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update code to match refactoring of rosidl definitions #44

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Apr 19, 2019
Merged

update code to match refactoring of rosidl definitions #44

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38 changes: 19 additions & 19 deletions rosidl_generator_py/resource/_action.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
@{
from rosidl_cmake import convert_camel_case_to_lower_case_underscore

action_name = '_' + convert_camel_case_to_lower_case_underscore(action.structure_type.name)
action_name = '_' + convert_camel_case_to_lower_case_underscore(action.namespaced_type.name)
module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem)

TEMPLATE(
Expand Down Expand Up @@ -32,8 +32,8 @@ TEMPLATE(
}@


class Metaclass_@(action.structure_type.name)(type):
"""Metaclass of action '@(action.structure_type.name)'."""
class Metaclass_@(action.namespaced_type.name)(type):
"""Metaclass of action '@(action.namespaced_type.name)'."""

_TYPE_SUPPORT = None

Expand All @@ -46,12 +46,12 @@ class Metaclass_@(action.structure_type.name)(type):
import logging
import traceback
logger = logging.getLogger(
'@('.'.join(action.structure_type.namespaces + [action.structure_type.name]))')
'@('.'.join(action.namespaced_type.namespaces + [action.namespaced_type.name]))')
logger.debug(
'Failed to import needed modules for type support:\n' +
traceback.format_exc())
else:
cls._TYPE_SUPPORT = module.type_support_action__@('__'.join(action.structure_type.namespaces[1:]))_@(action_name)
cls._TYPE_SUPPORT = module.type_support_action__@('__'.join(action.namespaced_type.namespaces[1:]))_@(action_name)

from action_msgs.msg import _goal_status_array
if _goal_status_array.Metaclass_GoalStatusArray._TYPE_SUPPORT is None:
Expand All @@ -60,32 +60,32 @@ class Metaclass_@(action.structure_type.name)(type):
if _cancel_goal.Metaclass_CancelGoal._TYPE_SUPPORT is None:
_cancel_goal.Metaclass_CancelGoal.__import_type_support__()

from @('.'.join(action.structure_type.namespaces)) import @(module_name)
if @(module_name).Metaclass_@(action.send_goal_service.structure_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.send_goal_service.structure_type.name).__import_type_support__()
if @(module_name).Metaclass_@(action.get_result_service.structure_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.get_result_service.structure_type.name).__import_type_support__()
if @(module_name).Metaclass_@(action.feedback_message.structure.type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.feedback_message.structure.type.name).__import_type_support__()
from @('.'.join(action.namespaced_type.namespaces)) import @(module_name)
if @(module_name).Metaclass_@(action.send_goal_service.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.send_goal_service.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(action.get_result_service.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.get_result_service.namespaced_type.name).__import_type_support__()
if @(module_name).Metaclass_@(action.feedback_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
@(module_name).Metaclass_@(action.feedback_message.structure.namespaced_type.name).__import_type_support__()


class @(action.structure_type.name)(metaclass=Metaclass_@(action.structure_type.name)):
class @(action.namespaced_type.name)(metaclass=Metaclass_@(action.namespaced_type.name)):

# The goal message defined in the action definition.
from @('.'.join(action.structure_type.namespaces)).@(module_name) import @(action.goal.structure.type.name) as Goal
from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.goal.structure.namespaced_type.name) as Goal
# The result message defined in the action definition.
from @('.'.join(action.structure_type.namespaces)).@(module_name) import @(action.result.structure.type.name) as Result
from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.result.structure.namespaced_type.name) as Result
# The feedback message defined in the action definition.
from @('.'.join(action.structure_type.namespaces)).@(module_name) import @(action.feedback.structure.type.name) as Feedback
from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.feedback.structure.namespaced_type.name) as Feedback

class Impl:

