Support available typesupport specification in CLI extension

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

Author: hidmic

rosidl_generator_py/rosidl_generator_py/cli.py

@@ -26,6 +26,14 @@
 
 class GeneratePython(GenerateCommandExtension):
 
+    def __init__(self, name, *, typesupport_implementations=None, **kwargs):
+        super().__init__(name, **kwargs)
+        if typesupport_implementations is None:
+            typesupport_implementations = ['rosidl_typesupport_c']
+            typesupport_implementations.extend(
+                get_resources('rosidl_typesupport_c'))
+        self.__typesupport_implementations = typesupport_implementations
+
     def generate(
         self,
         package_name,
@@ -55,10 +63,6 @@ def generate(
             ))
 
         # Generate code
-        typesupport_implementations = ['rosidl_typesupport_c']
-        typesupport_implementations.extend(
-            get_resources('rosidl_typesupport_c')
-        )
         with legacy_generator_arguments_file(
             package_name=package_name,
             interface_files=idl_interface_files,
@@ -68,4 +72,4 @@ def generate(
         ) as path_to_arguments_file:
             return generate_py(
                 path_to_arguments_file,
-                typesupport_implementations)
+                self.__typesupport_implementations)

rosidl_generator_py/test/test_cli_extension.py

@@ -23,6 +23,6 @@ def test_cli_extension_for_smoke(tmp_path):
     generate(
         package_name='rosidl_generator_py',
         interface_files=[PACKAGE_DIR + ':msg/StringArrays.msg'],
-        types=['py'],
+        types=['py[typesupport_implementations:[rosidl_typesupport_c]]'],
         output_path=tmp_path
     )