Expose .idl to DDS .idl conversion via rosidl translate CLI

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

Author: hidmic

.gitignore

@@ -1 +1,3 @@
 .DS_Store
+__pycache__
+*.pyc

rosidl_generator_dds_idl/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(

rosidl_generator_dds_idl/bin/rosidl_generator_dds_idl

@@ -29,13 +29,13 @@ def main(argv=sys.argv[1:]):
         help='The Python module extending the generator')
     args = parser.parse_args(argv)
 
-    return generate_dds_idl(
+    generate_dds_idl(
         args.generator_arguments_file,
         args.subfolders,
         args.extension,
         args.additional_service_templates,
     )
-
+    return 0
 
 if __name__ == '__main__':
     sys.exit(main())

rosidl_generator_dds_idl/package.xml

@@ -13,6 +13,10 @@
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>rosidl_cli</exec_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

rosidl_generator_dds_idl/pytest.ini

@@ -0,0 +1,2 @@
+[pytest]
+junit_family=xunit2

rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py

@@ -48,8 +48,7 @@ def generate_dds_idl(
                 if hasattr(module, entity_name):
                     additional_context[entity_name] = \
                         getattr(module, entity_name)
-    generate_files(generator_arguments_file, mapping, additional_context, keep_case=True)
-    return 0
+    return generate_files(generator_arguments_file, mapping, additional_context, keep_case=True)
 
 
 # used by the template

rosidl_generator_dds_idl/rosidl_generator_dds_idl/cli.py

@@ -0,0 +1,60 @@
+# Copyright 2021 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.
+
+import pathlib
+
+from ament_index_python import get_package_share_directory
+from rosidl_cli.command.helpers import legacy_generator_arguments_file
+from rosidl_cli.command.translate.extensions import TranslateCommandExtension
+
+from rosidl_generator_dds_idl import generate_dds_idl
+
+
+class TranslateIDLToDDSIDL(TranslateCommandExtension):
+
+    input_format = 'idl'
+    output_format = 'dds_idl'
+
+    def translate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        package_share_path = pathlib.Path(
+            get_package_share_directory('rosidl_generator_dds_idl'))
+        templates_path = package_share_path / 'resource'
+
+        with legacy_generator_arguments_file(
+            package_name=package_name,
+            interface_files=interface_files,
+            include_paths=include_paths,
+            templates_path=templates_path,
+            output_path=output_path
+        ) as path_to_arguments_file:
+            generated_files = generate_dds_idl(
+                path_to_arguments_file,
+                subfolders=[],
+                extension_module_name=None,
+                additional_service_templates=[]
+            )
+        translated_interface_files = []
+        for path in generated_files:
+            path = pathlib.Path(path)
+            relative_path = path.relative_to(output_path)
+            translated_interface_files.append(
+                f'{output_path}:{relative_path.as_posix()}'
+            )
+        return translated_interface_files

rosidl_generator_dds_idl/setup.cfg

@@ -0,0 +1,3 @@
+[options.entry_points]
+rosidl_cli.command.translate.extensions =
+  idl2ddsidl = rosidl_generator_dds_idl.cli:TranslateIDLToDDSIDL

rosidl_generator_dds_idl/test/data/msg/Test.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;
+    };
+  };
+};

rosidl_generator_dds_idl/test/data/msg/Test_.expected.idl

@@ -0,0 +1,41 @@
+// generated from rosidl_generator_dds_idl/resource/idl.idl.em
+// with input from test_msgs:msg/Test.idl
+// generated code does not contain a copyright notice
+
+#ifndef __test_msgs__msg__test__idl__
+#define __test_msgs__msg__test__idl__
+
+
+module test_msgs {
+
+module msg {
+
+module dds_ {
+
+
+struct Test_ {
+boolean bool_value_;
+octet byte_value_;
+octet char_value_;
+float float32_value_;
+double float64_value_;
+octet int8_value_;
+octet uint8_value_;
+short int16_value_;
+unsigned short uint16_value_;
+long int32_value_;
+unsigned long uint32_value_;
+long long int64_value_;
+unsigned long long uint64_value_;
+
+};
+
+
+};  // module dds_
+
+};  // module msg
+
+};  // module test_msgs
+
+
+#endif  // __test_msgs__msg__test__idl__