Separation artifacts/systems

.github/workflows/main.yaml

@@ -23,6 +23,6 @@ jobs:
           required-ros-distributions: humble
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: rossdl_cmake rossdl_test
+          package-name: rossdl_cmake rossdl_simple_test system_a system_b application_1 application_2 application_3
           target-ros2-distro: humble
 

README.md

@@ -9,7 +9,7 @@ It starts from a file like this:
 ```
 ---
 rossdl_test:
-  FromGitRepo: "https://github.com/jane-doe/project_example.git:branch"
+  fromGitRepo: "https://github.com/jane-doe/project_example.git:branch"
   artifacts:
     image_filter:
       node: "image_filter"
@@ -55,7 +55,7 @@ Just place a definition file in your package, add this to CMakeLists:
 
 ```
 rossdl_generate_code(${PROJECT_NAME}
-  "description.sdl"
+  "description.ros2"
   ${dependencies}
 )
 ```

rossdl_cmake/CMakeLists.txt

@@ -29,7 +29,8 @@ install(
 
 install(
   FILES
-    tests/description.sdl
+    tests/description.ros2
+    tests/description.rossystem
     tests/Nodes.hpp.test
     tests/Nodes.cpp.test
     tests/system_1.launch.py.test

rossdl_cmake/bin/sdl_generator_cpp

@@ -26,6 +26,10 @@ def main(argv=sys.argv[1:]):
         description='Generate ROS 2 System Code.',
         formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
+    parser.add_argument(
+        '--package',
+        required=True,
+        help='The current package')
     parser.add_argument(
         '--description-file',
         required=True,
@@ -41,7 +45,7 @@ def main(argv=sys.argv[1:]):
 
     args = parser.parse_args(argv)
 
-    generate_cpp(args.description_file,
+    generate_cpp(args.package, args.description_file,
                  args.header_out_file, args.source_out_file)
 
 

rossdl_cmake/bin/sdl_generator_launch

@@ -26,10 +26,34 @@ def main(argv=sys.argv[1:]):
         description='Generate ROS 2 System Code.',
         formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
+    parser.add_argument(
+        '--package',
+        required=True,
+        help='The current package')
     parser.add_argument(
         '--description-file',
         required=True,
         help='The location of the file containing the description')
+    parser.add_argument(
+        '--artifacts',
+        nargs='+',
+        # required=True,
+        help='The resource containing the artifact descriptions')
+    parser.add_argument(
+        '--local-artifacts',
+        nargs='+',
+        # required=True,
+        help='The location of the file containing the artifact descriptions')
+    parser.add_argument(
+        '--systems',
+        nargs='+',
+        # required=True,
+        help='The resource containing the system descriptions')
+    parser.add_argument(
+        '--local-systems',
+        nargs='+',
+        # required=True,
+        help='The location of the file containing the system descriptions')
     parser.add_argument(
         '--launch-out-file',
         required=True,
@@ -41,8 +65,8 @@ def main(argv=sys.argv[1:]):
 
     args = parser.parse_args(argv)
 
-    generate_system(args.description_file,
-                 args.launch_out_file, args.system)
+    generate_system(args.package, args.description_file,
+                 args.launch_out_file, args.system, args.artifacts, args.local_artifacts, args.systems, args.local_systems)
 
 
 if __name__ == '__main__':

rossdl_cmake/cmake/rossdl_generate_code.cmake

@@ -62,6 +62,9 @@ macro(rossdl_generate_code description_file)
     endif()
   endforeach()
 
+  file(READ ${_abs_file} ARTIFACTS_DESCRIPTION)
