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Call conversion functions directly #10

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merged 12 commits into from
Sep 18, 2018
Merged

Call conversion functions directly #10

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c2763f3
Call conversion functions directly
martins-mozeiko Aug 9, 2018
d57d938
generate single _python lib per package
mikaelarguedas Aug 24, 2018
6125bc9
use visibility macros from visibility_control.h
martins-mozeiko Sep 6, 2018
7d8629c
use dylib extension for libraries on macOS
martins-mozeiko Sep 6, 2018
77009ae
spurious line change
mikaelarguedas Sep 10, 2018
617e0c6
remove duplicated include
mikaelarguedas Sep 10, 2018
f931dbd
blank line fixups
mikaelarguedas Sep 10, 2018
5768b2e
revert unnecessary code relocation
mikaelarguedas Sep 11, 2018
c58d5da
rename variables and use lib folder instad of Lib on macos
mikaelarguedas Sep 11, 2018
36010bc
create lowercase_field_type for readability and reuse
mikaelarguedas Sep 11, 2018
f8b7dbc
remove debug prints
mikaelarguedas Sep 11, 2018
18d2af1
rename functions to use double underscore between package name and fi…
mikaelarguedas Sep 13, 2018
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63 changes: 60 additions & 3 deletions rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,38 @@ macro(set_properties _build_type)
SUFFIX "${PythonExtra_EXTENSION_EXTENSION}")
endmacro()

macro(set_lib_properties _build_type)
set_target_properties(${_target_name_lib} PROPERTIES
COMPILE_OPTIONS "${_extension_compile_flags}"
LIBRARY_OUTPUT_DIRECTORY${_build_type} ${_output_path}
RUNTIME_OUTPUT_DIRECTORY${_build_type} ${_output_path})
endmacro()

set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__python")
add_library(${_target_name_lib} SHARED
${_generated_msg_c_files}
${_generated_srv_c_files}
)
add_dependencies(
${_target_name_lib}
${rosidl_generate_interfaces_TARGET}${_target_suffix}
${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
)

target_link_libraries(
${_target_name_lib}
${PythonExtra_LIBRARIES}
)
target_include_directories(${_target_name_lib}
PUBLIC
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
${PythonExtra_INCLUDE_DIRS}
)

rosidl_target_interfaces(${_target_name_lib}
${rosidl_generate_interfaces_TARGET} rosidl_typesupport_c)

foreach(_typesupport_impl ${_typesupport_impls})
find_package(${_typesupport_impl} REQUIRED)

Expand All @@ -200,10 +232,7 @@ foreach(_typesupport_impl ${_typesupport_impls})

add_library(${_target_name} SHARED
${_generated_extension_${_typesupport_impl}_files}
${_generated_msg_c_files}
${_generated_srv_c_files}
)

add_dependencies(
${_target_name}
${rosidl_generate_interfaces_TARGET}${_target_suffix}
Expand All @@ -227,6 +256,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
endif()
target_link_libraries(
${_target_name}
${_target_name_lib}
${PythonExtra_LIBRARIES}
${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
)
Expand Down Expand Up @@ -268,6 +298,33 @@ foreach(_typesupport_impl ${_typesupport_impls})
endif()
endforeach()

foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
set(_pkg_install_base "${${_pkg_name}_DIR}/../../..")
set(_pkg_python_libname "${_pkg_name}__python")

if(WIN32)
target_link_libraries(${_target_name_lib} "${_pkg_install_base}/Lib/${_pkg_python_libname}.lib")
elseif(APPLE)
target_link_libraries(${_target_name_lib} "${_pkg_install_base}/lib/lib${_pkg_python_libname}.dylib")
else()
target_link_libraries(${_target_name_lib} "${_pkg_install_base}/lib/lib${_pkg_python_libname}.so")
endif()
endforeach()

