Support available typesupport specification in CLI extensions

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

Author: hidmic

rosidl_typesupport_c/rosidl_typesupport_c/cli.py

@@ -27,6 +27,13 @@
 
 class GenerateCTypesupport(GenerateCommandExtension):
 
+    def __init__(self, name, *, typesupport_implementations=None):
+        super().__init__(name)
+        if typesupport_implementations is None:
+            typesupport_implementations = list(
+                get_resources('rosidl_typesupport_c'))
+        self.__typesupport_implementations = typesupport_implementations
+
     def generate(
         self,
         package_name,
@@ -76,9 +83,6 @@ def generate(
         generated_files.append(visibility_control_file_path)
 
         # Generate typesupport code
-        typesupport_implementations = list(
-            get_resources('rosidl_typesupport_c'))
-
         with legacy_generator_arguments_file(
             package_name=package_name,
             interface_files=idl_interface_files,
@@ -88,7 +92,7 @@ def generate(
         ) as path_to_arguments_file:
             generated_files.extend(generate_c(
                 path_to_arguments_file,
-                typesupport_implementations
+                self.__typesupport_implementations
             ))
 
         return generated_files

rosidl_typesupport_c/test/test_cli_extension.py

@@ -14,15 +14,19 @@
 
 import pathlib
 
+from ament_index_python import get_resources
 from rosidl_cli.command.generate.api import generate
 
 TEST_DIR = str(pathlib.Path(__file__).parent)
 
 
 def test_cli_extension_for_smoke(tmp_path):
+    ts = 'c[typesupport_implementations:{}]'.format(
+        list(get_resources('rosidl_typesupport_c'))
+    )
     generate(
         package_name='rosidl_typesupport_c',
         interface_files=[TEST_DIR + ':msg/Test.msg'],
-        typesupports=['c'],
+        typesupports=[ts],
         output_path=tmp_path
     )

rosidl_typesupport_cpp/rosidl_typesupport_cpp/cli.py

@@ -26,6 +26,13 @@
 
 class GenerateCppTypesupport(GenerateCommandExtension):
 
+    def __init__(self, name, *, typesupport_implementations=None):
+        super().__init__(name)
+        if typesupport_implementations is None:
+            typesupport_implementations = list(
+                get_resources('rosidl_typesupport_cpp'))
+        self.__typesupport_implementations = typesupport_implementations
+
     def generate(
         self,
         package_name,
@@ -56,9 +63,6 @@ def generate(
             ))
 
         # Generate typesupport code
-        typesupport_implementations = list(
-            get_resources('rosidl_typesupport_cpp'))
-
         with legacy_generator_arguments_file(
             package_name=package_name,
             interface_files=idl_interface_files,
@@ -68,5 +72,5 @@ def generate(
         ) as path_to_arguments_file:
             return generate_cpp(
                 path_to_arguments_file,
-                typesupport_implementations
+                self.__typesupport_implementations
             )

rosidl_typesupport_cpp/test/test_cli_extension.py

@@ -14,15 +14,19 @@
 
 import pathlib
 
+from ament_index_python import get_resources
 from rosidl_cli.command.generate.api import generate
 
 TEST_DIR = str(pathlib.Path(__file__).parent)
 
 
 def test_cli_extension_for_smoke(tmp_path):
+    ts = 'cpp[typesupport_implementations:{}]'.format(
+        list(get_resources('rosidl_typesupport_cpp'))
+    )
     generate(
         package_name='rosidl_typesupport_cpp',
         interface_files=[TEST_DIR + ':msg/Test.msg'],
-        typesupports=['cpp'],
+        typesupports=[ts],
         output_path=tmp_path
     )