_name': args['package_name'], 'message_specs': message_specs, 'service_specs': service_specs, 'typesupport_impl': type_support_impl_by_filename.get(generated_filename, ''), } data.update(functions) generated_file = os.path.join( args['output_dir'], generated_filename % args['package_name']) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_typekit(package, output_dir, messages=[], services=[], actions=[]): output_dir = pathlib.Path(output_dir) for message in messages: header_name = convert_camel_case_to_lower_case_underscore(message) data = { 'header_name': header_name, 'msg_header': f'{package}/msg/{header_name}.hpp', 'msg_name': message, 'pkg_name': package } expand_template('msg_Types.hpp.em', data=data, output_file=(output_dir / "msg" / (header_name + "_Types.hpp")), template_basepath=TEMPLATE_DIR) expand_template('msg_typekit.cpp.em', data=data, output_file=(output_dir / "msg" / (header_name + "_typekit.cpp")), template_basepath=TEMPLATE_DIR) for service in services: header_name = convert_camel_case_to_lower_case_underscore(service) data = { 'header_name': header_name, 'srv_header': f'{package}/srv/{header_name}.hpp', 'srv_name': f'{service}', 'pkg_name': package } expand_template('srv_Types.hpp.em', data=data, output_file=(output_dir / "srv" / (header_name + "_Types.hpp")), template_basepath=TEMPLATE_DIR) expand_template('srv_typekit.cpp.em', data=data, output_file=(output_dir / "srv" / (header_name + "_typekit.cpp")), template_basepath=TEMPLATE_DIR) for action in actions: header_name = convert_camel_case_to_lower_case_underscore(action) data = { 'header_name': header_name, 'action_header': f'{package}/action/{header_name}.hpp', 'action_name': f'{action}', 'pkg_name': package } expand_template('action_Types.hpp.em', data=data, output_file=(output_dir / "action" / (header_name + "_Types.hpp")), template_basepath=TEMPLATE_DIR) expand_template('action_typekit.cpp.em', data=data, output_file=(output_dir / "action" / (header_name + "_typekit.cpp")), template_basepath=TEMPLATE_DIR) data = { 'pkg_name': package, 'messages': messages, 'services': services, 'actions': actions } expand_template('Types.hpp.em', data=data, output_file=(output_dir / "Types.hpp"), template_basepath=TEMPLATE_DIR) expand_template('typekit_plugin.cpp.em', data=data, output_file=(output_dir / "typekit_plugin.cpp"), template_basepath=TEMPLATE_DIR)
def generate_typesupport_opensplice_c(args): template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__type_support_c.cpp.template'): '%s__type_support_c.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__type_support_c.cpp.template'): '%s__type_support_c.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file pkg_name = args['package_name'] known_msg_types = extract_message_types( pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', [])) functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } # generate_dds_opensplice_cpp() and therefore the make target depend on the additional files # therefore they must be listed here even if the generated type support files are independent latest_target_timestamp = get_newest_modification_time( args['target_dependencies'] + args.get('additional_files', [])) for idl_file in args['ros_interface_files']: extension = os.path.splitext(idl_file)[1] if extension == '.msg': spec = parse_message_file(pkg_name, idl_file) validate_field_types(spec, known_msg_types) subfolder = os.path.basename(os.path.dirname(idl_file)) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( args['output_dir'], subfolder, 'dds_opensplice_c', generated_filename % convert_camel_case_to_lower_case_underscore(spec.base_type.type)) data = { 'spec': spec, 'pkg': spec.base_type.pkg_name, 'msg': spec.msg_name, 'type': spec.base_type.type, 'subfolder': subfolder, } data.update(functions) try: expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) except Exception: print("\nException when expanding '{0}' into '{1}':\n" .format(template_file, generated_file)) raise elif extension == '.srv': spec = parse_service_file(pkg_name, idl_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join( args['output_dir'], 'srv', 'dds_opensplice_c', generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_objc(generator_arguments_file, typesupport_impl, typesupport_impls): args = read_generator_arguments(generator_arguments_file) typesupport_impls = typesupport_impls.split(';') template_dir = args['template_dir'] type_support_impl_by_filename = { '%s_s.ep.