Adds streamline file generation

rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py

@@ -21,15 +21,8 @@
 # A postfix for the protobuf package name / the c++ namespace
 PROTO_PACKAGE_POSTFIX = 'pb'
 
-_TYPE_SUPPORT_NAME = ''
 _NAMESPACE_DELIMETER = ''
 
-
-def set_type_support_name(val):
-    global _TYPE_SUPPORT_NAME
-    _TYPE_SUPPORT_NAME = val
-
-
 def set_namespace_delimeter(val):
     global _NAMESPACE_DELIMETER
     _NAMESPACE_DELIMETER = val
@@ -85,56 +78,56 @@ def protobuf_message_header(package_name, interface_path):
     return '/'.join(include_parts + [include_prefix + '.pb.h'])
 
 
-def typesupport_header(package_name, interface_path):
+def typesupport_header(package_name, interface_path, typesupport_name):
     include_parts = [package_name] + list(interface_path.parents[0].parts) + \
         [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
     include_base = '/'.join(include_parts)
 
-    return f'{include_base}__{_TYPE_SUPPORT_NAME}.hpp'
+    return f'{include_base}__{typesupport_name}.hpp'
 
 
-def visibility_control_header(package_name):
-    return f'{package_name}/{_TYPE_SUPPORT_NAME}__visibility_control.h'
+def visibility_control_header(package_name, typesupport_name):
+    return f'{package_name}/{typesupport_name}__visibility_control.h'
 
 
 def adapter_visibility_control_header(package_name):
     return f'{package_name}/rosidl_adapter_proto__visibility_control.h'
 
 
-def ros_type_namespace(package_name, interface_path):
-    return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
+def ros_type_namespace(package_name, interface_path, namespace_delimiter):
+    return namespace_delimiter.join([package_name] + list(interface_path.parents[0].parts))
 
 
 def ros_type_name(message):
     return message.structure.namespaced_type.name
 
 
-def ros_type(package_name, interface_path, message):
-    ros_type_ns = ros_type_namespace(package_name, interface_path)
+def ros_type(package_name, interface_path, message, namespace_delimiter):
+    ros_type_ns = ros_type_namespace(package_name, interface_path, namespace_delimiter)
     ros_type_nm = ros_type_name(message)
-    return '::' + _NAMESPACE_DELIMETER.join([ros_type_ns, ros_type_nm])
+    return '::' + namespace_delimiter.join([ros_type_ns, ros_type_nm])
 
 
-def ros_type_from_namespaced_type(namespaced_type):
-    return '::' + _NAMESPACE_DELIMETER.join(namespaced_type.namespaces + [namespaced_type.name])
+def ros_type_from_namespaced_type(namespaced_type, namespace_delimiter):
+    return '::' + namespace_delimiter.join(namespaced_type.namespaces + [namespaced_type.name])
 
 
 def ros_type_from_namespaced_type_c(namespaced_type):
-    return '::' + _NAMESPACE_DELIMETER.join(namespaced_type.namespaces + [namespaced_type.name])
+    return '::' + '__'.join(namespaced_type.namespaces + [namespaced_type.name])
 
 
-def ros_service_namespace(package_name, interface_path):
-    return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
+def ros_service_namespace(package_name, interface_path, namespace_delimiter):
+    return namespace_delimiter.join([package_name] + list(interface_path.parents[0].parts))
 
 
 def ros_service_name(service):
     return service.namespaced_type.name
 
 
-def ros_service_type(package_name, interface_path, service):
-    ros_type_ns = ros_service_namespace(package_name, interface_path)
+def ros_service_type(package_name, interface_path, service, namespace_delimiter):
+    ros_type_ns = ros_service_namespace(package_name, interface_path, namespace_delimiter)
     ros_type_nm = ros_service_name(service)
-    return '::' + _NAMESPACE_DELIMETER.join([ros_type_ns, ros_type_nm])
+    return '::' + namespace_delimiter.join([ros_type_ns, ros_type_nm])
 
 
 def protobuf_type(package_name, interface_path, message):

rosidl_typesupport_protobuf_c/CMakeLists.txt

@@ -121,11 +121,6 @@ ament_package(
   CONFIG_EXTRAS "cmake/rosidl_typesupport_protobuf_c-extras.cmake.in"
 )
 
-install(
-  PROGRAMS bin/rosidl_typesupport_protobuf_c
-  DESTINATION lib/rosidl_typesupport_protobuf_c
-)
-
 install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}

rosidl_typesupport_protobuf_c/cmake/rosidl_typesupport_protobuf_c-extras.cmake.in

