Python typesupport for Actions #21
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| Original file line number | Diff line number | Diff line change |
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| # 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. | ||
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| 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) | ||
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| find_package(PythonInterp 3.5 REQUIRED) | ||
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| find_package(python_cmake_module REQUIRED) | ||
| find_package(PythonExtra MODULE REQUIRED) | ||
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| set(_typesupport_impls "rosidl_typesupport_c") | ||
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| set(_output_path | ||
| "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py/${PROJECT_NAME}") | ||
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| 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() | ||
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| foreach(_typesupport_impl ${_typesupport_impls}) | ||
| set(_generated_extension_${_typesupport_impl}_files "") | ||
| endforeach() | ||
| set(_generated_extension_files "") | ||
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| 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() | ||
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| 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() | ||
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| 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() | ||
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| 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") | ||
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| set(_target_suffix "__action_py") | ||
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| # 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} ${_generated_action_py_files} | ||
| PROPERTY GENERATED 1) | ||
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| macro(set_properties _build_type) | ||
| set_target_properties(${_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() | ||
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| foreach(_typesupport_impl ${_typesupport_impls}) | ||
| find_package(${_typesupport_impl} REQUIRED) | ||
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| set(_pyext_suffix "__pyext") | ||
| set(_target_name "${PROJECT_NAME}_action__${_typesupport_impl}${_pyext_suffix}") | ||
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| add_library(${_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 | ||
| ) | ||
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| 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 | ||
| ) | ||
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| target_include_directories(${_target_name} | ||
| PUBLIC | ||
| ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c | ||
| ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py | ||
| ${PythonExtra_INCLUDE_DIRS} | ||
| ) | ||
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| rosidl_target_interfaces(${_target_name} | ||
| ${rosidl_generate_interfaces_TARGET} rosidl_typesupport_c) | ||
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| ament_target_dependencies(${_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} | ||
| ${_pkg_name} | ||
| ) | ||
| endforeach() | ||
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| add_dependencies(${_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}) | ||
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| if(NOT rosidl_generate_interfaces_SKIP_INSTALL) | ||
| install(TARGETS ${_target_name} | ||
| DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}") | ||
| endif() | ||
| endforeach() | ||
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| if(NOT rosidl_generate_action_interfaces_SKIP_INSTALL) | ||
| if(NOT _generated_action_py_files STREQUAL "") | ||
| list(GET _generated_action_py_files 0 _action_file) | ||
| get_filename_component(_action_package_dir "${_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() | ||
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| 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 | ||
| "${_output_path}") | ||
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| find_package(ament_cmake_pep257 REQUIRED) | ||
| ament_pep257( | ||
| TESTNAME "pep257_rosidl_generated_py_generate_actions" | ||
| "${_output_path}") | ||
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| 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() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| # generated from rosidl_generator_py/resource/_action.py.em | ||
| # generated code does not contain a copyright notice | ||
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| @####################################################################### | ||
| @# 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 | ||
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| class Metaclass(type): | ||
| """Metaclass of action '@(spec.action_name)'.""" | ||
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| _TYPE_SUPPORT = None | ||
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| @@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) | ||
| @{ | ||
| preffix = '_' + convert_camel_case_to_lower_case_underscore(spec.action_name) + '__' | ||
| suffixes = ['feedback', 'goal', 'result'] | ||
| for field_name in [preffix + 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')) | ||
| print('%sif %s.Metaclass._TYPE_SUPPORT is None:' % (' ' * 4 * 3, '_goal_status')) | ||
| print('%s%s.Metaclass.__import_type_support__()' % (' ' * 4 * 4, '_goal_status')) | ||
| 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')) | ||
| }@ | ||
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There was a problem hiding this comment. Need an extra blank line to have two between top-level definitions |
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| 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 | ||
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| Goal = GoalRequestService.Request | ||
| Result = GoalResultService.Response | ||
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| def __init__(self): | ||
| raise NotImplementedError('Action classes can not be instantiated') | ||
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Fixed in #28