set_lib_properties("")
if(WIN32)
set_lib_properties("_DEBUG")
set_lib_properties("_MINSIZEREL")
set_lib_properties("_RELEASE")
set_lib_properties("_RELWITHDEBINFO")
endif()
if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
install(TARGETS ${_target_name_lib}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
endif()

if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
if(
NOT _generated_msg_py_files STREQUAL "" OR
Expand Down
32 changes: 24 additions & 8 deletions rosidl_generator_py/resource/_msg_pkg_typesupport_entry_point.c.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,9 @@ for spec, subfolder in message_specs:
type_name = spec.base_type.type
module_name = convert_camel_case_to_lower_case_underscore(type_name)
key = '%s/%s/%s' % (spec.base_type.pkg_name, subfolder, module_name)
includes[key] = '#include <%s__type_support.h>' % key
includes[key + '_support'] = '#include <%s__type_support.h>' % key
includes[key + '_struct'] = '#include <%s__struct.h>' % key
includes[key + '_functions'] = '#include <%s__functions.h>' % key

for spec, subfolder in service_specs:
type_name = convert_camel_case_to_lower_case_underscore(spec.srv_name)
Expand All @@ -53,13 +55,27 @@ for spec, subfolder in service_specs:

@[for spec, subfolder in message_specs]@
@{
pkg_name = spec.base_type.pkg_name
type_name = spec.base_type.type
module_name = convert_camel_case_to_lower_case_underscore(type_name)
msg_typename = '%s__%s__%s' % (pkg_name, subfolder, type_name)
}@
void * @(spec.base_type.pkg_name)_@(module_name)__create_ros_message(void);
void @(spec.base_type.pkg_name)_@(module_name)__destroy_ros_message(void * raw_ros_message);
bool @(spec.base_type.pkg_name)_@(module_name)__convert_from_py(PyObject * _pymsg, void * ros_message);
PyObject * @(spec.base_type.pkg_name)_@(module_name)__convert_to_py(void * raw_ros_message);

static void * @(pkg_name)_@(module_name)__create_ros_message(void)
{
return @(msg_typename)__create();
}

static void @(pkg_name)_@(module_name)__destroy_ros_message(void * raw_ros_message)
{
@(msg_typename) * ros_message = (@(msg_typename) *)raw_ros_message;
@(msg_typename)__destroy(ros_message);
}

ROSIDL_GENERATOR_C_IMPORT
bool @(pkg_name)_@(module_name)__convert_from_py(PyObject * _pymsg, void * ros_message);
ROSIDL_GENERATOR_C_IMPORT
PyObject * @(pkg_name)_@(module_name)__convert_to_py(void * raw_ros_message);
@[end for]@

static PyMethodDef @(package_name)__methods[] = {
Expand All @@ -86,7 +102,7 @@ function_names = ['create_ros_message', 'destroy_ros_message', 'convert_from_py'

ROSIDL_GENERATOR_C_IMPORT
const rosidl_message_type_support_t *
ROSIDL_GET_MSG_TYPE_SUPPORT(@(spec.base_type.pkg_name), @(subfolder), @(spec.msg_name));
ROSIDL_GET_MSG_TYPE_SUPPORT(@(pkg_name), @(subfolder), @(spec.msg_name));

int8_t
_register_msg_type__@(type_name)(PyObject * pymodule)
Expand All @@ -97,9 +113,9 @@ _register_msg_type__@(type_name)(PyObject * pymodule)
PyObject * pyobject_@(function_name) = NULL;
pyobject_@(function_name) = PyCapsule_New(
@[ if function_name != 'type_support']@
(void *)&@(spec.base_type.pkg_name)_@(type_name)__@(function_name),
(void *)&@(pkg_name)_@(type_name)__@(function_name),
@[ else]@
(void *)ROSIDL_GET_MSG_TYPE_SUPPORT(@(spec.base_type.pkg_name), @(subfolder), @(spec.msg_name)),
(void *)ROSIDL_GET_MSG_TYPE_SUPPORT(@(pkg_name), @(subfolder), @(spec.msg_name)),
@[ end if]@
NULL, NULL);
if (!pyobject_@(function_name)) {
Expand Down
102 changes: 24 additions & 78 deletions rosidl_generator_py/resource/_msg_support.c.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
#include <Python.h>
#include <stdbool.h>

