Add .idl file support to mix generator

ros2/test/integration/ros2__test_qos.cpp

@@ -124,7 +124,7 @@ class ROS2QoS : public ::testing::Test
             ASSERT_EQ(msg_future.wait_for(0s), std::future_status::ready);
             xtypes::DynamicData received_msg = msg_future.get();
 
-            EXPECT_EQ(received_msg.type().name(), "std_msgs/String");
+            EXPECT_EQ(received_msg.type().name(), "std_msgs/msg/String");
 
             xtypes::ReadableDynamicDataRef xtypes_msg = received_msg;
             typename std_msgs::msg::String::_data_type ros2_field;
@@ -165,7 +165,7 @@ TEST_F(ROS2QoS, Durability_Incompatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { durability: TRANSIENT_LOCAL } } }\n";
 
     set_up(yaml);
@@ -188,7 +188,7 @@ TEST_F(ROS2QoS, Durability_Compatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { durability: VOLATILE } } }\n";
 
     set_up(yaml);
@@ -211,7 +211,7 @@ TEST_F(ROS2QoS, Deadline_Incompatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { deadline: { sec: 1 } } } }\n";
 
     set_up(yaml);
@@ -234,7 +234,7 @@ TEST_F(ROS2QoS, Deadline_Compatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { deadline: { sec: 2 } } } }\n";
 
     set_up(yaml);
@@ -257,7 +257,7 @@ TEST_F(ROS2QoS, Liveliness_Incompatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { liveliness: { kind: MANUAL_BY_TOPIC } } } }\n";
 
     set_up(yaml);
@@ -280,7 +280,7 @@ TEST_F(ROS2QoS, Liveliness_Compatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { liveliness: { kind: AUTOMATIC } } } }\n";
 
     set_up(yaml);
@@ -303,7 +303,7 @@ TEST_F(ROS2QoS, Lease_Duration_Incompatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { liveliness: { sec: 1 } } } }\n";
 
     set_up(yaml);
@@ -325,7 +325,7 @@ TEST_F(ROS2QoS, Lease_Duration_Compatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { liveliness: { sec: 3 } } } }\n";
 
     set_up(yaml);
@@ -348,7 +348,7 @@ TEST_F(ROS2QoS, Reliability_Incompatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { reliability: RELIABLE } } }\n";
 
     set_up(yaml);
@@ -371,7 +371,7 @@ TEST_F(ROS2QoS, Reliability_Compatible_QoS)
     yaml += "   mock_to_ros2: { from: mock, to: ros2 }\n";
     yaml += "   ros2_to_mock: { from: ros2, to: mock }\n";
     yaml += "topics:\n";
-    yaml += "   transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
+    yaml += "   transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
     yaml += "   ros2: { qos: { reliability: BEST_EFFORT } } }\n";
 
     set_up(yaml);

ros2/test/resources/ros2__domain_change.yaml

@@ -6,4 +6,4 @@ routes:
     domain_5_to_10: { from: ros2_domain5, to: ros2_domain10 }
 
 topics:
-    string_topic: { type: "std_msgs/String", route: domain_5_to_10 }
+    string_topic: { type: "std_msgs/msg/String", route: domain_5_to_10 }

ros2/test/resources/ros2__geometry_msgs__pubsub.yaml

@@ -7,5 +7,5 @@ routes:
   ros2_to_mock: { from: ros2, to: mock }
 
 topics:
-  transmit_pose: { type: "geometry_msgs/Pose", route: ros2_to_mock }
-  echo_pose: { type: "geometry_msgs/Pose", route: mock_to_ros2 }
+  transmit_pose: { type: "geometry_msgs/msg/Pose", route: ros2_to_mock }
+  echo_pose: { type: "geometry_msgs/msg/Pose", route: mock_to_ros2 }

ros2/test/resources/ros2__geometry_msgs__services.yaml

@@ -7,5 +7,5 @@ routes:
   ros2_srv: { server: ros2, clients: mock }
 
 services:
-  get_plan: { type: "nav_msgs/GetPlan:request", route: ros2_srv }
-  echo_plan: { type: "nav_msgs/GetPlan:response", route: mock_srv }
+  get_plan: { type: "nav_msgs/srv/GetPlan:request", route: ros2_srv }
+  echo_plan: { type: "nav_msgs/srv/GetPlan:response", route: mock_srv }

ros2/test/resources/ros2__websocket__test.yaml

@@ -14,4 +14,4 @@ routes:
   ros2_to_websocket: { from: ros2, to: websocket }
 
 topics:
-  helloworld: { type: "std_msgs/String", route: websocket_to_ros2, remap: {websocket: {type: std_msgs__String}} }
+  helloworld: { type: "std_msgs/msg/String", route: websocket_to_ros2, remap: {websocket: {type: std_msgs__String}} }

utils/ros2-mix-generator/cmake/is_ros2_rosidl_mix.cmake

@@ -66,12 +66,16 @@ function(is_ros2_rosidl_mix)
         endif()
     endforeach()
 
