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[rosidl] Ensure *_defs data is added to *_py and *_cc targets #305

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Oct 27, 2023
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[rosidl] Ensure *_defs data is added to *_py and *_cc targets #305

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57 changes: 47 additions & 10 deletions bazel_ros2_rules/ros2/rosidl.bzl
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Original file line number Diff line number Diff line change
Expand Up @@ -399,6 +399,7 @@ def rosidl_c_library(
group,
interfaces,
includes = [],
data = [],
deps = [],
cc_library_rule = native.cc_library,
**kwargs):
Expand All @@ -411,6 +412,7 @@ def rosidl_c_library(
interfaces: interface definition files, only files are allowed
includes: optional interface definition includes, both files and
filegroups are allowed.
data: optional data dependencies.
deps: optional library dependencies.
cc_library_rule: optional cc_library() rule override.

Expand Down Expand Up @@ -460,6 +462,7 @@ def rosidl_c_library(
srcs = generated_c_sources,
hdrs = generated_c_headers,
includes = [include],
data = data,
deps = deps,
**kwargs
)
Expand All @@ -469,6 +472,7 @@ def rosidl_cc_library(
group,
interfaces,
includes = [],
data = [],
deps = [],
cc_library_rule = native.cc_library,
**kwargs):
Expand All @@ -480,6 +484,7 @@ def rosidl_cc_library(
group: interface group name (i.e. ROS 2 package name).
interfaces: interface definition files.
includes: optional interface definition includes.
data: optional data dependencies.
deps: optional library dependencies.
cc_library_rule: optional cc_library() rule override.

Expand Down Expand Up @@ -518,6 +523,7 @@ def rosidl_cc_library(
name = name,
hdrs = generated_cc_headers,
includes = [include],
data = data,
deps = deps + [
REPOSITORY_ROOT + ":rosidl_runtime_cpp_cc",
],
Expand All @@ -533,6 +539,7 @@ def rosidl_py_library(
interfaces,
typesupports,
includes = [],
data = [],
c_deps = [],
py_deps = [],
cc_binary_rule = native.cc_binary,
Expand All @@ -550,6 +557,7 @@ def rosidl_py_library(
C typesupport libraries, from typesupport name to
library target label.
includes: optional interface definition includes.
data: optional data dependencies.
c_deps: optional Python C extension dependencies.
py_deps: optional Python dependencies.
cc_binary_rule: optional cc_binary() rule override.
Expand Down Expand Up @@ -637,7 +645,7 @@ def rosidl_py_library(
name = name,
srcs = generated_py_sources,
imports = [import_],
data = py_data,
data = data + py_data,
deps = py_deps,
**kwargs
)
Expand All @@ -647,6 +655,7 @@ def rosidl_typesupport_fastrtps_cc_library(
group,
interfaces,
includes = [],
data = [],
deps = [],
cc_binary_rule = native.cc_binary,
cc_library_rule = native.cc_library,
Expand All @@ -659,6 +668,7 @@ def rosidl_typesupport_fastrtps_cc_library(
group: interface group name (i.e. ROS 2 package name).
interfaces: interface definition files.
includes: optional interface definition includes.
data: optional data dependencies.
deps: optional library dependencies.
cc_binary_rule: optional cc_binary() rule override.
cc_library_rule: optional cc_library() rule override.
Expand Down Expand Up @@ -702,6 +712,7 @@ def rosidl_typesupport_fastrtps_cc_library(
