Backport Python Actions (#32)

* Adds Python typesupport for Actions (#21)

* Add _action.py.em; Makes rosidl_generator_py handle action files
properly

* Adds CMake pipeline bits for action generation.

* Fixes all linter issues.

* Attempts to fix CMake warnings in Windows.

* Fix flake8 error (#27)

* Provide type support for 'goal_status_array' in action type support

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix spelling typo

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Ignore import order on generated imports (#29)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

python_cmake_module/cmake/Modules/FindPythonExtra.cmake

@@ -39,6 +39,9 @@
 
 set(PythonExtra_FOUND FALSE)
 
+# Prevent find_package(PythonLibs) from getting confused.
+unset(PYTHON_LIBRARY)
+
 find_package(PythonInterp 3.5 REQUIRED)
 
 if(PYTHONINTERP_FOUND)

rosidl_generator_py/cmake/custom_command.cmake

@@ -23,7 +23,7 @@ add_custom_command(
   COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_py_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   --typesupport-impls "${_typesupport_impls}"
-  DEPENDS ${target_dependencies} ${rosidl_generate_interfaces_TARGET}
+  DEPENDS ${target_dependencies} ${rosidl_generate_interfaces_TARGET} ${extra_generator_dependencies}
   COMMENT "Generating Python code for ROS interfaces"
   VERBATIM
 )

rosidl_generator_py/cmake/register_py.cmake

@@ -19,6 +19,11 @@ macro(rosidl_generator_py_extras BIN GENERATOR_FILES TEMPLATE_DIR)
     "rosidl_generator_py"
     "rosidl_generator_py_generate_interfaces.cmake")
 
+  ament_register_extension(
+    "rosidl_generate_action_interfaces"
+    "rosidl_generator_py"
+    "rosidl_generator_py_generate_action_interfaces.cmake")
+
   normalize_path(BIN "${BIN}")
   set(rosidl_generator_py_BIN "${BIN}")
 