+    if(NOT Python_EXECUTABLE)
+        find_package(Python COMPONENTS Interpreter)
+    endif()
+
     is_mix_generator(
         IDL_TYPE
             rosidl
         SCRIPT
             INTERPRETER
-                ${PYTHON_EXECUTABLE}
+                ${Python_EXECUTABLE}
             FIND
                 ${CMAKE_CURRENT_LIST_DIR}/scripts/is_ros2_rosidl_find_package_info.py
             GENERATE

utils/ros2-mix-generator/resources/convert__msg.cpp.em

@@ -5,8 +5,8 @@
 @# EmPy template for generating is/rosidl/ros2/<package>/src/msg/convert__msg__<msg>.cpp files
 @#
 @# Context:
-@#  - spec (rosidl_parser.MessageSpecification)
-@#    Parsed specification of the .msg file
+@#  - spec (rosidl_adapter.parser.MessageSpecification)
+@#    Parsed specification of the .msg/.idl file
 @#  - subfolder (string)
 @#    The subfolder / subnamespace of the message
 @#    Either 'msg' or 'srv'

utils/ros2-mix-generator/resources/convert__msg.hpp.em

@@ -5,8 +5,8 @@
 @# EmPy template for generating is/rosidl/ros2/<package>/include/is/rosidl/ros2/<package>/msg/convert__msg__<msg>.hpp files
 @#
 @# Context:
-@#  - spec (rosidl_parser.MessageSpecification)
-@#    Parsed specification of the .msg file
+@#  - spec (rosidl_adapter.parser.MessageSpecification)
+@#    Parsed specification of the .msg/.idl file
 @#  - subfolder (string)
 @#    The subfolder / subnamespace of the message
 @#    Either 'msg' or 'srv'
@@ -20,7 +20,7 @@ underscore_msg_type = get_header_filename_from_msg_name(camelcase_msg_type)
 cpp_msg_type = '{}::msg::{}'.format(
       spec.base_type.pkg_name, camelcase_msg_type)
 
-msg_type_string = '{}/{}'.format(
+msg_type_string = '{}/msg/{}'.format(
       spec.base_type.pkg_name, camelcase_msg_type)
 
 header_guard_parts = [
@@ -104,27 +104,19 @@ inline const eprosima::xtypes::StructType& type()
 }
 
 //==============================================================================
-inline void convert_to_ros2(const eprosima::xtypes::ReadableDynamicDataRef& from, Ros2_Msg& to)
+inline void convert_to_ros2([[maybe_unused]] const eprosima::xtypes::ReadableDynamicDataRef& from, [[maybe_unused]] Ros2_Msg& to)
 {
 @[for field in alphabetical_fields]@
     utils::Convert<Ros2_Msg::_@(field.name)_type>::from_xtype_field(from["@(field.name)"], to.@(field.name));
 @[end for]@
-
-  // Suppress possible unused variable warnings
-    (void)from;
-    (void)to;
 }
 
 //==============================================================================
-inline void convert_to_xtype(const Ros2_Msg& from, eprosima::xtypes::WritableDynamicDataRef to)
+inline void convert_to_xtype([[maybe_unused]] const Ros2_Msg& from, [[maybe_unused]]eprosima::xtypes::WritableDynamicDataRef to)
 {
 @[for field in alphabetical_fields]@
     utils::Convert<Ros2_Msg::_@(field.name)_type>::to_xtype_field(from.@(field.name), to["@(field.name)"]);
 @[end for]@
-
-  // Suppress possible unused variable warnings
-    (void)from;
-    (void)to;
 }
 
 static eprosima::is::utils::Logger logger ("is::sh::ROS2");

utils/ros2-mix-generator/resources/convert__srv.cpp.em

@@ -5,8 +5,8 @@
 @# EmPy template for generating is/rosidl/ros2/<package>/src/srv/convert__srv__<srv>.cpp files
 @#
 @# Context:
-@#  - spec (rosidl_parser.ServiceSpecification)
-@#    Parsed specification of the .srv file
+@#  - spec (rosidl_adapter.parser.ServiceSpecification)
+@#    Parsed specification of the .srv/.idl file
 @#  - get_header_filename_from_msg_name (function)
 @#######################################################################
 
@@ -16,7 +16,7 @@ underscore_srv_type = get_header_filename_from_msg_name(camelcase_srv_type)
 
 cpp_srv_type = '{}::srv::{}'.format(spec.pkg_name, camelcase_srv_type)
 
