Support for nested types

rcldotnet/CMakeLists.txt

@@ -84,6 +84,33 @@ ament_export_dependencies(rosidl_typesupport_c)
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(std_msgs REQUIRED)
+  find_package(test_msgs REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  set(_assemblies_dep_dlls
+      ${rcldotnet_common_ASSEMBLIES_DLL}
+      ${std_msgs_ASSEMBLIES_DLL}
+      ${test_msgs_ASSEMBLIES_DLL}
+      ${builtin_interfaces_ASSEMBLIES_DLL}
+  )
+
+  add_dotnet_test(test_messages
+    ${CS_SOURCES}
+    test/test_messages.cs
+    INCLUDE_DLLS
+    ${_assemblies_dep_dlls}
+    INCLUDE_REFERENCES
+    "Microsoft.NET.Test.Sdk=15.9.0"
+    "xunit=2.4.1"
+    "xunit.runner.visualstudio=2.4.1"
+  )
+  add_dependencies(test_messages ${PROJECT_NAME}_assemblies ${_target_name})
+
+  install_dotnet(test_messages DESTINATION lib/${PROJECT_NAME}/dotnet )
+
 endif()
 
 ament_package()

rcldotnet/package.xml

@@ -23,6 +23,10 @@
 
   <exec_depend>rcl</exec_depend>
 
+  <test_depend>std_msgs</test_depend>
+  <test_depend>test_msgs</test_depend>
+  <test_depend>builtin_interfaces</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

rcldotnet/test/test_messages.cs

@@ -0,0 +1,85 @@
+using System;
+using System.Reflection;
+using System.Runtime;
+using System.Runtime.InteropServices;
+using System.Threading;
+
+using ROS2;
+using ROS2.Utils;
+
+using Xunit;
+
+namespace RCLdotnetTests
+{
+  public class TestMessages
+  {
+    [Fact]
+    public void TestPublishString()
+    {
+      RCLdotnet.Init ();
+      INode node_string_1 = RCLdotnet.CreateNode ("test_string_1");
+      INode node_string_2 = RCLdotnet.CreateNode ("test_string_2");
+      IPublisher<std_msgs.msg.String> chatter_pub = node_string_1.CreatePublisher<std_msgs.msg.String> ("topic_string");
+
+      std_msgs.msg.String msg = new std_msgs.msg.String ();
+      std_msgs.msg.String msg2 = new std_msgs.msg.String ();
+      msg.Data = "Hello";
+
+      bool received=false;
+      ISubscription<std_msgs.msg.String> chatter_sub = node_string_1.CreateSubscription<std_msgs.msg.String> (
+        "topic_string", rcv_msg =>
+        {
+          received=true;
+          msg2 = rcv_msg;
+        }
+      );
+
+      while(!received)
+      {
+        chatter_pub.Publish (msg);
+
+        RCLdotnet.SpinOnce(node_string_1, 500);
+        RCLdotnet.SpinOnce(node_string_1, 500);
+      }
+      Assert.Equal("Hello", msg2.Data);
+    }
+
+    [Fact]
+    public void TestPublishBuiltins()
+    {
+      RCLdotnet.Init ();
+      INode node_builtins_1 = RCLdotnet.CreateNode ("test_builtins_1");
+      INode node_builtins_2 = RCLdotnet.CreateNode ("test_builtins_2");
+      IPublisher<test_msgs.msg.Builtins> chatter_pub = node_builtins_1.CreatePublisher<test_msgs.msg.Builtins> ("topic_builtins");
+
+      test_msgs.msg.Builtins msg = new test_msgs.msg.Builtins ();
+      test_msgs.msg.Builtins msg2 = new test_msgs.msg.Builtins ();
+      msg.Duration_value.Sec = 1;
+      msg.Duration_value.Nanosec = 2u;
+      msg.Time_value.Sec = 3;
+      msg.Time_value.Nanosec = 4u;
+
+      bool received=false;
+      ISubscription<test_msgs.msg.Builtins> chatter_sub = node_builtins_1.CreateSubscription<test_msgs.msg.Builtins> (
+        "topic_builtins", rcv_msg =>
+        {
+          received=true;
+          msg2 = rcv_msg;
+        }
+      );
+
+      while(!received)
+      {
+        chatter_pub.Publish (msg);
+
+        RCLdotnet.SpinOnce(node_builtins_1, 500);
+        RCLdotnet.SpinOnce(node_builtins_1, 500);
+      }
+
+      Assert.Equal(1, msg2.Duration_value.Sec);
+      Assert.Equal(2u, msg2.Duration_value.Nanosec);
+      Assert.Equal(3, msg2.Time_value.Sec);
+      Assert.Equal(4u, msg2.Time_value.Nanosec);
+    }
+  }
+}