rosidl_generator_py/cmake/rosidl_generator_py_generate_action_interfaces.cmake

@@ -0,0 +1,241 @@
+# Copyright 2019 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.
+
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(rmw REQUIRED)
+find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_typesupport_c REQUIRED)
+find_package(rosidl_typesupport_interface REQUIRED)
+
+find_package(PythonInterp 3.5 REQUIRED)
+
+find_package(python_cmake_module REQUIRED)
+find_package(PythonExtra MODULE REQUIRED)
+
+set(_typesupport_impls "rosidl_typesupport_c")
+
+set(_output_path
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py/${PROJECT_NAME}")
+
+set(_generated_action_py_files "")
+foreach(_idl_file ${rosidl_generate_action_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  if(_extension STREQUAL ".action")
+    set(_allowed_parent_folders "action")
+    if(NOT _parent_folder IN_LIST _allowed_parent_folders)
+      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+    endif()
+  else()
+    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
+  endif()
+  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_msg_name}" _module_name)
+  list(APPEND _generated_action_py_files
+    "${_output_path}/${_parent_folder}/_${_module_name}.py"
+  )
+endforeach()
+
+foreach(_typesupport_impl ${_typesupport_impls})
+  set(_generated_extension_${_typesupport_impl}_files "")
+endforeach()
+set(_generated_extension_files "")
+
+if(NOT _generated_action_py_files STREQUAL "")
+  foreach(_typesupport_impl ${_typesupport_impls})
+    list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/_${PROJECT_NAME}_action_s.ep.${_typesupport_impl}.c")
+    list(APPEND _generated_extension_files "${_generated_extension_${_typesupport_impl}_files}")
+  endforeach()
+  list(GET _generated_action_py_files 0 _action_file)
+  get_filename_component(_parent_folder "${_action_file}" DIRECTORY)
+  list(APPEND _generated_action_py_files "${_parent_folder}/__init__.py")
+endif()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_action_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  if(_extension STREQUAL ".msg")
+    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
+    normalize_path(_abs_idl_file "${_abs_idl_file}")
+    list(APPEND _dependency_files "${_abs_idl_file}")
+    list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
+  endif()
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_generator_py_BIN}"
+  ${rosidl_generator_py_GENERATOR_FILES}
+  "${rosidl_generator_py_TEMPLATE_DIR}/_action.py.em"
+  "${rosidl_generator_py_TEMPLATE_DIR}/_msg_pkg_typesupport_entry_point.c.em"
+  ${rosidl_generate_action_interfaces_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    get_property(is_generated SOURCE "${dep}" PROPERTY GENERATED)
+    if(NOT ${_is_generated})
+      message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+    endif()
+  endif()
+endforeach()
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py__generate_actions__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_action_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_generator_py_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+)
+# make sure that actions generation run sequentially with messages/services generation
+set(extra_generator_dependencies "${rosidl_generate_interfaces_TARGET}__py")
+
+set(_target_suffix "__action_py")
+
+# move custom command into a subdirectory to avoid multiple invocations on Windows
+set(_subdir "${CMAKE_CURRENT_BINARY_DIR}/${rosidl_generate_interfaces_TARGET}${_target_suffix}")
+file(MAKE_DIRECTORY "${_subdir}")
+file(READ "${rosidl_generator_py_DIR}/custom_command.cmake" _custom_command)
+file(WRITE "${_subdir}/CMakeLists.txt" "${_custom_command}")
+add_subdirectory("${_subdir}" ${rosidl_generate_interfaces_TARGET}${_target_suffix})
+set_property(
+  SOURCE
+  ${_generated_extension_files} ${_generated_action_py_files}
+  PROPERTY GENERATED 1)
+
+macro(set_properties _build_type)
+  set_target_properties(${_target_name} PROPERTIES
+    COMPILE_OPTIONS "${_extension_compile_flags}"
+    PREFIX ""
+    LIBRARY_OUTPUT_DIRECTORY${_build_type} ${_output_path}
+    RUNTIME_OUTPUT_DIRECTORY${_build_type} ${_output_path}
+    OUTPUT_NAME "${PROJECT_NAME}_action_s__${_typesupport_impl}${PythonExtra_EXTENSION_SUFFIX}"
+    SUFFIX "${PythonExtra_EXTENSION_EXTENSION}")
+endmacro()
+
+foreach(_typesupport_impl ${_typesupport_impls})
+  find_package(${_typesupport_impl} REQUIRED)
+
+  set(_pyext_suffix "__pyext")
+  set(_target_name "${PROJECT_NAME}_action__${_typesupport_impl}${_pyext_suffix}")
+
+  add_library(${_target_name} SHARED
+    ${_generated_extension_${_typesupport_impl}_files}
+  )
+  add_dependencies(
+    ${_target_name}
+    ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
+  )
+
+  set(_extension_compile_flags "")
+  set(_PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE})
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    set(_extension_compile_flags -Wall -Wextra)
+  endif()
+  if(WIN32 AND "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+    set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE_DEBUG})
+  endif()
+  set_properties("")
+  if(WIN32)
+    set_properties("_DEBUG")
+    set_properties("_MINSIZEREL")
+    set_properties("_RELEASE")
+    set_properties("_RELWITHDEBINFO")
+  endif()
+  target_link_libraries(
+    ${_target_name}
+    ${PythonExtra_LIBRARIES}
+    ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
+    ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}__generate_actions
+  )
+
+  target_include_directories(${_target_name}
+    PUBLIC
+    ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
+    ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
+    ${PythonExtra_INCLUDE_DIRS}
+  )
+
+  rosidl_target_interfaces(${_target_name}
+    ${rosidl_generate_interfaces_TARGET} rosidl_typesupport_c)
+
+  ament_target_dependencies(${_target_name}
+    "rosidl_generator_c"
+    "rosidl_typesupport_c"
+    "rosidl_typesupport_interface"
+  )
+  foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+    ament_target_dependencies(${_target_name}
+      ${_pkg_name}
+    )
+  endforeach()
+
+  add_dependencies(${_target_name}
+    ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
+    ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}__generate_actions
+  )
+  ament_target_dependencies(${_target_name}
+    "rosidl_generator_c"
+    "rosidl_generator_py"
+    "${rosidl_generate_interfaces_TARGET}__rosidl_generator_c"
+  )
+  set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})
+
+  if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+    install(TARGETS ${_target_name}
+      DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
+  endif()
+endforeach()
+
+if(NOT rosidl_generate_action_interfaces_SKIP_INSTALL)
+  if(NOT _generated_action_py_files STREQUAL "")
+    list(GET _generated_action_py_files 0 _action_file)
+    get_filename_component(_action_package_dir "${_action_file}" DIRECTORY)
+    get_filename_component(_action_package_dir "${_action_package_dir}" NAME)
+    if(NOT _action_package_dir STREQUAL "")
+      install(FILES ${_generated_action_py_files}
+        DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}/${_action_package_dir}"
+      )
+    endif()
+  endif()
+endif()
+
+if(BUILD_TESTING AND rosidl_generate_action_interfaces_ADD_LINTER_TESTS)
+  if(NOT _generated_action_py_files STREQUAL "")
+    find_package(ament_cmake_flake8 REQUIRED)
+    ament_flake8(
+      TESTNAME "flake8_rosidl_generated_py_generate_actions"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      "${_output_path}")
+
+    find_package(ament_cmake_pep257 REQUIRED)
+    ament_pep257(
+      TESTNAME "pep257_rosidl_generated_py_generate_actions"
+      "${_output_path}")
+
+    find_package(ament_cmake_uncrustify REQUIRED)
+    ament_uncrustify(
+      TESTNAME "uncrustify_rosidl_generated_py_generate_actions"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 0
+      "${_output_path}")
+  endif()
+endif()

rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake

@@ -151,7 +151,7 @@ rosidl_write_generator_arguments(
   TEMPLATE_DIR "${rosidl_generator_py_TEMPLATE_DIR}"
   TARGET_DEPENDENCIES ${target_dependencies}
 )
-
+set(extra_generator_dependencies "")
 
 if(NOT _generated_msg_py_files STREQUAL "")
   list(GET _generated_msg_py_files 0 _msg_file)

rosidl_generator_py/resource/_action.py.em

@@ -0,0 +1,62 @@
+# generated from rosidl_generator_py/resource/_action.py.em
+# generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating _<action>.py files
+@#
+@# Context:
+@#  - module_name
+@#  - package_name
+@#  - spec (rosidl_parser.ActionSpecification)
+@#    Parsed specification of the .action file
+@#  - convert_camel_case_to_lower_case_underscore (function)
+@#######################################################################
+@
+import logging
+import traceback
+
+
+class Metaclass(type):
+    """Metaclass of action '@(spec.action_name)'."""
+
+    _TYPE_SUPPORT = None
+
+    @@classmethod
+    def __import_type_support__(cls):
+        try:
+            from rosidl_generator_py import import_type_support
+            module = import_type_support('@(package_name)', '@(package_name)_action')
+        except ImportError:
+            logger = logging.getLogger('rosidl_generator_py.@(spec.action_name)')
+            logger.debug(
+                'Failed to import needed modules for type support:\n' + traceback.format_exc())
+        else:
+            cls._TYPE_SUPPORT = module.type_support_action__@(subfolder)_@(module_name)
+@{
+prefix = '_' + convert_camel_case_to_lower_case_underscore(spec.action_name) + '__'
+suffixes = ['feedback', 'goal', 'result']
+for field_name in [prefix + suffix for suffix in suffixes]:
+    print('%sfrom %s.%s import %s' % (' ' * 4 * 3, package_name, subfolder, field_name))
+    print('%sif %s.Metaclass._TYPE_SUPPORT is None:' % (' ' * 4 * 3, field_name))
+    print('%s%s.Metaclass.__import_type_support__()' % (' ' * 4 * 4, field_name))
+print('%sfrom %s.%s import %s' % (' ' * 4 * 3, 'action_msgs', 'msg', '_goal_status_array'))
+print('%sif %s.Metaclass._TYPE_SUPPORT is None:' % (' ' * 4 * 3, '_goal_status_array'))
+print('%s%s.Metaclass.__import_type_support__()' % (' ' * 4 * 4, '_goal_status_array'))
+print('%sfrom %s.%s import %s' % (' ' * 4 * 3, 'action_msgs', 'srv', '_cancel_goal'))
+print('%sif %s.Metaclass._TYPE_SUPPORT is None:' % (' ' * 4 * 3, '_cancel_goal'))
+print('%s%s.Metaclass.__import_type_support__()' % (' ' * 4 * 4, '_cancel_goal'))
+}@
+
+
+class @(spec.action_name)(metaclass=Metaclass):
+    from action_msgs.srv._cancel_goal import CancelGoal as CancelGoalService
+    from action_msgs.msg._goal_status_array import GoalStatusArray as GoalStatusMessage
+    from @(package_name).@(subfolder)._@convert_camel_case_to_lower_case_underscore(spec.action_name)__goal import @(spec.action_name)_Goal as GoalRequestService
+    from @(package_name).@(subfolder)._@convert_camel_case_to_lower_case_underscore(spec.action_name)__result import @(spec.action_name)_Result as GoalResultService
+    from @(package_name).@(subfolder)._@convert_camel_case_to_lower_case_underscore(spec.action_name)__feedback import @(spec.action_name)_Feedback as Feedback
+
+    Goal = GoalRequestService.Request
+    Result = GoalResultService.Response
+
+    def __init__(self):
+        raise NotImplementedError('Action classes can not be instantiated')