-srv_type_string = '{}/{}'.format(spec.pkg_name, camelcase_srv_type)
+srv_type_string = '{}/srv/{}'.format(spec.pkg_name, camelcase_srv_type)
 
 namespace_parts_srv = [
     'convert', spec.pkg_name, 'srv', underscore_srv_type]

utils/ros2-mix-generator/scripts/is_ros2_rosidl_find_package_info.py

@@ -4,10 +4,13 @@
 import argparse
 import os
 import sys
+from pathlib import Path
 
 try:
     from rosidl_adapter.parser import parse_message_file
     from rosidl_adapter.parser import parse_service_file
+    from rosidl_parser.parser import parse_idl_file
+    from rosidl_parser.definition import IdlLocator, NamespacedType, Message, Service
 
 except ImportError:
     print('Unable to import rosidl_adapter. Please source a ROS2 installation first.', end='', file=sys.stderr)
@@ -30,31 +33,35 @@ def find_package_info(requested_pkg_name):
 
     share_dir = get_package_share_directory(requested_pkg_name)
 
-    message_dir = '{}/msg'.format(share_dir)
-    if os.path.exists(message_dir):
-        for relative_msg_file in os.listdir(message_dir):
-            if not relative_msg_file.endswith('.msg'):
-                continue
-
-            msg_file = '{}/{}'.format(message_dir, relative_msg_file)
-
+    message_dir = Path(share_dir) / 'msg'
+    if message_dir.exists():
+        for msg_file in message_dir.glob("*.msg"):
             info.msg_files.append(msg_file)
+
             msg = parse_message_file(requested_pkg_name, msg_file)
             for field in msg.fields:
-                if field.type.is_primitive_type():
-                    continue
+                if not field.type.is_primitive_type():
+                    info.dependencies.append(field.type.pkg_name)
 
-                info.dependencies.append(field.type.pkg_name)
+        ignore_msgs = {p.stem for p in info.msg_files}
 
-    service_dir = '{}/srv'.format(share_dir)
-    if os.path.exists(service_dir):
-        for relative_srv_file in os.listdir(service_dir):
-            if not relative_srv_file.endswith('.srv'):
+        for msg_file in message_dir.glob("*.idl"):
+            if msg_file.stem in ignore_msgs:
                 continue
 
-            srv_file = '{}/{}'.format(service_dir, relative_srv_file)
+            info.msg_files.append(msg_file)
+
+            idl_file = parse_idl_file(IdlLocator(share_dir, msg_file.relative_to(share_dir)))
+            idl_msg = idl_file.content.get_elements_of_type(Message)[0]
+            for member in idl_msg.structure.members:
+                if isinstance(member.type, NamespacedType):
+                    info.dependencies.append(member.type.namespaces[0])
 
+    service_dir = Path(share_dir) / 'srv'
+    if service_dir.exists():
+        for srv_file in service_dir.glob("*.srv"):
             info.srv_files.append(srv_file)
+
             srv = parse_service_file(requested_pkg_name, srv_file)
             for component in [srv.request, srv.response]:
                 for field in component.fields:
@@ -63,6 +70,21 @@ def find_package_info(requested_pkg_name):
 
                     info.dependencies.append(field.type.pkg_name)
 
+        ignore_srvs = {p.stem for p in info.srv_files}
+
+        for srv_file in service_dir.glob("*.idl"):
+            if srv_file.stem in ignore_srvs:
+                continue
+
+            info.srv_files.append(srv_file)
+
+            idl_file = parse_idl_file(IdlLocator(share_dir, srv_file.relative_to(share_dir)))
+            idl_srv = idl_file.content.get_elements_of_type(Service)[0]
+            for members in [idl_srv.request_message.structure.members, idl_srv.response_message.structure.members]:
+                for member in members:
+                    if isinstance(member.type, NamespacedType):
+                        info.dependencies.append(member.type.namespaces[0])
+
     return info
 
 
@@ -89,18 +111,18 @@ def print_package_info(root_pkg_name, pkg_info_dict):
     dependency_list_str = '#'.join(dependency_list)
 
     message_files = pkg_info_dict[root_pkg_name].msg_files
-    message_files_str = '#'.join(message_files)
+    message_files_str = '#'.join(str(f) for f in message_files)
 
     service_files = pkg_info_dict[root_pkg_name].srv_files
-    service_files_str = '#'.join(service_files)
+    service_files_str = '#'.join(str(f) for f in service_files)
 
     file_dependencies = []
     for pkg, info in pkg_info_dict.items():
         file_dependencies.extend(info.msg_files)
         if pkg == root_pkg_name:
             file_dependencies.extend(info.srv_files)
 
-    file_dependencies_str = '#'.join(file_dependencies)
+    file_dependencies_str = '#'.join(str(f) for f in file_dependencies)
 
     output_str = ';'.join([dependency_list_str, message_files_str, service_files_str, file_dependencies_str])
     print(output_str)