Add rosidl_generator_cpp templates for actions (#312)

* Defined rosidl_generator_cpp templates for actions

* Removed unneeded includes in action.hpp.em

* Added logic bits for ActionSpecation

* Fixed action.hpp.em template

* Added support for action files in rosidl_generator_c

* Updates parse_action_string() use case within rosidl_actions.

* Recovering rosidl_generate_action_interfaces

* Deduplicate action target names

* call rosidl_generate_action_interfaces()

* Pass package dependencies to action generation

* Full action pipeline builds for C and C++

* Line length

* Two blank lines between top level definitions

* parse_action_string returns ActionSpecification

* rosidl_generator_cpp creates CMake target instead of library for actions

* rosidl_generator_c creates target for actions not library

* Add builtin_interfaces dep

* Fix more hardcoded stuff

* msg and serv don't depend on action templates

* Addressed peer review comments

* Install visibility file

* Macro to make sure _AMENT variables are set in global scope

* Fix copy paste error in target name variable

rosidl_actions/rosidl_actions/__init__.py

@@ -26,13 +26,13 @@ def generate_msg_and_srv(generator_arguments_file):
         extension = os.path.splitext(ros_interface_file)[1]
         subfolder = os.path.basename(os.path.dirname(ros_interface_file))
         if extension == '.action':
-            services, message = parse_action_file(args['package_name'], ros_interface_file)
+            action = parse_action_file(args['package_name'], ros_interface_file)
 
             # create folder if necessary
             os.makedirs(os.path.join(args['output_dir'], subfolder), exist_ok=True)
 
             generated_folder = os.path.join(args['output_dir'], subfolder)
-            for service in services:
+            for service in action.services:
                 srv_file = os.path.join(generated_folder, service.srv_name + '.srv')
                 req_file = os.path.join(generated_folder, service.srv_name + '_Request.msg')
                 rsp_file = os.path.join(generated_folder, service.srv_name + '_Response.msg')
@@ -43,6 +43,7 @@ def generate_msg_and_srv(generator_arguments_file):
                 with open(rsp_file, 'w+') as fout:
                     fout.write(str(service.response))
 
-            generated_file = os.path.join(args['output_dir'], subfolder, message.msg_name + '.msg')
+            generated_file = os.path.join(
+                args['output_dir'], subfolder, action.feedback.msg_name + '.msg')
             with open(generated_file, 'w+') as fout:
-                fout.write(str(message))
+                fout.write(str(action.feedback))

rosidl_cmake/cmake/rosidl_generate_action_interfaces.cmake

@@ -0,0 +1,93 @@
+# Copyright 2018 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.
+
+# Generate Interfaces for Actions
+#
+# This executes the extension point ``rosidl_generate_action_interfaces``.
+# An extension of this type should expect a list of `.action` files and
+# generate new files in response.
+# Extensions should create a target that generates the files with the input
+# `.action` file as a dependency.
+#
+# :param target: the _name of the generation target,
+#   specific generators might use the _name as a prefix for their own
+#   generation step
+# :type target: string
+# :param ARGN: a list of include directories where each value might
+#   be either an absolute path or path relative to the
+#   CMAKE_INSTALL_PREFIX.
+# :type ARGN: list of strings
+# :param DEPENDENCY_PACKAGE_NAMES: Packages with interface files generation
+# should depend on
+# :type DEPENDENCY_PACKAGE_NAMES: list of strings
+# :param TARGET_DEPENDENCIES: cmake targets or files the generated target
+#   should depend on
+# :type TARGET_DEPENDENCIES: list of strings
+# :param LIBRARY_NAME: the base name of the library, specific generators might
+#   append their own suffix
+# :type LIBRARY_NAME: string
+# :param SKIP_INSTALL: if set skip installing the interface files
+# :type SKIP_INSTALL: option
+# :param ADD_LINTER_TESTS: if set lint the interface files using
+#   the ``ament_lint`` package
+# :type ADD_LINTER_TESTS: option
+#
+# @public
+#
+macro(rosidl_generate_action_interfaces target)
+  cmake_parse_arguments(_ARG_RGAI
+    "ADD_LINTER_TESTS;SKIP_INSTALL"
+    "LIBRARY_NAME" "TARGET_DEPENDENCIES"
+    ${ARGN})
+  if(NOT _ARG_RGAI_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "rosidl_generate_action_interfaces() called without any idl "
+      "files")
+  endif()
+
+  set(_rgai_idl_files ${_ARG_RGAI_UNPARSED_ARGUMENTS})
+
+  # Create a custom target
+  set(_rgai_sub_target "${target}+generate_action_interfaces")
+  add_custom_target(
+    ${_rgai_sub_target} ALL
+    DEPENDS
+    ${_rgai_idl_files}
+    ${_ARG_RGAI_TARGET_DEPENDENCIES}
+    SOURCES
+    ${_rgai_idl_files}
+  )
+
+  # downstream packages need to depend on action_msgs for cancel and status messages
+  list_append_unique(_ARG_RGAI_DEPENDENCY_PACKAGE_NAMES "action_msgs")
+  # downstream packages need to depend on builtin_interfaces for builtin_interfaces/Time
+  list_append_unique(_ARG_RGAI_DEPENDENCY_PACKAGE_NAMES "builtin_interfaces")
+  ament_export_dependencies(action_msgs)
+  ament_export_dependencies(builtin_interfaces)
+
+  # A target name that generators may want to use to prefix their own target names
+  set(rosidl_generate_action_interfaces_TARGET ${target})
+  # Give extensions a list of .action files to generate interfaces from
+  set(rosidl_generate_action_interfaces_IDL_FILES ${_rgai_idl_files})
+  # TODO(sloretz) Where is LIBRARY_NAME used?
+  set(rosidl_generate_action_interfaces_LIBRARY_NAME ${_ARG_RGAI_LIBRARY_NAME})
+  # If true the extension should not install anything it generates
+  set(rosidl_generate_action_interfaces_SKIP_INSTALL ${_ARG_RGAI_SKIP_INSTALL})
+  # If true the extension should create tests for language specific linters
+  set(rosidl_generate_action_interfaces_ADD_LINTER_TESTS ${_ARG_RGAI_ADD_LINTER_TESTS})
+  # Packages that generated code should depend on
+  set(rosidl_generate_action_interfaces_DEPENDENCY_PACKAGE_NAMES ${_ARG_RGAI_DEPENDENCY_PACKAGE_NAMES})
+  ament_execute_extensions("rosidl_generate_action_interfaces")
+
+  add_dependencies(${target} ${_rgai_sub_target})
+endmacro()