rosidl_generator_dotnet/CMakeLists.txt

@@ -19,43 +19,6 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  set(message_files
-    "msg/Bool.msg"
-    "msg/Byte.msg"
-    "msg/Char.msg"
-    "msg/Constants.msg"
-    "msg/Empty.msg"
-    "msg/Float32.msg"
-    "msg/Float64.msg"
-    "msg/Int16.msg"
-    "msg/Int32.msg"
-    "msg/Int64.msg"
-    "msg/Int8.msg"
-    "msg/Nested.msg"
-    "msg/Primitives.msg"
-    "msg/Strings.msg"
-    "msg/Uint16.msg"
-    "msg/Uint32.msg"
-    "msg/Uint64.msg"
-    "msg/Uint8.msg"
-    "msg/Various.msg"
-  )
-
-  include(cmake/register_dotnet.cmake)
-  include(cmake/rosidl_generator_dotnet_get_typesupports.cmake)
-
-  set(rosidl_generator_dotnet_DIR "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-
-  rosidl_generator_dotnet_extras(
-    "${CMAKE_CURRENT_SOURCE_DIR}/bin/rosidl_generator_dotnet"
-    "${CMAKE_CURRENT_SOURCE_DIR}/rosidl_generator_dotnet/__init__.py"
-    "${CMAKE_CURRENT_SOURCE_DIR}/resource"
-  )
-
-  rosidl_generate_interfaces(${PROJECT_NAME} ${message_files}
-    SKIP_INSTALL
-  )
-
 endif()
 
 install(

rosidl_generator_dotnet/resource/msg.c.em

@@ -60,20 +60,6 @@ const void * @(msg_typename)__get_typesupport() {
   return ros_message->@(member.name);
 @[        end if]@
 }
-@[    else]@
-// TODO: Nested types are not supported
-@[    end if]@
-@[end for]@
-
-
-@[for member in message.structure.members]@
-@[    if isinstance(member.type, Array)]@
-// TODO: Array types are not supported
-@[    elif isinstance(member.type, AbstractSequence)]@
-// TODO: Sequence types are not supported
-@[    elif isinstance(member.type, AbstractWString)]@
-// TODO: Unicode types are not supported
-@[    elif isinstance(member.type, BasicType) or isinstance(member.type, AbstractString)]@
 void @(msg_typename)__write_field_@(member.name)(void * message_handle, @(msg_type_to_c(member.type)) value) {
   @(msg_typename) * ros_message = (@(msg_typename) *)message_handle;
 @[        if isinstance(member.type, AbstractGenericString)]@
@@ -84,7 +70,10 @@ void @(msg_typename)__write_field_@(member.name)(void * message_handle, @(msg_ty
 @[        end if]@
 }
 @[    else]@
-// TODO: Nested types are not supported
+void * @(msg_typename)__get_field_@(member.name)_HANDLE(void * message_handle) {
+  @(msg_typename) * ros_message = (@(msg_typename) *)message_handle;
+  return &(ros_message->@(member.name));
+}
 @[    end if]@
 @[end for]@
 

rosidl_generator_dotnet/resource/msg.cs.em

@@ -30,7 +30,23 @@ namespace @(ns)
 public class @(type_name) : IMessage {
     private static readonly DllLoadUtils dllLoadUtils;
 
-    public @(type_name)() {}
+    public @(type_name)()
+    {
+@[for member in message.structure.members]@
+@[    if isinstance(member.type, Array)]@
+// TODO: Array types are not supported
+@[    elif isinstance(member.type, AbstractSequence)]@
+// TODO: Sequence types are not supported
+@[    elif isinstance(member.type, AbstractWString)]@
+// TODO: Unicode types are not supported
+@[    elif isinstance(member.type, BasicType)]@
+@[    elif isinstance(member.type, AbstractString)]@
+        @(get_field_name(type_name, member.name)) = "";
+@[    else]@
+        @(get_field_name(type_name, member.name)) = new @(get_dotnet_type(member.type))();
+@[    end if]@
+@[end for]@
+    }
 
