Generate typesupport declarations for actions, messages and services (#…

…703)

* Generate typesupport getter declarations for actions, messages and services.

Signed-off-by: Stefan Fabian <[email protected]>
Signed-off-by: Shane Loretz <[email protected]>

rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake

@@ -28,6 +28,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
     "${_output_path}/${_parent_folder}/detail/${_header_name}__builder.hpp"
     "${_output_path}/${_parent_folder}/detail/${_header_name}__struct.hpp"
     "${_output_path}/${_parent_folder}/detail/${_header_name}__traits.hpp"
+    "${_output_path}/${_parent_folder}/detail/${_header_name}__type_support.hpp"
   )
 endforeach()
 
@@ -48,16 +49,20 @@ set(target_dependencies
   "${rosidl_generator_cpp_TEMPLATE_DIR}/action__builder.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/action__struct.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/action__traits.hpp.em"
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/action__type_support.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/idl.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/idl__builder.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/idl__struct.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/idl__traits.hpp.em"
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/idl__type_support.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/msg__builder.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/msg__struct.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/msg__traits.hpp.em"
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/msg__type_support.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/srv__builder.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/srv__struct.hpp.em"
   "${rosidl_generator_cpp_TEMPLATE_DIR}/srv__traits.hpp.em"
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/srv__type_support.hpp.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
   ${_dependency_files})
 foreach(dep ${target_dependencies})
@@ -90,6 +95,18 @@ add_custom_command(
   VERBATIM
 )
 
+# generate header to switch between export and import for a specific package
+set(_visibility_control_file
+  "${_output_path}/msg/rosidl_generator_cpp__visibility_control.hpp")
+string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
+configure_file(
+  "${rosidl_generator_cpp_TEMPLATE_DIR}/rosidl_generator_cpp__visibility_control.hpp.in"
+  "${_visibility_control_file}"
+  @ONLY
+)
+list(APPEND _generated_msg_headers "${_visibility_control_file}")
+
+
 # INTERFACE libraries can't have file-level dependencies in CMake,
 # so make a custom target depending on the generated files
 # TODO(sloretz) make this target name less generic than "__cpp" when other

rosidl_generator_cpp/resource/action__type_support.hpp.em

@@ -0,0 +1,66 @@
+@# Included from rosidl_generator_cpp/resource/action__type_support.hpp.em
+@{header_file = 'rosidl_typesupport_cpp/action_type_support.hpp'}@
+@[if header_file in include_directives]@
+// already included above
+// @
+@[else]@
+@{include_directives.add(header_file)}@
+@[end if]@
+#include "@(header_file)"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_CPP_PUBLIC_@(package_name)
+const rosidl_action_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
+  rosidl_typesupport_cpp,
+  @(',\n  '.join(action.namespaced_type.namespaced_name()))
+)();
+#ifdef __cplusplus
+}
+#endif
+
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=action.goal,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=action.result,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=action.feedback,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'srv__type_support.hpp.em',
+    package_name=package_name, service=action.send_goal_service,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'srv__type_support.hpp.em',
+    package_name=package_name, service=action.get_result_service,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=action.feedback_message,
+    include_directives=include_directives)
+}@

rosidl_generator_cpp/resource/idl.hpp.em

@@ -25,5 +25,6 @@ include_base = '/'.join(include_parts_detail)
 #include "@(include_base)__struct.hpp"
 #include "@(include_base)__builder.hpp"
 #include "@(include_base)__traits.hpp"
+#include "@(include_base)__type_support.hpp"
 
 #endif  // @(header_guard_variable)