+  ament_index_register_resource(rossdl_artifact_descriptions CONTENT ${ARTIFACTS_DESCRIPTION})
+
   set(RESOURCE_CPP ${ROSSDL_CMAKE_PATH}/share/rossdl_cmake/resources/nodes.cpp.em)
   set(RESOURCE_HPP ${ROSSDL_CMAKE_PATH}/share/rossdl_cmake/resources/nodes.hpp.em)
 
@@ -73,6 +76,7 @@ macro(rossdl_generate_code description_file)
     OUTPUT ${_source_out_file} ${_header_out_file}
     COMMAND ros2
       ARGS run rossdl_cmake sdl_generator_cpp
+        --package ${PROJECT_NAME}
         --description-file ${_abs_file}
         --header-out-file ${_header_out_file}
         --source-out-file ${_source_out_file}
@@ -93,9 +97,4 @@ macro(rossdl_generate_code description_file)
     RUNTIME DESTINATION lib/${PROJECT_NAME}
   )
 
-  install(FILES
-    ${_abs_file}
-    DESTINATION share/${PROJECT_NAME}
-  )
-
 endmacro()

rossdl_cmake/cmake/rossdl_generate_system.cmake

@@ -67,29 +67,71 @@ macro(rossdl_generate_system description_file system)
   string(REGEX REPLACE ":([^:]*)$" "/\\1" _abs_file "${_code_tuple}")
   set(_launch_out_file  ${CMAKE_CURRENT_BINARY_DIR}/launch/${system}.launch.py)
 
+  file(READ ${_abs_file} ROSSDL_SYSTEM_DESCRIPTION)
+  ament_index_register_resource(rossdl_system_descriptions CONTENT ${ROSSDL_SYSTEM_DESCRIPTION})
+
+  ament_index_get_resources(ROSSDL_ARTIFACTS rossdl_artifact_descriptions)
+  ament_index_get_resources(ROSSDL_SYSTEMS rossdl_system_descriptions)
+
+  if(ROSSDL_ARTIFACTS)
+    set(ROSSDL_ARTIFACTS_NO_VOID ${ROSSDL_ARTIFACTS})
+  endif()
+  if(NOT ROSSDL_ARTIFACTS)
+    set(ROSSDL_ARTIFACTS_NO_VOID "None")
+  endif()
+
+  if(ROSSDL_SYSTEMS)
+    set(ROSSDL_SYSTEMS_NO_VOID ${ROSSDL_SYSTEMS})
+  endif()
+  if(NOT ROSSDL_SYSTEMS_NO_VOID)
+    set(ROSSDL_SYSTEMS_NO_VOID "None")
+  endif()
+
+  if(NOT ${PROJECT_NAME} IN_LIST ROSSDL_ARTIFACTS)
+    file(GLOB ROSSDL_LOCAL_ARTIFACTS_NO_VOID "${CMAKE_CURRENT_SOURCE_DIR}/*.ros2")
+  endif()
+  if(NOT ROSSDL_LOCAL_ARTIFACTS_NO_VOID)
+    set(ROSSDL_LOCAL_ARTIFACTS_NO_VOID "None")
+  endif()
+
+  if(NOT ${PROJECT_NAME} IN_LIST ROSSDL_SYSTEMS)
+    file(GLOB ROSSDL_LOCAL_SYSTEMS_NO_VOID "${CMAKE_CURRENT_SOURCE_DIR}/*.rossystem")
+  endif()
+  if(NOT ROSSDL_LOCAL_SYSTEMS_NO_VOID)
+    set(ROSSDL_LOCAL_SYSTEMS_NO_VOID "None")
+  endif()
+
+  message(STATUS "ROSSDL_ARTIFACT_NO_VOID: " ${ROSSDL_ARTIFACTS_NO_VOID})
+  message(STATUS "ROSSDL_LOCAL_ARTIFACTS_NO_VOID: " ${ROSSDL_LOCAL_ARTIFACTS_NO_VOID})
+  message(STATUS "ROSSDL_SYSTEMS_NO_VOID: " ${ROSSDL_SYSTEMS_NO_VOID})
+  message(STATUS "ROSSDL_LOCAL_SYSTEMS_NO_VOID: " ${ROSSDL_LOCAL_SYSTEMS_NO_VOID})
+
   add_custom_command(
     OUTPUT ${_launch_out_file}
     COMMAND ros2
-      ARGS run rossdl_cmake sdl_generator_launch
+    ARGS run rossdl_cmake sdl_generator_launch
+        --package ${PROJECT_NAME}
         --description-file ${_abs_file}
+        --artifacts ${ROSSDL_ARTIFACTS_NO_VOID}
+        --local-artifacts ${ROSSDL_LOCAL_ARTIFACTS_NO_VOID}
+        --systems ${ROSSDL_SYSTEMS_NO_VOID}
+        --local-systems ${ROSSDL_LOCAL_SYSTEMS_NO_VOID}
         --launch-out-file ${_launch_out_file}
         --system ${system}
         DEPENDS ${_abs_file} ${RESOURCE_LAUNCH}
     COMMENT "Generating launcher for ROS 2 System: ${system}"
     VERBATIM
   )
-  add_custom_target(run ALL
-    DEPENDS ${_launch_out_file})
+
+  add_custom_target(file_toucher
+  COMMAND ${CMAKE_COMMAND} -E touch_nocreate ${_abs_file})
+
+  add_custom_target(${PROJECT_NAME}_run ALL
+  DEPENDS ${_launch_out_file} file_toucher)
 
   install(FILES
     ${_launch_out_file}
     DESTINATION share/${PROJECT_NAME}/launch