#include <rosidl_generator_c/visibility_control.h>

#include <@(spec.base_type.pkg_name)/@(subfolder)/@(module_name)__struct.h>
#include <@(spec.base_type.pkg_name)/@(subfolder)/@(module_name)__functions.h>

Expand Down Expand Up @@ -52,7 +54,22 @@ if not field.type.is_primitive_type() and field.type.is_array:
@{
msg_typename = '%s__%s__%s' % (spec.base_type.pkg_name, subfolder, spec.base_type.type)
}@
@
@[for field in spec.fields]@
@{lowercase_field_type = convert_camel_case_to_lower_case_underscore(field.type.type)}@
@[ if not field.type.is_primitive_type()]@
@[ if spec.base_type.pkg_name != field.type.pkg_name]@
ROSIDL_GENERATOR_C_IMPORT
@[ end if]@
bool @(field.type.pkg_name)_@(lowercase_field_type)__convert_from_py(PyObject * _pymsg, void * _ros_message);
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@[ if spec.base_type.pkg_name != field.type.pkg_name]@
ROSIDL_GENERATOR_C_IMPORT
@[ end if]@
PyObject * @(field.type.pkg_name)_@(lowercase_field_type)__convert_to_py(void * raw_ros_message);
@[ end if]@
@[end for]@

ROSIDL_GENERATOR_C_EXPORT
bool @(spec.base_type.pkg_name)_@(module_name)__convert_from_py(PyObject * _pymsg, void * _ros_message)
{
@{
Expand Down Expand Up @@ -102,41 +119,8 @@ full_classname = '%s.%s._%s.%s' % (spec.base_type.pkg_name, subfolder, module_na
@[ if not field.type.is_primitive_type()]@
@{
nested_type = '%s__%s__%s' % (field.type.pkg_name, 'msg', field.type.type)
lowercase_field_type = convert_camel_case_to_lower_case_underscore(field.type.type)
}@
typedef bool (* convert_from_py_signature)(PyObject *, void *);
convert_from_py_signature convert_from_py = NULL;
// get conversion function
{
PyObject * msg_module = PyImport_ImportModule("@(field.type.pkg_name).msg._@convert_camel_case_to_lower_case_underscore(field.type.type)");
if (!msg_module) {
Py_DECREF(field);
return false;
}
PyObject * msg_class = PyObject_GetAttrString(msg_module, "@(field.type.type)");
Py_DECREF(msg_module);
if (!msg_class) {
Py_DECREF(field);
return false;
}
PyObject * msg_metaclass = PyObject_GetAttrString(msg_class, "__class__");
Py_DECREF(msg_class);
if (!msg_metaclass) {
Py_DECREF(field);
return false;
}
PyObject * convert_from_py_ = PyObject_GetAttrString(msg_metaclass, "_CONVERT_FROM_PY");
Py_DECREF(msg_metaclass);
if (!convert_from_py_) {
Py_DECREF(field);
return false;
}
convert_from_py = (convert_from_py_signature)PyCapsule_GetPointer(convert_from_py_, NULL);
Py_DECREF(convert_from_py_);
if (!convert_from_py) {
Py_DECREF(field);
return false;
}
}
@[ if field.type.is_array]@
PyObject * seq_field = PySequence_Fast(field, "expected a sequence in '@(field.name)'");
if (!seq_field) {
Expand All @@ -162,15 +146,15 @@ nested_type = '%s__%s__%s' % (field.type.pkg_name, 'msg', field.type.type)
@(nested_type) * dest = ros_message->@(field.name);
@[ end if]@
for (Py_ssize_t i = 0; i < size; ++i) {
if (!convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
if (!@(field.type.pkg_name)_@(lowercase_field_type)__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
Py_DECREF(seq_field);
Py_DECREF(field);
return false;
}
}
Py_DECREF(seq_field);
@[ else]@
if (!convert_from_py(field, &ros_message->@(field.name))) {
if (!@(field.type.pkg_name)_@(lowercase_field_type)__convert_from_py(field, &ros_message->@(field.name))) {
Py_DECREF(field);
return false;
}
Expand Down Expand Up @@ -317,17 +301,7 @@ nested_type = '%s__%s__%s' % (field.type.pkg_name, 'msg', field.type.type)
return true;
}