{0}.m'.format(impl): impl for impl in typesupport_impls } mapping_msgs = { os.path.join(template_dir, 'msg.h.template'): ['%s.h'], os.path.join(template_dir, 'msg.m.template'): type_support_impl_by_filename.keys(), } mapping_srvs = { os.path.join(template_dir, 'srv.h.template'): ['%s.h'], os.path.join(template_dir, 'srv.m.template'): type_support_impl_by_filename.keys(), } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), \ 'Messages template file %s not found' % template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), \ 'Services template file %s not found' % template_file functions = { 'get_objc_type': get_objc_type, } latest_target_timestamp = get_newest_modification_time(args['target_dependencies']) modules = defaultdict(list) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) output_dir = args['output_dir'] if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) mapping = mapping_msgs type_name = spec.base_type.type elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) mapping = mapping_srvs type_name = spec.srv_name else: continue module_name = convert_camel_case_to_lower_case_underscore(type_name) modules[subfolder].append((module_name, type_name)) package_name = args['package_name'] jni_package_name = package_name.replace('_', '_1') jni_type_name = type_name.replace('_', '_1') for template_file, generated_filenames in mapping.items(): for generated_filename in generated_filenames: data = { 'constant_value_to_objc': constant_value_to_objc, 'convert_camel_case_to_lower_case_underscore': convert_camel_case_to_lower_case_underscore, 'get_builtin_objc_type': get_builtin_objc_type, 'module_name': module_name, 'package_name': package_name, 'jni_package_name': jni_package_name, 'jni_type_name': jni_type_name, 'spec': spec, 'subfolder': subfolder, 'typesupport_impl': type_support_impl_by_filename.get(generated_filename, ''), 'typesupport_impls': typesupport_impls, 'type_name': type_name, } data.update(functions) generated_file = os.path.join( output_dir, subfolder, generated_filename % type_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 # 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_java(generator_arguments_file, typesupport_impl, typesupport_impls): args = read_generator_arguments(generator_arguments_file) typesupport_impls = typesupport_impls.split(';') template_dir = args['template_dir'] type_support_impl_by_filename = { '%s.ep.{0}.cpp'.format(impl): impl for impl in typesupport_impls } mapping_msgs = { os.path.join(template_dir, 'msg.java.em'): ['%s.java'], os.path.join(template_dir, 'msg.cpp.em'): type_support_impl_by_filename.keys(), } mapping_srvs = { os.path.join(template_dir, 'srv.java.em'): ['%s.java'], os.path.join(template_dir, 'srv.cpp.em'): type_support_impl_by_filename.keys(), } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), \ 'Messages template file %s not found' % template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), \ 'Services template file %s not found' % template_file functions = {'get_java_type': get_java_type, } latest_target_timestamp = get_newest_modification_time(args['target_dependencies']) modules = defaultdict(list) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(args['package_name'], ros_interface_file) mapping = mapping_msgs type_name = spec.base_type.type elif extension == '.srv': spec = parse_service_file(args['package_name'], ros_interface_file) mapping = mapping_srvs type_name = spec.srv_name else: continue module_name = convert_camel_case_to_lower_case_underscore(type_name) modules[subfolder].append((module_name, type_name)) package_name = args['package_name'] jni_package_name = package_name.replace('_', '_1') jni_type_name = type_name.replace('_', '_1') for template_file, generated_filenames in mapping.items(): for generated_filename in generated_filenames: data = { 'constant_value_to_java': constant_value_to_java, 'value_to_java': value_to_java, 'convert_camel_case_to_lower_case_underscore': convert_camel_case_to_lower_case_underscore, 'convert_lower_case_underscore_to_camel_case': convert_lower_case_underscore_to_camel_case, 'get_builtin_java_type': get_builtin_java_type, 'module_name': module_name, 'package_name': package_name, 'jni_package_name': jni_package_name, 'jni_type_name': jni_type_name, 'spec': spec, 'subfolder': subfolder, 'typesupport_impl': type_support_impl_by_filename.get(generated_filename, ''), 'typesupport_impls': typesupport_impls, 'type_name': type_name, } data.update(functions) generated_file = os.path.join(args['output_dir'], subfolder, generated_filename % type_name) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_typesupport_opensplice_cpp(args): template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__rosidl_typesupport_opensplice_cpp.hpp.em'): '%s__rosidl_typesupport_opensplice_cpp.hpp', os.path.join(template_dir, 'msg__type_support.cpp.em'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__rosidl_typesupport_opensplice_cpp.hpp.em'): '%s__rosidl_typesupport_opensplice_cpp.hpp', os.path.join(template_dir, 'srv__type_support.cpp.em'): '%s__type_support.