rosidl_cmake/cmake/rosidl_generate_interfaces.cmake

@@ -207,6 +207,32 @@ macro(rosidl_generate_interfaces target)
   set(rosidl_generate_interfaces_ADD_LINTER_TESTS ${_ARG_ADD_LINTER_TESTS})
   ament_execute_extensions("rosidl_generate_interfaces")
 
+  if(_action_files)
+    # Invoke generation for `.action` files
+    set(_skip_install "")
+    if(_ARG_SKIP_INSTALL)
+      set(_skip_install "SKIP_INSTALL")
+    endif()
+    set(_add_linter_tests "")
+    if(_ARG_ADD_LINTER_TESTS)
+      set(_add_linter_tests "ADD_LINTER_TESTS")
+    endif()
+    set(_library_name "")
+    if(_ARG_LIBRARY_NAME)
+      set(_library_name "LIBRARY ${_ARG_LIBRARY_NAME}")
+    endif()
+    set(_pkg_depends "")
+    if(_recursive_dependencies)
+      set(_pkg_depends "DEPENDENCY_PACKAGE_NAMES ${_recursive_dependencies}")
+    endif()
+    rosidl_generate_action_interfaces(${target}
+      ${_skip_install}
+      ${_add_linter_tests}
+      ${_library_name}
+      ${_action_files}
+    )
+  endif()
+
   if(NOT _ARG_SKIP_INSTALL)
     # install interface files to subfolders based on their extension
     foreach(_idl_file ${_idl_files})

rosidl_cmake/rosidl_cmake-extras.cmake

@@ -28,6 +28,7 @@ macro(_rosidl_cmake_register_package_hook)
 endmacro()
 
 include("${rosidl_cmake_DIR}/rosidl_convert_actions_to_msg_and_srv.cmake")
+include("${rosidl_cmake_DIR}/rosidl_generate_action_interfaces.cmake")
 include("${rosidl_cmake_DIR}/rosidl_generate_interfaces.cmake")
 include("${rosidl_cmake_DIR}/rosidl_identify_action_idls.cmake")
 include("${rosidl_cmake_DIR}/rosidl_target_interfaces.cmake")

rosidl_generator_c/cmake/register_c.cmake

@@ -19,6 +19,11 @@ macro(rosidl_generator_c_extras BIN GENERATOR_FILES TEMPLATE_DIR)
     "rosidl_generator_c"
     "rosidl_generator_c_generate_interfaces.cmake")
 