cc_binary_rule(
name = name,
srcs = generated_cc_sources,
data = data,
deps = deps + [
_make_private_label(name, "_hdrs"),
REPOSITORY_ROOT + ":fastcdr_cc",
Expand All @@ -719,6 +730,7 @@ def rosidl_typesupport_fastrtps_c_library(
group,
interfaces,
includes = [],
data = [],
deps = [],
cc_binary_rule = native.cc_binary,
cc_library_rule = native.cc_library,
Expand All @@ -731,6 +743,7 @@ def rosidl_typesupport_fastrtps_c_library(
group: interface group name (i.e. ROS 2 package name).
interfaces: interface definition files.
includes: optional interface definition includes.
data: optional data dependencies.
deps: optional library dependencies.
cc_binary_rule: optional cc_binary() rule override.
cc_library_rule: optional cc_library() rule override.
Expand Down Expand Up @@ -775,6 +788,7 @@ def rosidl_typesupport_fastrtps_c_library(
name = name,
srcs = generated_c_sources,
linkshared = True,
data = data,
deps = deps + [
_make_private_label(name, "_hdrs"),
REPOSITORY_ROOT + ":fastcdr_cc",
Expand All @@ -792,6 +806,7 @@ def rosidl_typesupport_introspection_c_library(
group,
interfaces,
includes = [],
data = [],
deps = [],
cc_binary_rule = native.cc_binary,
cc_library_rule = native.cc_library,
Expand All @@ -804,6 +819,7 @@ def rosidl_typesupport_introspection_c_library(
group: interface group name (i.e. ROS 2 package name).
interfaces: interface definition files.
includes: optional interface definition includes.
data: optional data dependencies.
deps: optional library dependencies.
cc_binary_rule: optional cc_binary() rule override.
cc_library_rule: optional cc_library() rule override.
Expand Down Expand Up @@ -849,6 +865,7 @@ def rosidl_typesupport_introspection_c_library(
name = name,
srcs = generated_c_sources,
linkshared = True,
data = data,
deps = deps + [
_make_private_label(name, "_hdrs"),
REPOSITORY_ROOT + ":rosidl_typesupport_introspection_c_cc",
Expand All @@ -861,6 +878,7 @@ def rosidl_typesupport_introspection_cc_library(
group,
interfaces,
includes = [],
data = [],
deps = [],
cc_binary_rule = native.cc_binary,
cc_library_rule = native.cc_library,
Expand All @@ -873,6 +891,7 @@ def rosidl_typesupport_introspection_cc_library(
group: interface group name (i.e. ROS 2 package name).
interfaces: interface definition files.
includes: optional interface definition includes.
data: optional data dependencies.
deps: optional library dependencies.
cc_binary_rule: optional cc_binary() rule override.
cc_library_rule: optional cc_library() rule override.
Expand Down Expand Up @@ -918,6 +937,7 @@ def rosidl_typesupport_introspection_cc_library(
name = name,
srcs = generated_cc_sources,
linkshared = True,
data = data,
deps = deps + [
_make_private_label(name, "_hdrs"),
REPOSITORY_ROOT + ":rosidl_runtime_c_cc",
Expand All @@ -934,6 +954,7 @@ def rosidl_typesupport_c_library(
interfaces,
typesupports,
includes = [],
data = [],
deps = [],
cc_binary_rule = native.cc_binary,
**kwargs):
Expand All @@ -948,6 +969,7 @@ def rosidl_typesupport_c_library(
C typesupport libraries, from typesupport name to
library target label.
includes: optional interface definition includes
data: optional data dependencies
deps: optional library dependencies
cc_binary_rule: optional cc_binary() rule override