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), 'Could not find template: ' + template_file pkg_name = args['package_name'] known_msg_types = extract_message_types( pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', [])) functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } # generate_dds_opensplice_cpp() and therefore the make target depend on the additional files # therefore they must be listed here even if the generated type support files are independent latest_target_timestamp = get_newest_modification_time( args['target_dependencies'] + args.get('additional_files', [])) for idl_file in args['ros_interface_files']: extension = os.path.splitext(idl_file)[1] if extension == '.msg': spec = parse_message_file(pkg_name, idl_file) validate_field_types(spec, known_msg_types) subfolder = os.path.basename(os.path.dirname(idl_file)) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join(args['output_dir'], subfolder) if generated_filename.endswith('.cpp'): generated_file = os.path.join(generated_file, 'dds_opensplice') generated_file = os.path.join( generated_file, generated_filename % convert_camel_case_to_lower_case_underscore(spec.base_type.type)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(pkg_name, idl_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join(args['output_dir'], 'srv') if generated_filename.endswith('.cpp'): generated_file = os.path.join(generated_file, 'dds_opensplice') generated_file = os.path.join( generated_file, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = {'spec': spec} data.update(functions) expand_template( template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0
def generate_cpp(generator_arguments_file, type_supports): args = read_generator_arguments(generator_arguments_file) template_dir = args['template_dir'] mapping_msgs = { os.path.join(template_dir, 'msg__type_support.cpp.em'): '%s__type_support.cpp', } mapping_srvs = { os.path.join(template_dir, 'srv__type_support.cpp.em'): '%s__type_support.cpp', } mapping_actions = { os.path.join(template_dir, 'action__type_support.cpp.em'): '%s__type_support.cpp', } for template_file in mapping_msgs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_srvs.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file for template_file in mapping_actions.keys(): assert os.path.exists( template_file), 'Could not find template: ' + template_file pkg_name = args['package_name'] known_msg_types = extract_message_types( pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', [])) functions = { 'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore, } latest_target_timestamp = get_newest_modification_time( args['target_dependencies']) for ros_interface_file in args['ros_interface_files']: extension = os.path.splitext(ros_interface_file)[1] subfolder = os.path.basename(os.path.dirname(ros_interface_file)) if extension == '.msg': spec = parse_message_file(pkg_name, ros_interface_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_msgs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore( spec.base_type.type)) data = { 'spec': spec, 'subfolder': subfolder, 'type_supports': type_supports } data.update(functions) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.srv': spec = parse_service_file(pkg_name, ros_interface_file) validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_srvs.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore(spec.srv_name)) data = { 'spec': spec, 'subfolder': subfolder, 'type_supports': type_supports } data.update(functions) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) elif extension == '.action': spec = parse_action_file(pkg_name, ros_interface_file) # TODO(sloretz) validate field types when overall action is generated with msg and srv # https://github.com/ros2/rosidl/issues/348#issuecomment-462874513 # validate_field_types(spec, known_msg_types) for template_file, generated_filename in mapping_actions.items(): generated_file = os.path.join( args['output_dir'], subfolder, generated_filename % convert_camel_case_to_lower_case_underscore( spec.action_name)) data = {'spec': spec, 'subfolder': subfolder} data.update(functions) expand_template(template_file, data, generated_file, minimum_timestamp=latest_target_timestamp) return 0