     static @(type_name)()
     {
@@ -72,7 +88,12 @@ public class @(type_name) : IMessage {
             (NativeWriteField@(get_field_name(type_name, member.name))Type)Marshal.GetDelegateForFunctionPointer(
             native_write_field_@(member.name)_ptr, typeof(NativeWriteField@(get_field_name(type_name, member.name))Type));
 @[    else]@
-// TODO: Nested types are not supported
+        IntPtr native_get_field_@(member.name)_HANDLE_ptr =
+            dllLoadUtils.GetProcAddress(nativelibrary, "@(msg_typename)__get_field_@(member.name)_HANDLE");
+
+        @(type_name).native_get_field_@(member.name)_HANDLE =
+            (NativeGetField@(get_field_name(type_name, member.name))Type)Marshal.GetDelegateForFunctionPointer(
+            native_get_field_@(member.name)_HANDLE_ptr, typeof(NativeGetField@(get_field_name(type_name, member.name))Type));
 @[    end if]@
 @[end for]@
     }
@@ -120,7 +141,10 @@ public class @(type_name) : IMessage {
 
     private static NativeWriteField@(get_field_name(type_name, member.name))Type native_write_field_@(member.name) = null;
 @[    else]@
-// TODO: Nested types are not supported
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    private delegate IntPtr NativeGetField@(get_field_name(type_name, member.name))Type(IntPtr messageHandle);
+
+    private static NativeGetField@(get_field_name(type_name, member.name))Type native_get_field_@(member.name)_HANDLE = null;
 @[    end if]@
 @[end for]@
 
@@ -148,7 +172,7 @@ public class @(type_name) : IMessage {
         @(get_field_name(type_name, member.name)) = native_read_field_@(member.name)(messageHandle);
 @[        end if]@
 @[    else]@
-// TODO: Nested types are not supported
+        @(get_field_name(type_name, member.name))._READ_HANDLE(native_get_field_@(member.name)_HANDLE(messageHandle));
 @[    end if]@
 @[end for]@
     }
@@ -164,7 +188,7 @@ public class @(type_name) : IMessage {
 @[    elif isinstance(member.type, BasicType) or isinstance(member.type, AbstractString)]@
         native_write_field_@(member.name)(messageHandle, @(get_field_name(type_name, member.name)));
 @[    else]@
-// TODO: Nested types are not supported
+        @(get_field_name(type_name, member.name))._WRITE_HANDLE(native_get_field_@(member.name)_HANDLE(messageHandle));
 @[    end if]@
 @[end for]@
     }
@@ -185,10 +209,8 @@ public class @(type_name) : IMessage {
 // TODO: Sequence types are not supported
 @[    elif isinstance(member.type, AbstractWString)]@
 // TODO: Unicode types are not supported
-@[    elif isinstance(member.type, BasicType) or isinstance(member.type, AbstractString)]@
-    public @(get_dotnet_type(member.type)) @(get_field_name(type_name, member.name)) { get; set; }
 @[    else]@
-// TODO: Nested types are not supported
+    public @(get_dotnet_type(member.type)) @(get_field_name(type_name, member.name)) { get; set; }
 @[    end if]@
 @[end for]@
 }

rosidl_generator_dotnet/resource/msg.h.em

@@ -57,7 +57,9 @@ void @(msg_prefix)_CDECL @(msg_typename)__destroy_native_message(void *);
 
 @(msg_prefix)_EXPORT
 void @(msg_typename)__write_field_@(member.name)(void *, @(msg_type_to_c(member.type)));
-
+@[    else]@
+@(msg_prefix)_EXPORT
+void * @(msg_prefix)_CDECL @(msg_typename)__get_field_@(member.name)_HANDLE(void *);
 @[    end if]@
 @[end for]@
 

rosidl_generator_dotnet/rosidl_generator_dotnet/__init__.py

@@ -137,6 +137,8 @@ def get_builtin_dotnet_type(type_, use_primitives=True):
 def get_dotnet_type(type_, use_primitives=True):
     if isinstance(type_, AbstractGenericString):
         return 'System.String'
+    if isinstance(type_, NamespacedType):
+        return '.'.join(type_.namespaced_name())
 
     return get_builtin_dotnet_type(type_.typename, use_primitives=use_primitives)