Reduce repeated template parsing to speed up builds

rosidl_cmake/CMakeLists.txt

@@ -7,6 +7,9 @@ find_package(ament_cmake_python REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
+set(rosidl_cmake_generate_interfaces_BIN "${CMAKE_CURRENT_SOURCE_DIR}/bin/rosidl_cmake_generate_interfaces")
+normalize_path(rosidl_cmake_generate_interfaces_BIN "${rosidl_cmake_generate_interfaces_BIN}")
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
@@ -16,6 +19,11 @@ ament_package(
   CONFIG_EXTRAS "rosidl_cmake-extras.cmake"
 )
 
+install(
+  PROGRAMS bin/rosidl_cmake_generate_interfaces
+  DESTINATION lib/rosidl_cmake
+)
+
 install(
   DIRECTORY cmake
   DESTINATION share/${PROJECT_NAME}

rosidl_cmake/bin/rosidl_cmake_generate_interfaces

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+try:
+    from rosidl_pycommon import generate_files_from_arguments_files
+except ImportError:
+    # modifying sys.path and importing the Python package with the same
+    # name as this script does not work on Windows
+    rosidl_pycommon_root = os.path.dirname(os.path.dirname(__file__))
+    rosidl_pycommon_module = os.path.join(
+        rosidl_pycommon_root, 'rosidl_pycommon', '__init__.py')
+    if not os.path.exists(rosidl_pycommon_module):
+        raise
+    from importlib.machinery import SourceFileLoader
+
+    loader = SourceFileLoader('rosidl_pycommon', rosidl_pycommon_module)
+    rosidl_pycommon = loader.load_module()
+    generate_files_from_arguments_files = rosidl_pycommon.generate_files_from_arguments_files
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the ROS interfaces.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-files',
+        required=True,
+        help='The location of the files containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    print(args.generator_arguments_files)
+
+    generate_files_from_arguments_files(args.generator_arguments_files)
+
+
+if __name__ == '__main__':
+    sys.exit(main())

rosidl_cmake/cmake/rosidl_generate_interfaces.cmake

@@ -1,4 +1,4 @@
-# Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+# Copyright 2014-2023 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -277,6 +277,24 @@ macro(rosidl_generate_interfaces target)
     list(APPEND rosidl_generate_interfaces_ABS_IDL_FILES "${_abs_idl_file}")
   endforeach()
 
+  # Create the type descriptions for use when writing the generator arguments files
+  ament_execute_extensions("rosidl_create_type_descriptions_extensions")
+
+  # Write the generator argument files for all registered languages and type supports
+  set(rosidl_generator_arguments_files)
+  ament_execute_extensions("rosidl_write_generator_arguments_extensions")
+
+  find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
+  # Generate the interface source files for all registered languages and type supports
+  set(rosidl_cmake_generate_interfaces_BIN "${rosidl_cmake_DIR}/../../../lib/rosidl_cmake/rosidl_cmake_generate_interfaces")
+  execute_process(
+    COMMAND ${Python3_EXECUTABLE} ${rosidl_cmake_generate_interfaces_BIN}
+    --generator-arguments-files "${rosidl_generator_arguments_files}"
+    ECHO_OUTPUT_VARIABLE
+  )
+
+  # Build the interfaces from the generated files
   ament_execute_extensions("rosidl_generate_idl_interfaces")
 
