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Service introspection #92

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merged 9 commits into from
Feb 2, 2023
Merged

Service introspection #92

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1962674
add service introspection typesupport impls
ihasdapie Aug 8, 2022
de5013d
use suffixes from rosidl_parser.definition
ihasdapie Aug 10, 2022
9c06dca
use const void* for service_introspection_message__create handle fns
ihasdapie Aug 24, 2022
3b0b662
Lint
jacobperron Oct 12, 2022
1300649
Use create/destroy event function generated in rosidl_generator_c
ivanpauno Nov 15, 2022
a7dcad2
Use common service event create/destroy function in cpp
ivanpauno Nov 15, 2022
51d7f5c
fixes
ivanpauno Nov 17, 2022
ceb8f55
please linters
ivanpauno Dec 6, 2022
e1eb8c5
fix bug
ivanpauno Dec 14, 2022
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10 changes: 10 additions & 0 deletions rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,9 @@ from rosidl_parser.definition import AbstractWString
from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
from rosidl_parser.definition import ACTION_GOAL_SUFFIX
from rosidl_parser.definition import ACTION_RESULT_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import Array
from rosidl_parser.definition import BasicType
from rosidl_parser.definition import BoundedSequence
Expand All @@ -18,6 +21,7 @@ include_parts = [package_name] + list(interface_path.parents[0].parts) + [
'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
include_base = '/'.join(include_parts)


header_files = [
'cassert',
'limits',
Expand Down Expand Up @@ -84,6 +88,12 @@ for member in message.structure.members:
keys.add('rosidl_runtime_c/u16string.h')
keys.add('rosidl_runtime_c/u16string_functions.h')
elif isinstance(type_, NamespacedType):
import sys
if (
type_.name.endswith(SERVICE_REQUEST_MESSAGE_SUFFIX) or
type_.name.endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX)
):
continue
if (
type_.name.endswith(ACTION_GOAL_SUFFIX) or
type_.name.endswith(ACTION_RESULT_SUFFIX) or
Expand Down
7 changes: 7 additions & 0 deletions rosidl_typesupport_fastrtps_c/resource/srv__rosidl_typesupport_fastrtps_c.h.em
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,13 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'msg__rosidl_typesupport_fastrtps_c.h.em',
package_name=package_name, interface_path=interface_path, message=service.event_message,
include_directives=include_directives)
}@

@{
header_files = [
'rosidl_runtime_c/service_type_support_struct.h',
Expand Down
16 changes: 16 additions & 0 deletions rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,13 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'msg__type_support_c.cpp.em',
package_name=package_name, interface_path=interface_path, message=service.event_message,
include_directives=include_directives)
}@

@{
from rosidl_pycommon import convert_camel_case_to_lower_case_underscore

Expand Down Expand Up @@ -55,6 +62,15 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {
rosidl_typesupport_fastrtps_c__identifier,
&@(service.namespaced_type.name)__callbacks,
get_service_typesupport_handle_function,
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
rosidl_typesupport_c,
@(',\n '.join(service.namespaced_type.namespaced_name()))
),
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_DESTROY_EVENT_MESSAGE_SYMBOL_NAME(
rosidl_typesupport_c,
@(',\n '.join(service.namespaced_type.namespaced_name()))
),
&_@(service.namespaced_type.name)_Event__type_support
};

const rosidl_service_type_support_t *
Expand Down
7 changes: 7 additions & 0 deletions rosidl_typesupport_fastrtps_cpp/resource/srv__rosidl_typesupport_fastrtps_cpp.hpp.em
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,13 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'msg__rosidl_typesupport_fastrtps_cpp.hpp.em',
package_name=package_name, interface_path=interface_path, message=service.event_message,
include_directives=include_directives)
}@

@{
header_files = [
'rmw/types.h',
Expand Down
28 changes: 25 additions & 3 deletions rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
@# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
@{
from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX

include_parts = [package_name] + list(interface_path.parents[0].parts) + [
'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
Expand All @@ -20,9 +22,17 @@ TEMPLATE(
include_directives=include_directives)
}@

@{
TEMPLATE(
'msg__type_support.cpp.em',
package_name=package_name, interface_path=interface_path, message=service.event_message,
include_directives=include_directives)
}@

@{
header_files = [
'rmw/error_handling.h',
'rosidl_typesupport_cpp/service_type_support.hpp',
'rosidl_typesupport_fastrtps_cpp/identifier.hpp',
'rosidl_typesupport_fastrtps_cpp/service_type_support.h',
'rosidl_typesupport_fastrtps_cpp/service_type_support_decl.hpp',
Expand All @@ -49,16 +59,28 @@ namespace typesupport_fastrtps_cpp
static service_type_support_callbacks_t _@(service.namespaced_type.name)__callbacks = {
"@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
"@(service.namespaced_type.name)",
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Request)(),
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Response)(),
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_REQUEST_MESSAGE_SUFFIX))(),
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_RESPONSE_MESSAGE_SUFFIX))(),
};

static rosidl_service_type_support_t _@(service.namespaced_type.name)__handle = {
#ifdef __cplusplus
extern "C"
{
#endif

static const rosidl_service_type_support_t _@(service.namespaced_type.name)__handle{
rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
&_@(service.namespaced_type.name)__callbacks,
get_service_typesupport_handle_function,
&::rosidl_typesupport_cpp::service_create_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
&::rosidl_typesupport_cpp::service_destroy_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
::rosidl_typesupport_fastrtps_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))_Event>(),
};

#ifdef __cplusplus
}
#endif

} // namespace typesupport_fastrtps_cpp
@[ for ns in reversed(service.namespaced_type.namespaces)]@

Expand Down