Expose .msg/.srv/.action to .idl conversion via rosidl translate CLI (#576)

Signed-off-by: Michel Hidalgo <[email protected]>

Author: hidmic

rosidl_adapter/CMakeLists.txt

@@ -8,8 +8,10 @@ find_package(ament_cmake_python REQUIRED)
 ament_python_install_package(${PROJECT_NAME})
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(pytest test)
 endif()
 
 ament_package(
@@ -25,8 +27,3 @@ install(PROGRAMS
   scripts/msg2idl.py
   scripts/srv2idl.py
   DESTINATION lib/${PROJECT_NAME})
-
-if(BUILD_TESTING)
-  find_package(ament_cmake_pytest REQUIRED)
-  ament_add_pytest_test(pytest test)
-endif()

rosidl_adapter/package.xml

@@ -14,6 +14,7 @@
   <build_depend>ament_cmake</build_depend>
 
   <exec_depend>python3-empy</exec_depend>
+  <exec_depend>rosidl_cli</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_common</test_depend>

rosidl_adapter/rosidl_adapter/action/__init__.py

@@ -32,7 +32,7 @@ def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
     print(f'Writing output file: {abs_output_file}')
     data = {
         'pkg_name': package_name,
-        'relative_input_file': input_file,
+        'relative_input_file': input_file.as_posix(),
         'action': action,
     }
 

rosidl_adapter/rosidl_adapter/cli.py

@@ -19,6 +19,13 @@
 from catkin_pkg.package import package_exists_at
 from catkin_pkg.package import parse_package
 
+from rosidl_adapter.action import convert_action_to_idl
+from rosidl_adapter.msg import convert_msg_to_idl
+from rosidl_adapter.srv import convert_srv_to_idl
+
+from rosidl_cli.command.helpers import interface_path_as_tuple
+from rosidl_cli.command.translate.extensions import TranslateCommandExtension
+
 
 def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
     parser = argparse.ArgumentParser(
@@ -48,3 +55,54 @@ def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
             package_dir, pkg.name,
             interface_file.absolute().relative_to(package_dir),
             interface_file.parent)
+
+
+class TranslateToIDL(TranslateCommandExtension):
+
+    output_format = 'idl'
+
+    def translate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        translated_interface_files = []
+        for interface_file in interface_files:
+            prefix, interface_file = interface_path_as_tuple(interface_file)
+            output_dir = output_path / interface_file.parent
+            translated_interface_file = self.conversion_function(
+                prefix, package_name, interface_file, output_dir)
+            translated_interface_file = \
+                translated_interface_file.relative_to(output_path)
+            translated_interface_files.append(
+                f'{output_path}:{translated_interface_file.as_posix()}'
+            )
+        return translated_interface_files
+
+
+class TranslateMsgToIDL(TranslateToIDL):
+
+    input_format = 'msg'
+
+    @property
+    def conversion_function(self):
+        return convert_msg_to_idl
+
+
+class TranslateSrvToIDL(TranslateToIDL):
+
+    input_format = 'srv'
+
+    @property
+    def conversion_function(self):
+        return convert_srv_to_idl
+
+
+class TranslateActionToIDL(TranslateToIDL):
+    input_format = 'action'
+
+    @property
+    def conversion_function(self):
+        return convert_action_to_idl

rosidl_adapter/rosidl_adapter/msg/__init__.py

@@ -32,7 +32,7 @@ def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
     print(f'Writing output file: {abs_output_file}')
     data = {
         'pkg_name': package_name,
-        'relative_input_file': input_file,
+        'relative_input_file': input_file.as_posix(),
         'msg': msg,
     }
 

rosidl_adapter/rosidl_adapter/srv/__init__.py

@@ -32,7 +32,7 @@ def convert_srv_to_idl(package_dir, package_name, input_file, output_dir):
     print(f'Writing output file: {abs_output_file}')
     data = {
         'pkg_name': package_name,
-        'relative_input_file': input_file,
+        'relative_input_file': input_file.as_posix(),
         'srv': srv,
     }
 

rosidl_adapter/setup.cfg

@@ -0,0 +1,5 @@
+[options.entry_points]
+rosidl_cli.command.translate.extensions =
+  msg2idl = rosidl_adapter.cli:TranslateMsgToIDL
+  srv2idl = rosidl_adapter.cli:TranslateSrvToIDL
+  action2idl = rosidl_adapter.cli:TranslateActionToIDL

rosidl_adapter/test/data/action/Test.action

@@ -0,0 +1,21 @@
+# goal definition
+bool bool_value
+byte byte_value
+char char_value
+float32 float32_value
+float64 float64_value
+int8 int8_value
+uint8 uint8_value
+int16 int16_value
+uint16 uint16_value
+int32 int32_value
+uint32 uint32_value
+int64 int64_value
+uint64 uint64_value
+string string_value
+---
+# result definition
+bool ok
+---
+# feedback definition
+int32[] sequence

rosidl_adapter/test/data/action/Test.expected.idl

@@ -0,0 +1,50 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from test_msgs/action/Test.action
+// generated code does not contain a copyright notice
+
+
+module test_msgs {
+  module action {
+    @verbatim (language="comment", text=
+      " goal definition")
+    struct Test_Goal {
+      boolean bool_value;
+
+      octet byte_value;
+
+      uint8 char_value;
+
+      float float32_value;
+
+      double float64_value;
+
+      int8 int8_value;
+
+      uint8 uint8_value;
+
+      int16 int16_value;
+
+      uint16 uint16_value;
+
+      int32 int32_value;
+
+      uint32 uint32_value;
+
+      int64 int64_value;
+
+      uint64 uint64_value;
+
+      string string_value;
+    };
+    struct Test_Result {
+      @verbatim (language="comment", text=
+        " result definition")
+      boolean ok;
+    };
+    struct Test_Feedback {
+      @verbatim (language="comment", text=
+        " feedback definition")
+      sequence<int32> sequence;
+    };
+  };
+};

rosidl_adapter/test/data/msg/Test.expected.idl

@@ -0,0 +1,36 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from test_msgs/msg/Test.msg
+// generated code does not contain a copyright notice
+
+
+module test_msgs {
+  module msg {
+    struct Test {
+      boolean bool_value;
+
+      octet byte_value;
+
+      uint8 char_value;
+
+      float float32_value;
+
+      double float64_value;
+
+      int8 int8_value;
+
+      uint8 uint8_value;
+
+      int16 int16_value;
+
+      uint16 uint16_value;
+
+      int32 int32_value;
+
+      uint32 uint32_value;
+
+      int64 int64_value;
+
+      uint64 uint64_value;
+    };
+  };
+};