Expand Down Expand Up @@ -982,7 +1004,7 @@ def rosidl_typesupport_c_library(
srcs = generated_sources,
includes = [include],
linkshared = True,
data = typesupports.values(),
data = data + typesupports.values(),
deps = deps + [
_make_private_label(label, "_hdrs")
for label in typesupports.values()
Expand All @@ -1000,6 +1022,7 @@ def rosidl_typesupport_cc_library(
interfaces,
typesupports,
includes = [],
data = [],
deps = [],
cc_binary_rule = native.cc_binary,
**kwargs):
Expand All @@ -1014,6 +1037,7 @@ def rosidl_typesupport_cc_library(
C++ typesupport libraries, from typesupport name to
library target label.
includes: optional interface definition includes
data: optional data dependencies
deps: optional library dependencies
cc_binary_rule: optional cc_binary() rule override

Expand Down Expand Up @@ -1044,7 +1068,7 @@ def rosidl_typesupport_cc_library(
cc_binary_rule(
name = name,
srcs = generated_cc_sources,
data = typesupports.values(),
data = data + typesupports.values(),
includes = [include],
linkshared = True,
deps = deps + [
Expand All @@ -1062,6 +1086,7 @@ def rosidl_typesupport_cc_library(
def rosidl_cc_support(
name,
interfaces,
data,
deps,
group = None,
cc_binary_rule = native.cc_binary,
Expand All @@ -1075,6 +1100,7 @@ def rosidl_cc_support(
Args:
name: interface group name, used as prefix for target names
interfaces: interface definition files
data: optional data dependencies
deps: optional interface group dependencies
group: optional interface group name override, useful when
target name cannot be forced to match the intended package
Expand Down Expand Up @@ -1158,6 +1184,7 @@ def rosidl_cc_support(
srcs = [
_make_public_label(name, "__rosidl_typesupport_cpp"),
] + typesupports.values(),
data = data,
deps = [_make_private_label(name, "__rosidl_cpp")],
linkstatic = True,
**kwargs
Expand All @@ -1166,6 +1193,7 @@ def rosidl_cc_support(
def rosidl_py_support(
name,
interfaces,
data,
deps,
group = None,
cc_binary_rule = native.cc_binary,
Expand All @@ -1180,6 +1208,7 @@ def rosidl_py_support(
Args:
name: interface group name, used as prefix for target names
interfaces: interface definition files
data: optional data dependencies
deps: optional interface group dependencies
group: optional interface group name override, useful when
target name cannot be forced to match the intended package
Expand Down Expand Up @@ -1277,6 +1306,7 @@ def rosidl_py_support(
group = group or name,
interfaces = interfaces,
includes = [_make_public_label(dep, "_defs") for dep in deps],
data = data,
py_deps = [_make_public_label(dep, "_py") for dep in deps],
c_deps = [_make_public_label(name, "_c")] + [
_make_public_label(dep, "_c")
Expand All @@ -1291,6 +1321,7 @@ def rosidl_py_support(
def rosidl_interfaces_group(
name,
interfaces,
data = [],
deps = [],
group = None,
cc_binary_rule = native.cc_binary,
Expand All @@ -1306,6 +1337,7 @@ def rosidl_interfaces_group(
Args:
name: interface group name, used as prefix for target names
interfaces: interface definition files
data: optional data dependencies
deps: optional interface group dependencies
group: optional interface group name override, useful when
target name cannot be forced to match the intended package
Expand All @@ -1328,8 +1360,11 @@ def rosidl_interfaces_group(
if group != None:
name = group

defs_name = _make_public_name(name, "_defs")
data = data + [defs_name]

rosidl_definitions_filegroup(
name = _make_public_name(name, "_defs"),
name = defs_name,
group = group or name,
interfaces = interfaces,
includes = [_make_public_label(dep, "_defs") for dep in deps],
Expand All @@ -1338,19 +1373,21 @@ def rosidl_interfaces_group(

rosidl_cc_support(
name,
interfaces,
deps,
group,
interfaces = interfaces,
data = data,
deps = deps,
group = group,
cc_binary_rule = cc_binary_rule,
cc_library_rule = cc_library_rule,
**kwargs
)

rosidl_py_support(
name,
interfaces,
deps,
group,
interfaces = interfaces,
data = data,
deps = deps,
group = group,
cc_binary_rule = cc_binary_rule,
cc_library_rule = cc_library_rule,
py_library_rule = py_library_rule,
Expand Down
11 changes: 8 additions & 3 deletions bazel_ros2_rules/ros2/tools/dload.bzl
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Expand Up @@ -102,11 +102,16 @@ def do_dload_shim(ctx, template, to_list):
env_changes["AMENT_PREFIX_PATH"] = ["path-prepend"]
if env_changes["AMENT_PREFIX_PATH"][0] != "path-prepend":
fail("failed assumption - AMENT_PREFIX_PATH was not prepended to")
env_changes["AMENT_PREFIX_PATH"].extend(
ctx.attr.target[AggregatedAmentIndexes].prefixes,
)
ament_prefixes = ctx.attr.target[AggregatedAmentIndexes].prefixes

# Deduplicate entries to avoid hitting 'Argument list too long' errors.
ament_prefixes = depset(ament_prefixes).to_list()
env_changes["AMENT_PREFIX_PATH"].extend(ament_prefixes)

envvars = env_changes.keys()

# TODO(eric.cousineau): Should deduplicate entries for path-prepend and
# path-append.
actions = env_changes.values()

shim_content = template.format(
Expand Down
7 changes: 4 additions & 3 deletions ros2_example_bazel_installed/ros2_example_apps/BUILD.bazel
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Expand Up @@ -227,11 +227,12 @@ ros_py_test(
srcs = ["test/custom_message_list_test.py"],
data = [
# This is the main key. You must provide the generated definitions as
# a dependency. It can come through data as is done here, or via any
# dependency, such as the C++ (*_cc) or Python (*_py) targets.
# a dependency. It can come through data such as the C++ (*_cc) or
# Python (*_py) targets as is done here, or directly via the
# definitions targets (*_defs).
# Otherwise, `ros2 interface ...` will indicate the message type is
# invalid.
":ros2_example_apps_msgs_defs",
":ros2_example_apps_msgs_py",
"@ros2",
],
main = "test/custom_message_list_test.py",
Expand Down
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