   # check for extensions registered with the previous extension point

rosidl_cmake/cmake/rosidl_write_additional_context.cmake

@@ -0,0 +1,105 @@
+# Copyright 2023 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Generate a JSON / YAML file containing additional context data for expanding
+# IDL templates
+#
+#
+# @public
+#
+function(rosidl_write_additional_context output_file)
+
+  set(OPTIONAL_ONE_VALUE_KEYWORDS
+    "DISABLE_DESCRIPTION_CODEGEN")
+  set(OPTIONAL_MULTI_VALUE_KEYWORDS
+    "TYPE_SUPPORTS")
+
+  cmake_parse_arguments(
+    ARG
+    ""
+    "${OPTIONAL_ONE_VALUE_KEYWORDS}"
+    "${OPTIONAL_MULTI_VALUE_KEYWORDS}"
+    ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "rosidl_write_additional_context() called with unused "
+      "arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  # create folder
+  get_filename_component(output_path "${output_file}" PATH)
+  file(MAKE_DIRECTORY "${output_path}")
+
+  # open object
+  file(WRITE "${output_file}"
+    "{")
+
+  set(first_element TRUE)
+
+  # write string values
+  foreach(one_value_argument ${OPTIONAL_ONE_VALUE_KEYWORDS})
+    if(DEFINED ARG_${one_value_argument})
+      # write conditional comma and mandatory newline
+      if(NOT first_element)
+        file(APPEND "${output_file}" ",")
+      else()
+        set(first_element FALSE)
+      endif()
+      file(APPEND "${output_file}" "\n")
+
+      string(TOLOWER "${one_value_argument}" key)
+      string(REPLACE "\\" "\\\\" value "${ARG_${one_value_argument}}")
+      file(APPEND "${output_file}"
+        "  \"${key}\": \"${value}\"")
+    endif()
+  endforeach()
+
+  # write array values
+  foreach(multi_value_argument ${OPTIONAL_MULTI_VALUE_KEYWORDS})
+    if(ARG_${multi_value_argument})
+      # write conditional comma and mandatory newline and indentation
+      if(NOT first_element)
+        file(APPEND "${output_file}" ",")
+      else()
+        set(first_element FALSE)
+      endif()
+      file(APPEND "${output_file}" "\n")
+
+      # write key, open array
+      string(TOLOWER "${multi_value_argument}" key)
+      file(APPEND "${output_file}"
+        "  \"${key}\": [\n")
+
+      # write array values, last without trailing colon
+      list(GET ARG_${multi_value_argument} -1 last_value)
+      list(REMOVE_AT ARG_${multi_value_argument} -1)
+      foreach(value ${ARG_${multi_value_argument}})
+        string(REPLACE "\\" "\\\\" value "${value}")
+        file(APPEND "${output_file}"
+          "    \"${value}\",\n")
+      endforeach()
+      string(REPLACE "\\" "\\\\" last_value "${last_value}")
+      file(APPEND "${output_file}"
+        "    \"${last_value}\"\n")
+
+      # close array
+      file(APPEND "${output_file}"
+        "  ]")
+    endif()
+  endforeach()
+
+  # close object
+  file(APPEND "${output_file}"
+    "\n}\n")
+endfunction()

rosidl_cmake/cmake/rosidl_write_generator_arguments.cmake

@@ -1,4 +1,4 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -23,12 +23,14 @@ function(rosidl_write_generator_arguments output_file)
     "PACKAGE_NAME")
   set(OPTIONAL_ONE_VALUE_KEYWORDS
     "OUTPUT_DIR"
-    "TEMPLATE_DIR")
+    "TEMPLATE_DIR"
+    "ADDITIONAL_CONTEXT_FILE")
 
   set(REQUIRED_MULTI_VALUE_KEYWORDS  # only require one of them
     "IDL_TUPLES"
     "NON_IDL_TUPLES"
-    "ROS_INTERFACE_FILES")
+    "ROS_INTERFACE_FILES"
+    "GENERATOR_FILES")
   set(OPTIONAL_MULTI_VALUE_KEYWORDS
     "ROS_INTERFACE_DEPENDENCIES"  # since the dependencies can be empty
     "TARGET_DEPENDENCIES"

rosidl_cmake/rosidl_cmake-extras.cmake

@@ -32,6 +32,7 @@ find_package(rosidl_adapter)  # not required, being used when available
 include("${rosidl_cmake_DIR}/rosidl_generate_interfaces.cmake")
 include("${rosidl_cmake_DIR}/rosidl_get_typesupport_target.cmake")
 include("${rosidl_cmake_DIR}/rosidl_target_interfaces.cmake")
+include("${rosidl_cmake_DIR}/rosidl_write_additional_context.cmake")
 include("${rosidl_cmake_DIR}/rosidl_write_generator_arguments.cmake")
 include("${rosidl_cmake_DIR}/string_camel_case_to_lower_case_underscore.cmake")
 

rosidl_generator_c/CMakeLists.txt

@@ -34,10 +34,6 @@ ament_package(
   CONFIG_EXTRAS "rosidl_generator_c-extras.cmake.in"
 )
 