+  ament_register_extension(
+    "rosidl_generate_action_interfaces"
+    "rosidl_generator_c"
+    "rosidl_generator_c_generate_action_interfaces.cmake")
+
   normalize_path(BIN "${BIN}")
   set(rosidl_generator_c_BIN "${BIN}")
 

rosidl_generator_c/cmake/rosidl_generator_c_generate_action_interfaces.cmake

@@ -0,0 +1,150 @@
+# Copyright 2018 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.
+
+set(_output_path
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c/${PROJECT_NAME}")
+set(_generated_files "")
+
+foreach(_idl_file ${rosidl_generate_action_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  if(_extension STREQUAL ".action")
+    set(_allowed_parent_folders "action")
+    if(NOT _parent_folder IN_LIST _allowed_parent_folders)
+      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+    endif()
+  else()
+    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
+  endif()
+  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
+  list(APPEND _generated_files
+    "${_output_path}/${_parent_folder}/${_header_name}.h"
+    "${_output_path}/${_parent_folder}/${_header_name}__type_support.h"
+  )
+endforeach()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_action_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  if(_extension STREQUAL ".msg")
+    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
+    normalize_path(_abs_idl_file "${_abs_idl_file}")
+    list(APPEND _dependency_files "${_abs_idl_file}")
+    list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
+  endif()
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_generator_c_BIN}"
+  ${rosidl_generator_c_GENERATOR_FILES}
+  "${rosidl_generator_c_TEMPLATE_DIR}/action.h.em"
+  "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.h.em"
+  ${rosidl_generate_action_interfaces_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    get_property(is_generated SOURCE "${dep}" PROPERTY GENERATED)
+    if(NOT ${_is_generated})
+      message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+    endif()
+  endif()
+endforeach()
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__generate_action_interfaces__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_action_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_generator_c_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+)
+
+add_custom_command(
+  OUTPUT ${_generated_files}
+  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_c_BIN}
+  --generator-arguments-file "${generator_arguments_file}"
+  DEPENDS ${target_dependencies}
+  COMMENT "Generating C++ type support dispatch for ROS interfaces"
+  VERBATIM
+)
+
+# generate header to switch between export and import for a specific package
+set(_visibility_control_file
+  "${_output_path}/action/rosidl_generator_c__visibility_control.h")
+string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
+configure_file(
+  "${rosidl_generator_c_TEMPLATE_DIR}/rosidl_generator_c__action_visibility_control.h.in"
+  "${_visibility_control_file}"
+  @ONLY
+)
+list(APPEND _generated_files ${_visibility_control_file})
+
+set(_target_suffix "__c__actions")
+
+if(TARGET ${rosidl_generate_action_interfaces_TARGET}${_target_suffix})
+  message(WARNING "Custom target ${rosidl_generate_action_interfaces_TARGET}${_target_suffix} already exists")
+else()
+  add_custom_target(
+    ${rosidl_generate_action_interfaces_TARGET}${_target_suffix}
+    DEPENDS
+    ${_generated_files}
+  )
+endif()
+
+add_dependencies(
+  ${rosidl_generate_action_interfaces_TARGET}
+  ${rosidl_generate_action_interfaces_TARGET}${_target_suffix}
+)
+
+if(NOT rosidl_generate_action_interfaces_SKIP_INSTALL)
+  if(NOT _generated_files STREQUAL "")
+    install(
+      FILES ${_generated_files}
+      DESTINATION "include/${PROJECT_NAME}/action"
+    )
+  endif()
+  ament_export_include_directories(include)
+endif()
+
+if(BUILD_TESTING AND rosidl_generate_action_interfaces_ADD_LINTER_TESTS)
+  if(NOT _generated_files STREQUAL "")
+    find_package(ament_cmake_cppcheck REQUIRED)
+    ament_cppcheck(
+      TESTNAME "cppcheck_rosidl_generator_c_generate_action_interfaces"
+      "${_output_path}")
+
+    find_package(ament_cmake_cpplint REQUIRED)
+    get_filename_component(_cpplint_root "${_output_path}" DIRECTORY)
+    ament_cpplint(
+      TESTNAME "cpplint_rosidl_generator_c_generate_action_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ROOT "${_cpplint_root}"
+      "${_output_path}")
+
+    find_package(ament_cmake_uncrustify REQUIRED)
+    ament_uncrustify(
+      TESTNAME "uncrustify_rosidl_generator_c_generate_action_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      "${_output_path}")
+  endif()
+endif()

rosidl_generator_c/resource/action.h.em

@@ -0,0 +1,43 @@
+// generated from rosidl_generator_c/resource/action.h.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <action>.hp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ActionSpecification)
+@#    Parsed specification of the .action file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message, usually 'action'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.action_name) + '_h']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <action_msgs/msg/goal_info.h>
+#include <action_msgs/msg/goal_status_array.h>
+#include <action_msgs/srv/cancel_goal.h>
+
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__feedback.h>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__goal.h>
+#include <@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__result.h>
+#include "@(spec.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.action_name))__type_support.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)