Removes remaininig srv folder assumptions.

rosidl_generator_dds_idl/cmake/rosidl_generate_dds_interfaces.cmake

@@ -51,20 +51,22 @@ macro(rosidl_generate_dds_interfaces target)
     endforeach()
     get_filename_component(_name "${_idl_file}" NAME_WE)
     if(_extension STREQUAL ".msg")
-      if(_parent_folder STREQUAL "msg")
-        list(APPEND _generated_msg_files "${_output_path}/${_name}_.idl")
-      elseif(_parent_folder STREQUAL "srv")
-        list(APPEND _generated_srv_files "${_output_path}/${_name}_.idl")
-      elseif(_parent_folder STREQUAL "action")
-        list(APPEND _generated_action_files "${_output_path}/${_name}_.idl")
-      else()
+      set(_allowed_parent_folders "msg" "srv" "action")
+      if (NOT _parent_folder IN_LIST _allowed_parent_folders)
         message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
       endif()
+      set(_generated_files "_generated_${_parent_folder}_files")
+      list(APPEND ${_generated_files} "${_output_path}/${_name}_.idl")
     elseif(_extension STREQUAL ".srv")
       # TODO(dirk-thomas) this is only done for opensplice
       # and should be move to the opensplice specific generator package
-      list(APPEND _generated_srv_files "${_output_path}/Sample_${_name}_Request_.idl")
-      list(APPEND _generated_srv_files "${_output_path}/Sample_${_name}_Response_.idl")
+      set(_allowed_parent_folders "srv" "action")
+      if (NOT _parent_folder IN_LIST _allowed_parent_folders)
+        message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+      endif()
+      set(_generated_files "_generated_${_parent_folder}_files")
+      list(APPEND ${_generated_files} "${_output_path}/Sample_${_name}_Request_.idl")
+      list(APPEND ${_generated_files} "${_output_path}/Sample_${_name}_Response_.idl")
     else()
       message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
     endif()

rosidl_generator_dds_idl/resource/msg.idl.em

@@ -14,7 +14,10 @@
 @#    Parsed specification of the .msg file
 @#  - subfolder (string)
 @#    The subfolder / subnamespace of the message
-@#    Either 'msg' or 'srv'
+@#    Could be 'msg', 'srv' or 'action'
+@#  - deps_subfolder (string)
+@#    The subfolder / subnamespace of the message dependencies
+@#    Could be 'msg', 'srv' or 'action'
 @#  - subfolders (list of strings)
 @#    The subfolders under the package name
 @#    in which the type gets defined which are not part of the namespace
@@ -33,15 +36,9 @@ from rosidl_generator_dds_idl import MSG_TYPE_TO_IDL
 @#############################
 @# Include dependency messages
 @#############################
-@[if spec.base_type.type.startswith('Sample_')]
-@[  for line in get_include_directives(spec, ['srv'] + subfolders)]@
+@[  for line in get_include_directives(spec, [deps_subfolder] + subfolders)]@
 @(line)
 @[  end for]@
-@[else]@
-@[  for line in get_include_directives(spec, ['msg'] + subfolders)]@
-@(line)
-@[  end for]@
-@[end if]@
 
 module @(spec.base_type.pkg_name)
 {
@@ -74,7 +71,7 @@ module dds_
 @{
 typedefs = set([])
 for field in spec.fields:
-  idl_typedef, idl_typedef_var, _ = msg_type_to_idl(field.type)
+  idl_typedef, idl_typedef_var, _ = msg_type_to_idl(field.type, deps_subfolder)
   if idl_typedef and idl_typedef_var and (idl_typedef, idl_typedef_var) not in typedefs:
     print('%s %s__%s__%s' % (idl_typedef, spec.base_type.pkg_name, spec.base_type.type, idl_typedef_var))
     typedefs.add((idl_typedef, idl_typedef_var))
@@ -88,7 +85,7 @@ struct @(spec.base_type.type)_
 
 @[if spec.fields]@
 @[  for field in spec.fields]@
-@{    idl_typedef, idl_typedef_var, idl_type = msg_type_to_idl(field.type)}@
+@{    idl_typedef, idl_typedef_var, idl_type = msg_type_to_idl(field.type, deps_subfolder)}@
 @[    if idl_typedef and idl_typedef_var]@
 @(      spec.base_type.pkg_name)__@(spec.base_type.type)__@(idl_type) @(field.name)_;
 @[    else]@

rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py

@@ -60,7 +60,12 @@ def generate_dds_idl(generator_arguments_file, subfolders, extension_module_name
             spec = parse_message_file(pkg_name, ros_interface_file)
             generated_file = os.path.join(output_path, '%s_.idl' % spec.base_type.type)
 
-            data = {'spec': spec, 'subfolder': subfolder, 'subfolders': subfolders}
+            data = {
+                'spec': spec,
+                'subfolder': subfolder,
+                'deps_subfolder': 'msg',
+                'subfolders': subfolders
+            }
             data.update(functions)
             expand_template(
                 template_file, data, generated_file,
@@ -112,7 +117,12 @@ def generate_dds_idl(generator_arguments_file, subfolders, extension_module_name
             ]
 
             for spec, generated_file in generated_files:
-                data = {'spec': spec, 'subfolder': 'srv', 'subfolders': subfolders}
+                data = {
+                    'spec': spec,
+                    'subfolder': subfolder,
+                    'deps_subfolder': subfolder,
+                    'subfolders': subfolders
+                }
                 data.update(functions)
                 expand_template(
                     template_file, data, generated_file,
@@ -158,7 +168,7 @@ def get_post_struct_lines(spec):
 
 
 # used by the template
-def msg_type_to_idl(type_):
+def msg_type_to_idl(type_, ns):
     """
     Convert a message type into the DDS declaration.
 
@@ -174,10 +184,7 @@ def msg_type_to_idl(type_):
         if type_.type == 'string' and type_.string_upper_bound is not None:
             string_upper_bound = type_.string_upper_bound
     else:
-        if type_.type.endswith('_Request') or type_.type.endswith('_Response'):
-            idl_type = '%s::srv::dds_::%s_' % (type_.pkg_name, type_.type)
-        else:
-            idl_type = '%s::msg::dds_::%s_' % (type_.pkg_name, type_.type)
+        idl_type = '%s::%s::dds_::%s_' % (type_.pkg_name, ns, type_.type)
     return _msg_type_to_idl(type_, idl_type, string_upper_bound=string_upper_bound)