Generate typesupport declarations for actions, messages and services #703

StefanFabian · 2022-09-16T15:53:48Z

As discussed in ros2/rosidl_typesupport#114, this PR adds the generation of typesupport getter declarations that is currently missing.

For this, I have also added package-specific visibility control analogous to rosidl_generator_c.

Here's an example of the generated fibonacci__type_support.hpp from the action_tutorials_interfaces package:

// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
// with input from action_tutorials_interfaces:action/Fibonacci.idl
// generated code does not contain a copyright notice

#ifndef ACTION_TUTORIALS_INTERFACES__ACTION__DETAIL__FIBONACCI__TYPE_SUPPORT_HPP_
#define ACTION_TUTORIALS_INTERFACES__ACTION__DETAIL__FIBONACCI__TYPE_SUPPORT_HPP_

#include "rosidl_typesupport_interface/macros.h"

#include "action_tutorials_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp"

#include "rosidl_typesupport_cpp/action_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_action_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci
)();
#ifdef __cplusplus
}
#endif

#include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_Goal
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_Result
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_Feedback
)();
#ifdef __cplusplus
}
#endif

#include "rosidl_typesupport_cpp/service_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_service_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_SendGoal
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_SendGoal_Request
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_SendGoal_Response
)();
#ifdef __cplusplus
}
#endif


// already included above
// #include "rosidl_typesupport_cpp/service_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_service_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_GetResult
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_GetResult_Request
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_GetResult_Response
)();
#ifdef __cplusplus
}
#endif


// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_FeedbackMessage
)();
#ifdef __cplusplus
}
#endif


#endif  // ACTION_TUTORIALS_INTERFACES__ACTION__DETAIL__FIBONACCI__TYPE_SUPPORT_HPP_

StefanFabian · 2022-11-14T15:24:43Z

Can't reproduce the uncrustify test failing on the ros:rolling-ros-core docker container.
All tests are passing for me.

clalancette

I've left one thing to fix inline, and this needs to be rebased onto the latest rolling branch. Once those things are done, I'll run CI on it.

clalancette · 2023-03-17T16:17:23Z

rosidl_generator_cpp/resource/idl__type_support.hpp.em

+@#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#######################################################################
+@{
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore


This has now been deprecated, so this should be:

Suggested change

from rosidl_cmake import convert_camel_case_to_lower_case_underscore

from rosidl_pycommon import convert_camel_case_to_lower_case_underscore

…rvices. Signed-off-by: Stefan Fabian <[email protected]>

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

clalancette · 2023-05-15T13:44:22Z

CI:

Linux
Linux-aarch64
Windows

ros-discourse · 2023-05-22T11:11:47Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/preparing-for-foxy-fitzroy-end-of-life/31470/2

rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake

achim-k · 2023-11-23T18:42:04Z

@Mergifyio backport humble

(Probably won't work for me, can one of the contributors trigger that?)

mergify · 2023-11-23T18:42:07Z

backport humble

❌ Command disallowed due to command restrictions in the Mergify configuration.

sender-permission>=write

StefanFabian · 2023-12-27T13:53:03Z

I have created backports for humble (#778 and ros2/rosidl_typesupport#149) and verified that they work and pass all tests on my machine.
Would be much appreciated if they could get merged so I don't have to wait until Ubuntu 24.04 is released for an LTS version where my ui module works.
@clalancette @quarkytale

StefanFabian force-pushed the master branch from 19b62c0 to 929f727 Compare September 16, 2022 15:54

clalancette changed the base branch from master to rolling October 6, 2022 15:07

clalancette requested changes Mar 17, 2023

View reviewed changes

sloretz mentioned this pull request Mar 17, 2023

Fixed missing C interfaces to obtain service and action type support. ros2/rosidl_typesupport#114

Closed

sloretz requested review from adityapande-1995, methylDragon, quarkytale and sloretz as code owners March 17, 2023 23:54

StefanFabian and others added 3 commits May 11, 2023 19:41

Generate typesupport getter declarations for actions, messages and se…

5f9af90

…rvices. Signed-off-by: Stefan Fabian <[email protected]>

rosidl_pycommon import

6825e88

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

Satisfy uncrustify

b643b6c

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

clalancette force-pushed the master branch from e2d2d46 to b643b6c Compare May 11, 2023 20:21

clalancette approved these changes May 11, 2023

View reviewed changes

clalancette mentioned this pull request May 15, 2023

[RePR from #114] Fixed missing C interfaces to obtain service and action type support. ros2/rosidl_typesupport#143

Merged

clalancette merged commit e3b71ec into ros2:rolling May 15, 2023

StefanFabian commented May 24, 2023

View reviewed changes

rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake Show resolved Hide resolved

StefanFabian mentioned this pull request May 24, 2023

[foxy backport] Generate typesupport getter declarations for actions, messages and services. #744

Merged

iuhilnehc-ynos mentioned this pull request May 26, 2023

export for the event type support function #747

Open

StefanFabian mentioned this pull request Jun 19, 2023

Fixed visibility control file added to wrong header list variable. #755

Merged

StefanFabian mentioned this pull request Dec 27, 2023

[humble backport] Generate typesupport getter declarations for actions, messages and services #778

Merged

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Generate typesupport declarations for actions, messages and services #703

Generate typesupport declarations for actions, messages and services #703

StefanFabian commented Sep 16, 2022 •

edited

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StefanFabian commented Nov 14, 2022

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clalancette Mar 17, 2023

sloretz Mar 17, 2023

clalancette commented May 15, 2023

ros-discourse commented May 22, 2023

achim-k commented Nov 23, 2023

mergify bot commented Nov 23, 2023

StefanFabian commented Dec 27, 2023

	from rosidl_cmake import convert_camel_case_to_lower_case_underscore
	from rosidl_pycommon import convert_camel_case_to_lower_case_underscore

Generate typesupport declarations for actions, messages and services #703

Generate typesupport declarations for actions, messages and services #703

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clalancette commented May 15, 2023

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❌ Command disallowed due to command restrictions in the Mergify configuration.

StefanFabian commented Dec 27, 2023

StefanFabian commented Sep 16, 2022 •

edited

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