rosidl_generator_cpp/resource/idl__type_support.hpp.em

@@ -0,0 +1,77 @@
+// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
+// with input from @(package_name):@(interface_path)
+// generated code does not contain a copyright notice
+@
+@#######################################################################
+@# EmPy template for generating <idl>__struct.h files
+@#
+@# Context:
+@#  - package_name (string)
+@#  - interface_path (Path relative to the directory named after the package)
+@#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#######################################################################
+@{
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+include_parts = [package_name] + list(interface_path.parents[0].parts) + [
+    'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+header_guard_variable = '__'.join([x.upper() for x in include_parts]) + \
+    '__TYPE_SUPPORT_HPP_'
+
+include_directives = set()
+}@
+
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "@(package_name)/msg/rosidl_generator_cpp__visibility_control.hpp"
+
+@#######################################################################
+@# Handle message
+@#######################################################################
+@{
+from rosidl_parser.definition import Message
+}@
+@[for message in content.get_elements_of_type(Message)]@
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=message,
+    include_directives=include_directives)
+}@
+
+@[end for]@
+@
+@#######################################################################
+@# Handle service
+@#######################################################################
+@{
+from rosidl_parser.definition import Service
+}@
+@[for service in content.get_elements_of_type(Service)]@
+@{
+TEMPLATE(
+    'srv__type_support.hpp.em',
+    package_name=package_name, service=service,
+    include_directives=include_directives)
+}@
+
+@[end for]@
+@
+@#######################################################################
+@# Handle action
+@#######################################################################
+@{
+from rosidl_parser.definition import Action
+}@
+@[for action in content.get_elements_of_type(Action)]@
+@{
+TEMPLATE(
+    'action__type_support.hpp.em',
+    package_name=package_name, action=action,
+    include_directives=include_directives)
+}@
+
+@[end for]@
+#endif  // @(header_guard_variable)

rosidl_generator_cpp/resource/msg__type_support.hpp.em

@@ -0,0 +1,24 @@
+@# Included from rosidl_generator_cpp/resource/msg__type_support.hpp.em
+@{header_file = 'rosidl_typesupport_cpp/message_type_support.hpp'}@
+@[if header_file in include_directives]@
+// already included above
+// @
+@[else]@
+@{include_directives.add(header_file)}@
+@[end if]@
+#include "@(header_file)"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_CPP_PUBLIC_@(package_name)
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_cpp,
+  @(',\n  '.join(message.structure.namespaced_type.namespaced_name()))
+)();
+#ifdef __cplusplus
+}
+#endif

rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in

@@ -0,0 +1,42 @@
+// generated from rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in
+// generated code does not contain a copyright notice
+
+#ifndef @PROJECT_NAME_UPPER@__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
+#define @PROJECT_NAME_UPPER@__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@ __attribute__ ((dllexport))
+    #define ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@ __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@ __declspec(dllexport)
+    #define ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@ __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_GENERATOR_CPP_BUILDING_DLL_@PROJECT_NAME@
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@ ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@
+  #else
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@ ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@
+  #endif
+#else
+  #define ROSIDL_GENERATOR_CPP_EXPORT_@PROJECT_NAME@ __attribute__ ((visibility("default")))
+  #define ROSIDL_GENERATOR_CPP_IMPORT_@PROJECT_NAME@
+  #if __GNUC__ >= 4
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@ __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_@PROJECT_NAME@
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @PROJECT_NAME_UPPER@__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_

rosidl_generator_cpp/resource/srv__type_support.hpp.em

@@ -0,0 +1,39 @@
+@# Included from rosidl_generator_cpp/resource/srv__type_support.hpp.em
+@{header_file = 'rosidl_typesupport_cpp/service_type_support.hpp'}@
+@[if header_file in include_directives]@
+// already included above
+// @
+@[else]@
+@{include_directives.add(header_file)}@
+@[end if]@
+#include "@(header_file)"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_CPP_PUBLIC_@(package_name)
+const rosidl_service_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
+  rosidl_typesupport_cpp,
+  @(',\n  '.join(service.namespaced_type.namespaced_name()))
+)();
+#ifdef __cplusplus
+}
+#endif
+
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=service.request_message,
+    include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'msg__type_support.hpp.em',
+    package_name=package_name, message=service.response_message,
+    include_directives=include_directives)
+}@
+

rosidl_generator_cpp/rosidl_generator_cpp/__init__.py

@@ -34,6 +34,7 @@ def generate_cpp(generator_arguments_file):
         'idl__builder.hpp.em': 'detail/%s__builder.hpp',
         'idl__struct.hpp.em': 'detail/%s__struct.hpp',
         'idl__traits.hpp.em': 'detail/%s__traits.hpp',
+        'idl__type_support.hpp.em': 'detail/%s__type_support.hpp',
     }
     return generate_files(
         generator_arguments_file, mapping,