-install(
-  PROGRAMS bin/rosidl_generator_c
-  DESTINATION lib/rosidl_generator_c
-)
 install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}

rosidl_generator_c/cmake/register_c.cmake

@@ -1,4 +1,4 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
+# Copyright 2023 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,17 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-macro(rosidl_generator_c_extras BIN GENERATOR_FILES TEMPLATE_DIR)
+macro(rosidl_generator_c_extras GENERATOR_FILES TEMPLATE_DIR)
   find_package(ament_cmake_core QUIET REQUIRED)
   find_package(rosidl_generator_type_description QUIET REQUIRED)
+
+  ament_register_extension(
+    "rosidl_write_generator_arguments_extensions"
+    "rosidl_generator_c"
+    "rosidl_generator_c_write_arguments.cmake")
   ament_register_extension(
     "rosidl_generate_idl_interfaces"
     "rosidl_generator_c"
     "rosidl_generator_c_generate_interfaces.cmake")
 
-  normalize_path(BIN "${BIN}")
-  set(rosidl_generator_c_BIN "${BIN}")
-
   normalize_path(GENERATOR_FILES "${GENERATOR_FILES}")
   set(rosidl_generator_c_GENERATOR_FILES "${GENERATOR_FILES}")
 

rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake

@@ -1,4 +1,4 @@
-# Copyright 2015-2018 Open Source Robotics Foundation, Inc.
+# Copyright 2015-2023 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -50,8 +50,9 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
   endforeach()
 endforeach()
 
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__arguments.json")
+
 set(target_dependencies
-  "${rosidl_generator_c_BIN}"
   ${rosidl_generator_c_GENERATOR_FILES}
   "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.h.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.c.em"
@@ -71,45 +72,14 @@ set(target_dependencies
   "${rosidl_generator_c_TEMPLATE_DIR}/srv__type_support.c.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/srv__type_support.h.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
+  ${generator_arguments_file}
   ${_dependency_files})
 foreach(dep ${target_dependencies})
   if(NOT EXISTS "${dep}")
     message(FATAL_ERROR "Target dependency '${dep}' does not exist")
   endif()
 endforeach()
 
-get_target_property(_target_sources ${rosidl_generate_interfaces_TARGET} SOURCES)
-set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__arguments.json")
-rosidl_write_generator_arguments(
-  "${generator_arguments_file}"
-  PACKAGE_NAME "${PROJECT_NAME}"
-  IDL_TUPLES "${rosidl_generate_interfaces_c_IDL_TUPLES}"
-  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
-  OUTPUT_DIR "${_output_path}"
-  TEMPLATE_DIR "${rosidl_generator_c_TEMPLATE_DIR}"
-  TARGET_DEPENDENCIES ${target_dependencies}
-  TYPE_DESCRIPTION_TUPLES "${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES}"
-  ROS_INTERFACE_FILES "${_target_sources}"
-)
-
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
-set(disable_description_codegen_arg)
-if(ROSIDL_GENERATOR_C_DISABLE_TYPE_DESCRIPTION_CODEGEN)
-  set(disable_description_codegen_arg "--disable-description-codegen")
-endif()
-
-add_custom_command(
-  OUTPUT ${_generated_headers} ${_generated_sources}
-  COMMAND Python3::Interpreter
-  ARGS ${rosidl_generator_c_BIN}
-  --generator-arguments-file "${generator_arguments_file}"
-  ${disable_description_codegen_arg}
-  DEPENDS ${target_dependencies}
-  COMMENT "Generating C code for ROS interfaces"
-  VERBATIM
-)
-
 # generate header to switch between export and import for a specific package
 set(_visibility_control_file
   "${_output_path}/msg/rosidl_generator_c__visibility_control.h")