   )
 
-  install(FILES
-    ${_abs_file}
-    DESTINATION share/${PROJECT_NAME}
-  )
-
-
 endmacro()

rossdl_cmake/resources/launcher.py.em

@@ -3,22 +3,26 @@
 # generated code does not contain a copyright notice
 
 @{
-from rossdl_cmake import get_system_to_generate
-from rossdl_cmake import get_package_name
 from rossdl_cmake import get_system_nodes
 from rossdl_cmake import get_system_remappings
 from rossdl_cmake import get_system_parameters
+from rossdl_cmake import expand_subsystems
 
-system_name = get_system_to_generate(locals())
-data = locals()['data']
-package_name = get_package_name(data)
-system_info = data[package_name]['systems'][system_name]
 
-remappings = get_system_remappings(data[package_name], system_name)
-parameters = get_system_parameters(data[package_name], system_name)
+system_name = locals()['system']
+package_name = locals()['package']
+systems_data = locals()['systems_data']
+arfifacts = locals()['artifacts']
+
+system_info = systems_data[package_name]['systems'][system_name]
+
+expand_subsystems(system_info, systems_data)
+
+remappings = get_system_remappings(system_info, arfifacts)
+parameters = get_system_parameters(system_info, arfifacts)
 }@
 
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch import LaunchDescription
 from launch_ros.actions import Node
@@ -53,8 +57,7 @@ def generate_launch_description():
         target_container=container_name,
             composable_node_descriptions=[
 @{
-system = get_system_to_generate(locals())
-system_nodes = get_system_nodes(locals(), system)
+system_nodes = get_system_nodes(system_info)
 }@
 @[for node in system_nodes]@
 @{
@@ -70,16 +73,18 @@ node_name = node[0]
                         @(remap),
 @[  end for]                    ],
                     parameters=[{
-@[  for parameter in parameters[node_name]]@
+@[  if node_name in list(parameters)]@
+@[      for parameter in parameters[node_name]]@
 @{
 param_key = parameter[0]
 param_value = parameter[1]
-}@[      if isinstance(param_value, str)]@
+}@[         if isinstance(param_value, str)]@
                         '@(param_key)': '@(param_value)',
-@[      else]@
+@[          else]@
                         '@(param_key)': @(param_value),
-@[      end if]@
-@[  end for]                    }],
+@[          end if]@
+@[      end for]@
+@[    end if]@                     }],
                 ),
 @[end for]@
     ])

rossdl_cmake/resources/nodes.cpp.em

@@ -4,17 +4,17 @@
 @{
 from rossdl_cmake import get_header_guard
 from rossdl_cmake import get_message_headers
-from rossdl_cmake import get_package_name
 from rossdl_cmake import get_node_names
 from rossdl_cmake import get_class_names_from_node
 from rossdl_cmake import get_publishers_name_type_from_node
 from rossdl_cmake import get_subscriptions_name_type_from_node
 from rossdl_cmake import get_qos_from_node_topic
 from rossdl_cmake import get_parameters_info
 
-header_guard = get_header_guard(locals())
-package_name = get_package_name(locals())
-node_names = get_node_names(locals())
+arfifacts = locals()['artifacts']
+package_name = locals()['package']
+
+node_names = get_node_names(package_name, arfifacts)
 
 node_class_names = []
 for node_name in node_names:
@@ -23,7 +23,7 @@ for node_name in node_names:
 }@
 
 @{
-msg_headers = get_message_headers(locals())
+msg_headers = get_message_headers(package_name, arfifacts)
 }@
 @[for header_file in msg_headers]@
 #include "@(header_file)"
@@ -40,8 +40,8 @@ using std::placeholders::_1;
 
 @[for node_name in node_class_names]@
 @{
-publishers_info = get_publishers_name_type_from_node(locals(), node_name[0])