void * @(spec.base_type.pkg_name)_@(module_name)__create_ros_message(void)
{
return @(msg_typename)__create();
}

void @(spec.base_type.pkg_name)_@(module_name)__destroy_ros_message(void * raw_ros_message)
{
@(msg_typename) * ros_message = (@(msg_typename) *)raw_ros_message;
@(msg_typename)__destroy(ros_message);
}

ROSIDL_GENERATOR_C_EXPORT
PyObject * @(spec.base_type.pkg_name)_@(module_name)__convert_to_py(void * raw_ros_message)
{
/* NOTE(esteve): Call constructor of @(spec.base_type.type) */
Expand All @@ -354,36 +328,8 @@ PyObject * @(spec.base_type.pkg_name)_@(module_name)__convert_to_py(void * raw_r
@[ if not field.type.is_primitive_type()]@
@{
nested_type = '%s__%s__%s' % (field.type.pkg_name, 'msg', field.type.type)
lowercase_field_type = convert_camel_case_to_lower_case_underscore(field.type.type)
}@
typedef PyObject *(* convert_to_py_signature)(void *);
convert_to_py_signature convert_to_py = NULL;
// get conversion function
{
PyObject * msg_module = PyImport_ImportModule("@(field.type.pkg_name).msg._@convert_camel_case_to_lower_case_underscore(field.type.type)");
if (!msg_module) {
return NULL;
}
PyObject * msg_class = PyObject_GetAttrString(msg_module, "@(field.type.type)");
Py_DECREF(msg_module);
if (!msg_class) {
return NULL;
}
PyObject * msg_metaclass = PyObject_GetAttrString(msg_class, "__class__");
Py_DECREF(msg_class);
if (!msg_metaclass) {
return NULL;
}
PyObject * convert_to_py_ = PyObject_GetAttrString(msg_metaclass, "_CONVERT_TO_PY");
Py_DECREF(msg_metaclass);
if (!convert_to_py_) {
return NULL;
}
convert_to_py = (convert_to_py_signature)PyCapsule_GetPointer(convert_to_py_, NULL);
Py_DECREF(convert_to_py_);
if (!convert_to_py) {
return NULL;
}
}
@[ if field.type.is_array]@
@[ if field.type.array_size is None or field.type.is_upper_bound]@
size_t size = ros_message->@(field.name).size;
Expand All @@ -401,7 +347,7 @@ nested_type = '%s__%s__%s' % (field.type.pkg_name, 'msg', field.type.type)
@[ else]@
item = &(ros_message->@(field.name)[i]);
@[ end if]@
PyObject * pyitem = convert_to_py(item);
PyObject * pyitem = @(field.type.pkg_name)_@(lowercase_field_type)__convert_to_py(item);
if (!pyitem) {
Py_DECREF(field);
return NULL;
Expand All @@ -412,7 +358,7 @@ nested_type = '%s__%s__%s' % (field.type.pkg_name, 'msg', field.type.type)
}
assert(PySequence_Check(field));
@[ else]@
field = convert_to_py(&ros_message->@(field.name));
field = @(field.type.pkg_name)_@(lowercase_field_type)__convert_to_py(&ros_message->@(field.name));
if (!field) {
return NULL;
}
Expand Down