@@ -7,16 +7,17 @@ if(NOT Protobuf_FOUND)
   message(STATUS "Could not find Protobuf: skipping rosidl_typesupport_protobuf_c")
 else()
   find_package(ament_cmake_core QUIET REQUIRED)
+
+  ament_register_extension(
+    "rosidl_write_generator_arguments_extensions"
+    "rosidl_typesupport_protobuf_c"
+    "rosidl_typesupport_protobuf_c_write_arguments.cmake")
+
   ament_register_extension(
     "rosidl_generate_idl_interfaces"
     "rosidl_typesupport_protobuf_c"
     "rosidl_typesupport_protobuf_c_generate_interfaces.cmake")
 
-  set(rosidl_typesupport_protobuf_c_BIN
-    "${rosidl_typesupport_protobuf_c_DIR}/../../../lib/rosidl_typesupport_protobuf_c/rosidl_typesupport_protobuf_c")
-  normalize_path(rosidl_typesupport_protobuf_c_BIN
-    "${rosidl_typesupport_protobuf_c_BIN}")
-
   set(rosidl_typesupport_protobuf_c_GENERATOR_FILES
     "${rosidl_typesupport_protobuf_c_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_typesupport_protobuf_c/__init__.py")
   normalize_path(rosidl_typesupport_protobuf_c_GENERATOR_FILES

rosidl_typesupport_protobuf_c/cmake/rosidl_typesupport_protobuf_c_generate_interfaces.cmake

@@ -34,51 +34,6 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   )
 endforeach()
 
-set(_dependency_files "")
-set(_dependencies "")
-foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
-  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
-    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}:${_abs_idl_file}")
-  endforeach()
-endforeach()
-
-set(target_dependencies
-  "${rosidl_typesupport_protobuf_c_BIN}"
-  ${rosidl_typesupport_protobuf_c_GENERATOR_FILES}
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/idl__rosidl_typesupport_protobuf_c.hpp.em"
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/idl__type_support.cpp.em"
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/msg__rosidl_typesupport_protobuf_c.hpp.em"
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/msg__type_support.cpp.em"
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/srv__rosidl_typesupport_protobuf_c.hpp.em"
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/srv__type_support.cpp.em"
-  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/rosidl_typesupport_protobuf_c__visibility_control.h.in"
-  ${rosidl_generate_interfaces_ABS_IDL_FILES}
-  ${_dependency_files}
-)
-
-set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_protobuf_c__arguments.json")
-rosidl_write_generator_arguments(
-  "${generator_arguments_file}"
-  PACKAGE_NAME "${PROJECT_NAME}"
-  IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
-  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
-  OUTPUT_DIR "${_output_path}"
-  TEMPLATE_DIR "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}"
-  TARGET_DEPENDENCIES ${target_dependencies}
-)
-
-add_custom_command(
-  OUTPUT ${_generated_files}
-  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_protobuf_c_BIN}
-  --generator-arguments-file "${generator_arguments_file}"
-  DEPENDS ${target_dependencies}
-  COMMENT "Generating C type support for Protobuf"
-  VERBATIM
-)
-
 set(_target_suffix "__rosidl_typesupport_protobuf_c")
 
 link_directories(${Protobuf_LIBRARY_DIRS})

rosidl_typesupport_protobuf_c/cmake/rosidl_typesupport_protobuf_c_write_arguments.cmake

@@ -0,0 +1,56 @@
+# Copyright 2024 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
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_protobuf_c/${PROJECT_NAME}")
+set(_generated_files "")
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
+    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}:${_abs_idl_file}")
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_typesupport_protobuf_c_BIN}"
+  ${rosidl_typesupport_protobuf_c_GENERATOR_FILES}
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/idl__rosidl_typesupport_protobuf_c.hpp.em"
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/idl__type_support.cpp.em"
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/msg__rosidl_typesupport_protobuf_c.hpp.em"
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/msg__type_support.cpp.em"
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/srv__rosidl_typesupport_protobuf_c.hpp.em"
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/srv__type_support.cpp.em"
+  "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}/rosidl_typesupport_protobuf_c__visibility_control.h.in"
+  ${rosidl_generate_interfaces_ABS_IDL_FILES}
+  ${_dependency_files}
+)
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_protobuf_c__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_typesupport_protobuf_c_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  GENERATOR_FILES "${rosidl_typesupport_protobuf_c_GENERATOR_FILES}"
+)
+
+list(APPEND rosidl_generator_arguments_files ${generator_arguments_file})

rosidl_typesupport_protobuf_c/resource/idl__type_support.cpp.em

@@ -27,6 +27,7 @@
 @# Context:
 @#  - package_name (string)
 @#  - interface_path (Path relative to the directory named after the package)
+@#  - typesupport
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @
@@ -39,7 +40,7 @@ forward_declared_types = set()
 
