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Merged
clalancette merged 3 commits into from
Feb 3, 2023
Merged

Service introspection #178

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6bebe72
add service event message support
ihasdapie Jul 28, 2022
e5c848e
import req/response/event msgs for services & action srvs
ihasdapie Aug 8, 2022
cd44fa0
Style cleanups.
clalancette Feb 2, 2023
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23 changes: 23 additions & 0 deletions rosidl_generator_py/resource/_idl_support.c.em
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,13 @@ TEMPLATE(
package_name=package_name, interface_path=interface_path,
message=service.response_message, include_directives=include_directives)
}@

@{
TEMPLATE(
'_msg_support.c.em',
package_name=package_name, interface_path=interface_path,
message=service.event_message, include_directives=include_directives)
}@
@[end for]@
@
@#######################################################################
Expand Down Expand Up @@ -97,6 +104,14 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'_msg_support.c.em',
package_name=package_name, interface_path=interface_path,
message=action.send_goal_service.event_message,
include_directives=include_directives)
}@

@{
TEMPLATE(
'_msg_support.c.em',
Expand All @@ -113,6 +128,14 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'_msg_support.c.em',
package_name=package_name, interface_path=interface_path,
message=action.get_result_service.event_message,
include_directives=include_directives)
}@

@{
TEMPLATE(
'_msg_support.c.em',
Expand Down
8 changes: 8 additions & 0 deletions rosidl_generator_py/resource/_msg.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,9 @@ from rosidl_parser.definition import AbstractWString
from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
from rosidl_parser.definition import ACTION_GOAL_SUFFIX
from rosidl_parser.definition import ACTION_RESULT_SUFFIX
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
from rosidl_parser.definition import Array
from rosidl_parser.definition import BasicType
from rosidl_parser.definition import BOOLEAN_TYPE
Expand Down Expand Up @@ -129,6 +132,11 @@ for member in message.structure.members:
if isinstance(type_, AbstractNestedType):
type_ = type_.value_type
if isinstance(type_, NamespacedType):
if (
type_.name.endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX) or
type_.name.endswith(SERVICE_REQUEST_MESSAGE_SUFFIX)
):
continue
if (
type_.name.endswith(ACTION_GOAL_SUFFIX) or
type_.name.endswith(ACTION_RESULT_SUFFIX) or
Expand Down
7 changes: 6 additions & 1 deletion rosidl_generator_py/resource/_msg_support.c.em
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@ from rosidl_parser.definition import Array
from rosidl_parser.definition import BasicType
from rosidl_parser.definition import EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME
from rosidl_parser.definition import NamespacedType
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX


def primitive_msg_type_to_c(type_):
Expand Down Expand Up @@ -119,7 +121,10 @@ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_
nested_header = '/'.join(type_[:-1] + ('detail', convert_camel_case_to_lower_case_underscore(type_[-1]),))
nested_header += '__functions.h'
}@
@[ if nested_header in include_directives]@
@[ if type_[-1].endswith(SERVICE_REQUEST_MESSAGE_SUFFIX) or type_[-1].endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX)]
@# Service request/response messages are included in the srv__struct
@[continue]
Comment on lines +125 to +126
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@ivanpauno ivanpauno Nov 10, 2022

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we could use the same style as L128-129 to avoid confusions

@[ elif nested_header in include_directives]@
// already included above
// @
@[ else]@
Expand Down
7 changes: 7 additions & 0 deletions rosidl_generator_py/resource/_srv.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,10 @@ TEMPLATE(
'_msg.py.em',
package_name=package_name, interface_path=interface_path,
message=service.response_message, import_statements=import_statements)
TEMPLATE(
'_msg.py.em',
package_name=package_name, interface_path=interface_path,
message=service.event_message, import_statements=import_statements)
}@


Expand Down Expand Up @@ -42,11 +46,14 @@ class Metaclass_@(service.namespaced_type.name)(type):
@(module_name).Metaclass_@(service.request_message.structure.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(service.response_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(service.response_message.structure.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(service.event_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(service.event_message.structure.namespaced_type.name).__import_type_support__()


class @(service.namespaced_type.name)(metaclass=Metaclass_@(service.namespaced_type.name)):
from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.request_message.structure.namespaced_type.name) as Request
from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.response_message.structure.namespaced_type.name) as Response
from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.event_message.structure.namespaced_type.name) as Event

def __init__(self):
raise NotImplementedError('Service classes can not be instantiated')
9 changes: 9 additions & 0 deletions rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em
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Expand Up @@ -16,6 +16,15 @@ TEMPLATE(
include_directives=include_directives,
register_functions=register_functions)
}@

@{
TEMPLATE(
'_msg_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=idl_type,
message=service.event_message, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
}@
@
@{
from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
Expand Down
29 changes: 29 additions & 0 deletions rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
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Expand Up @@ -131,6 +131,35 @@ def print_warning_if_reserved_keyword(member_name, interface_type, interface_nam
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem} # noqa: F401\n')
if subfolder == 'srv':
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_Event # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_Request # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_Response # noqa: F401\n')
elif subfolder == 'action':
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_GetResult_Event # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_GetResult_Request # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_GetResult_Response # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_SendGoal_Event # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_SendGoal_Request # noqa: F401\n')
f.write(
f'from {package_name}.{subfolder}.{module_name} import '
f'{idl_stem}_SendGoal_Response # noqa: F401\n')

# expand templates per available typesupport implementation
template_dir = args['template_dir']
Expand Down