# The send_goal service using a wrapped version of the goal message as a request.
from @('.'.join(action.structure_type.namespaces)).@(module_name) import @(action.send_goal_service.structure_type.name) as SendGoalService
from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.send_goal_service.namespaced_type.name) as SendGoalService
# The get_result service using a wrapped version of the result message as a response.
from @('.'.join(action.structure_type.namespaces)).@(module_name) import @(action.get_result_service.structure_type.name) as GetResultService
from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.get_result_service.namespaced_type.name) as GetResultService
# The feedback message with generic fields which wraps the feedback message.
from @('.'.join(action.structure_type.namespaces)).@(module_name) import @(action.feedback_message.structure.type.name) as FeedbackMessage
from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.feedback_message.structure.namespaced_type.name) as FeedbackMessage

# The generic service to cancel a goal.
from action_msgs.srv._cancel_goal import CancelGoal as CancelGoalService
Expand Down
20 changes: 10 additions & 10 deletions rosidl_generator_py/resource/_action_pkg_typesupport_entry_point.c.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
@{
TEMPLATE(
'_msg_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
message=action.goal, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand All @@ -12,7 +12,7 @@ TEMPLATE(
@{
TEMPLATE(
'_msg_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
message=action.result, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand All @@ -21,7 +21,7 @@ TEMPLATE(
@{
TEMPLATE(
'_msg_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
message=action.feedback, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand All @@ -30,7 +30,7 @@ TEMPLATE(
@{
TEMPLATE(
'_srv_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
service=action.send_goal_service, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand All @@ -39,7 +39,7 @@ TEMPLATE(
@{
TEMPLATE(
'_srv_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
service=action.get_result_service, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand All @@ -48,20 +48,20 @@ TEMPLATE(
@{
TEMPLATE(
'_msg_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
message=action.feedback_message, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
}@

@{
from rosidl_cmake import convert_camel_case_to_lower_case_underscore
type_name = convert_camel_case_to_lower_case_underscore(action.structure_type.name)
type_name = convert_camel_case_to_lower_case_underscore(action.namespaced_type.name)
function_name = 'type_support'
}@

@{
register_function = '_register_action_type__' + '__'.join(action.structure_type.namespaces[1:] + [type_name])
register_function = '_register_action_type__' + '__'.join(action.namespaced_type.namespaces[1:] + [type_name])
register_functions.append(register_function)
}@
int8_t
Expand All @@ -70,15 +70,15 @@ int8_t
int8_t err;
PyObject * pyobject_@(function_name) = NULL;
pyobject_@(function_name) = PyCapsule_New(
(void *)ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(rosidl_typesupport_c, @(', '.join(action.structure_type.namespaces + [action.structure_type.name])))(),
(void *)ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(rosidl_typesupport_c, @(', '.join(action.namespaced_type.namespaces + [action.namespaced_type.name])))(),
NULL, NULL);
if (!pyobject_@(function_name)) {
// previously added objects will be removed when the module is destroyed
return -1;
}
err = PyModule_AddObject(
pymodule,
"@(function_name)_action__@('__'.join(action.structure_type.namespaces[1:] + [type_name]))",
"@(function_name)_action__@('__'.join(action.namespaced_type.namespaces[1:] + [type_name]))",
pyobject_@(function_name));
if (err) {
// the created capsule needs to be decremented
Expand Down
6 changes: 3 additions & 3 deletions rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ static struct PyModuleDef @(package_name)__module = {
@{
TEMPLATE(
'_msg_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=message.structure.type, message=message,
package_name=package_name, idl_type=message.structure.namespaced_type, message=message,
typesupport_impl=typesupport_impl, include_directives=include_directives,
register_functions=register_functions)
}@
Expand All @@ -60,7 +60,7 @@ from rosidl_parser.definition import Service
@{
TEMPLATE(
'_srv_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=service.structure_type,
package_name=package_name, idl_type=service.namespaced_type,
service=service, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand All @@ -78,7 +78,7 @@ from rosidl_parser.definition import Action
@{
TEMPLATE(
'_action_pkg_typesupport_entry_point.c.em',
package_name=package_name, idl_type=action.structure_type,
package_name=package_name, idl_type=action.namespaced_type,
action=action, typesupport_impl=typesupport_impl,
include_directives=include_directives,
register_functions=register_functions)
Expand Down
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