 system_header_files = []
 header_files = [
-  typesupport_header(package_name, interface_path),
+  typesupport_header(package_name, interface_path, 'rosidl_typesupport_protobuf_c'),
   ros_message_header_c(package_name, interface_path),
   ros_message_functions_header_c(package_name, interface_path)
 ]

rosidl_typesupport_protobuf_c/resource/msg__rosidl_typesupport_protobuf_c.hpp.em

@@ -30,14 +30,14 @@ header_files = [
     "rosidl_typesupport_cpp/message_type_support.hpp",
     ros_message_header_c(package_name, interface_path),
     ros_message_header(package_name, interface_path),
-    visibility_control_header(package_name),
+    visibility_control_header(package_name, 'rosidl_typesupport_protobuf_c'),
     "rosidl_typesupport_interface/macros.h",
     protobuf_message_header(package_name, interface_path)
 ]
 
-ros_type_ns = ros_type_namespace(package_name, interface_path)
+ros_type_ns = ros_type_namespace(package_name, interface_path, '__')
 ros_type_name = ros_type_name(message)
-ros_type = ros_type(package_name, interface_path, message)
+ros_type = ros_type(package_name, interface_path, message, '__')
 proto_type = protobuf_type(package_name, interface_path, message)
 
 }@

rosidl_typesupport_protobuf_c/resource/msg__type_support.cpp.em

@@ -24,9 +24,9 @@ from rosidl_cmake import convert_camel_case_to_lower_case_underscore
 from rosidl_parser.definition import *
 from rosidl_typesupport_protobuf import *
 
-ros_type_ns = ros_type_namespace(package_name, interface_path)
+ros_type_ns = ros_type_namespace(package_name, interface_path, '__')
 ros_type_name = ros_type_name(message)
-ros_type = ros_type(package_name, interface_path, message)
+ros_type = ros_type(package_name, interface_path, message, '__')
 proto_type = protobuf_type(package_name, interface_path, message)
 
 system_header_files = [
@@ -36,7 +36,7 @@ system_header_files = [
 
 header_files = [
     'rosidl_typesupport_cpp/message_type_support.hpp',
-    visibility_control_header(package_name),
+    visibility_control_header(package_name, 'rosidl_typesupport_protobuf_c'),
     'rosidl_typesupport_protobuf_c/identifier.hpp',
     'rosidl_typesupport_protobuf_c/to_ros_c_string.hpp',
     'rosidl_typesupport_protobuf_c/wstring_conversion.hpp',

rosidl_typesupport_protobuf_c/resource/srv__type_support.cpp.em

@@ -31,8 +31,8 @@ header_files = [
 ]
 
 service_name = ros_service_name(service)
-service_namespace = ros_service_namespace(package_name, interface_path)
-service_type = ros_service_type(package_name, interface_path, service)
+service_namespace = ros_service_namespace(package_name, interface_path, '__')
+service_type = ros_service_type(package_name, interface_path, service, '__')
 
 }@
 @{

rosidl_typesupport_protobuf_c/resource/tmpl_forward_declarations.em

@@ -32,11 +32,11 @@ def isNamespacedArrayType(type_):
 
 def isTypeAlreadyDeclared(type_, fw_declared_types):
     from rosidl_typesupport_protobuf import ros_type_from_namespaced_type
-    return ros_type_from_namespaced_type(type_) in fw_declared_types
+    return ros_type_from_namespaced_type(type_, '__') in fw_declared_types
 
 def registerDeclaredType(type_, fw_declared_types):
     from rosidl_typesupport_protobuf import ros_type_from_namespaced_type
-    fw_declared_types.add(ros_type_from_namespaced_type(type_))
+    fw_declared_types.add(ros_type_from_namespaced_type(type_, '__'))
 
 types_to_declare = list()
 for member in message.structure.members:

rosidl_typesupport_protobuf_c/rosidl_typesupport_protobuf_c/__init__.py

@@ -12,12 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from rosidl_cmake import generate_files
+from rosidl_pycommon import generate_files
 
 
-def generate_typesupport_protobuf_c(generator_arguments_file):
-    mapping = {
+def get_template_mapping():
+    return {
         'idl__rosidl_typesupport_protobuf_c.hpp.em': '%s__rosidl_typesupport_protobuf_c.hpp',
         'idl__type_support.cpp.em': 'detail/%s__type_support.cpp',
     }
-    generate_files(generator_arguments_file, mapping)
+
+def generate_typesupport_protobuf_c(generator_arguments_file):
+    """
+    Generate the C type support to handle ROS messages.
+    :param generator_arguments_file: Path location of the file containing the generator arguments
+    :param type_support: List of type supports to be used
+    """
+    mapping =  get_template_mapping()
+
+    return generate_files(
+        generator_arguments_file, mapping)