-subscribers_info = get_subscriptions_name_type_from_node(locals(), node_name[0])
+publishers_info = get_publishers_name_type_from_node(package_name, arfifacts, node_name[0])
+subscribers_info = get_subscriptions_name_type_from_node(package_name, arfifacts, node_name[0])
 }@
 @(node_name[1])Base::@(node_name[1])Base(const rclcpp::NodeOptions & options)
 : Node("@(node_name[0])", options)
@@ -50,17 +50,17 @@ subscribers_info = get_subscriptions_name_type_from_node(locals(), node_name[0])
   @(publisher_info[0])_ = create_publisher<@(publisher_info[1])>(
     std::string(get_fully_qualified_name()) + "/@(publisher_info[0])",
 @{
-qos = get_qos_from_node_topic(locals(), node_name[0], publisher_info[0])
+qos = get_qos_from_node_topic(package_name, arfifacts, node_name[0], publisher_info[0])
 }@     @(qos));
 @[    end for]@
 @[    for subscriber_info in subscribers_info]@
   @(subscriber_info[0])_ = create_subscription<@(subscriber_info[1])>(
     std::string(get_fully_qualified_name()) + "/@(subscriber_info[0])",
-@{qos = get_qos_from_node_topic(locals(), node_name[0], subscriber_info[0])}@
+@{qos = get_qos_from_node_topic(package_name, arfifacts, node_name[0], subscriber_info[0])}@
     @(qos),
     std::bind(&@(node_name[1])Base::@(subscriber_info[0])_callback, this, _1));
 @[    end for]@
-@{parameters = get_parameters_info(locals(), node_name[0])}@
+@{parameters = get_parameters_info(package_name, arfifacts, node_name[0])}@
 @[    for parameter in parameters]@
 @[        if parameter[1] == "std::string"]
   declare_parameter("@(parameter[0])", @(parameter[1])("@(parameter[2])"));

rossdl_cmake/resources/nodes.hpp.em

@@ -4,16 +4,17 @@
 @{
 from rossdl_cmake import get_header_guard
 from rossdl_cmake import get_message_headers
-from rossdl_cmake import get_package_name
 from rossdl_cmake import get_node_names
 from rossdl_cmake import get_class_names_from_node
 from rossdl_cmake import get_publishers_name_type_from_node
 from rossdl_cmake import get_subscriptions_name_type_from_node
 
-header_guard = get_header_guard(locals())
-package_name = get_package_name(locals())
-node_names = get_node_names(locals())
 
+arfifacts = locals()['artifacts']
+package_name = locals()['package']
+
+header_guard = get_header_guard(package_name)
+node_names = get_node_names(package_name, arfifacts)
 node_class_names = []
 for node_name in node_names:
     node_class_names.append((node_name, get_class_names_from_node(node_name)))
@@ -27,7 +28,7 @@ for node_name in node_names:
 #include <typeinfo>
 
 @{
-msg_headers = get_message_headers(locals())
+msg_headers = get_message_headers(package_name, arfifacts)
 }@
 @[for header_file in msg_headers]@
 #include "@(header_file)"
@@ -46,13 +47,13 @@ public:
 
 protected:
 @{
-publishers_info = get_publishers_name_type_from_node(locals(), node_name[0])
+publishers_info = get_publishers_name_type_from_node(package_name, arfifacts, node_name[0])
 }@
 @[    for publisher_info in publishers_info]@
   rclcpp::Publisher<@(publisher_info[1])>::SharedPtr @(publisher_info[0])_;
 @[    end for]@
 @{
-subscribers_info = get_subscriptions_name_type_from_node(locals(), node_name[0])
+subscribers_info = get_subscriptions_name_type_from_node(package_name, arfifacts, node_name[0])
 }@
 @[    for subscriber_info in subscribers_info]@
   rclcpp::Subscription<@(subscriber_info[1])>::SharedPtr @(subscriber_info[0])_;
@@ -110,4 +111,3 @@ subscribers_info = get_subscriptions_name_type_from_node(locals(), node_name[0])
 }  // namespace @(package_name)
 
 #endif  // @(header_guard)
-