Separate writing arguments files from the code generation and build

rosidl_typesupport_c/CMakeLists.txt

@@ -142,10 +142,6 @@ ament_package(
   CONFIG_EXTRAS "rosidl_typesupport_c-extras.cmake.in"
 )
 
-install(
-  PROGRAMS bin/rosidl_typesupport_c
-  DESTINATION lib/rosidl_typesupport_c
-)
 install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}

rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake

@@ -1,4 +1,4 @@
-# Copyright 2016-2018 Open Source Robotics Foundation, Inc.
+# Copyright 2016-2023 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.
@@ -34,57 +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_c_BIN}"
-  ${rosidl_typesupport_c_GENERATOR_FILES}
-  "${rosidl_typesupport_c_TEMPLATE_DIR}/action__type_support.c.em"
-  "${rosidl_typesupport_c_TEMPLATE_DIR}/idl__type_support.cpp.em"
-  "${rosidl_typesupport_c_TEMPLATE_DIR}/msg__type_support.cpp.em"
-  "${rosidl_typesupport_c_TEMPLATE_DIR}/srv__type_support.cpp.em"
-  ${rosidl_generate_interfaces_ABS_IDL_FILES}
-  ${_dependency_files})
-foreach(dep ${target_dependencies})
-  if(NOT EXISTS "${dep}")
-    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
-  endif()
-endforeach()
-
-set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_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_c_TEMPLATE_DIR}"
-  TARGET_DEPENDENCIES ${target_dependencies}
-)
-
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
-get_used_typesupports(typesupports "rosidl_typesupport_c")
-add_custom_command(
-  OUTPUT ${_generated_sources}
-  COMMAND Python3::Interpreter
-  ARGS ${rosidl_typesupport_c_BIN}
-  --generator-arguments-file "${generator_arguments_file}"
-  --typesupports ${typesupports}
-  DEPENDS ${target_dependencies}
-  COMMENT "Generating C type support dispatch for ROS interfaces"
-  VERBATIM
-)
-
 set(_target_suffix "__rosidl_typesupport_c")
 
 add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${rosidl_typesupport_c_LIBRARY_TYPE} ${_generated_sources})

rosidl_typesupport_c/cmake/rosidl_typesupport_c_write_arguments.cmake

@@ -0,0 +1,64 @@
+# Copyright 2023 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
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_c/${PROJECT_NAME}")
+
+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
+  ${rosidl_typesupport_c_GENERATOR_FILES}
+  "${rosidl_typesupport_c_TEMPLATE_DIR}/action__type_support.c.em"
+  "${rosidl_typesupport_c_TEMPLATE_DIR}/idl__type_support.cpp.em"
+  "${rosidl_typesupport_c_TEMPLATE_DIR}/msg__type_support.cpp.em"
+  "${rosidl_typesupport_c_TEMPLATE_DIR}/srv__type_support.cpp.em"
+  ${rosidl_generate_interfaces_ABS_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+  endif()
+endforeach()
+
+get_used_typesupports(typesupports "rosidl_typesupport_c")
+
+set(additional_context_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_c__additional_context.json")
+rosidl_write_additional_context(
+  "${additional_context_file}"
+  TYPE_SUPPORTS ${typesupports}
+)
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_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_c_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  GENERATOR_FILES "${rosidl_typesupport_c_GENERATOR_FILES}"
+  ADDITIONAL_CONTEXT_FILE "${additional_context_file}"
+)
+
+list(APPEND rosidl_generator_arguments_files ${generator_arguments_file})

rosidl_typesupport_c/rosidl_typesupport_c-extras.cmake.in

@@ -14,16 +14,17 @@ foreach(_typesupport ${_typesupports})
 endforeach()
 
 find_package(ament_cmake_core QUIET REQUIRED)
+
+ament_register_extension(
+  "rosidl_write_generator_arguments_extensions"
+  "rosidl_typesupport_c"
+  "rosidl_typesupport_c_write_arguments.cmake")
+
 ament_register_extension(
   "rosidl_generate_idl_interfaces"
   "rosidl_typesupport_c"
   "rosidl_typesupport_c_generate_interfaces.cmake")
 
-set(rosidl_typesupport_c_BIN
-  "${rosidl_typesupport_c_DIR}/../../../lib/rosidl_typesupport_c/rosidl_typesupport_c")
-normalize_path(rosidl_typesupport_c_BIN
-  "${rosidl_typesupport_c_BIN}")
-
 set(rosidl_typesupport_c_GENERATOR_FILES
   "${rosidl_typesupport_c_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_typesupport_c/__init__.py")
 normalize_path(rosidl_typesupport_c_GENERATOR_FILES

rosidl_typesupport_c/rosidl_typesupport_c/__init__.py

@@ -1,4 +1,4 @@
-# Copyright 2016-2018 Open Source Robotics Foundation, Inc.
+# Copyright 2016-2023 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.
@@ -15,16 +15,20 @@
 from rosidl_pycommon import generate_files
 
 
+def get_template_mapping():
+    return {
+        'idl__type_support.cpp.em': '%s__type_support.cpp',
+    }
+
+
 def generate_c(generator_arguments_file, type_supports):
     """
     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 = {
-        'idl__type_support.cpp.em': '%s__type_support.cpp',
-    }
+    mapping = get_template_mapping()
     return generate_files(
         generator_arguments_file, mapping,
         additional_context={'type_supports': type_supports})

rosidl_typesupport_cpp/CMakeLists.txt

@@ -140,10 +140,6 @@ ament_package(
   CONFIG_EXTRAS "rosidl_typesupport_cpp-extras.cmake.in"
 )
 
-install(
-  PROGRAMS bin/rosidl_typesupport_cpp
-  DESTINATION lib/rosidl_typesupport_cpp
-)
 install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}

rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake

@@ -1,4 +1,4 @@
-# Copyright 2016-2018 Open Source Robotics Foundation, Inc.
+# Copyright 2016-2023 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.
@@ -31,57 +31,6 @@ 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_cpp_BIN}"
-  ${rosidl_typesupport_cpp_GENERATOR_FILES}
-  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/action__type_support.cpp.em"
-  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/idl__type_support.cpp.em"
-  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/msg__type_support.cpp.em"
-  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/srv__type_support.cpp.em"
-  ${rosidl_generate_interfaces_ABS_IDL_FILES}
-  ${_dependency_files})
-foreach(dep ${target_dependencies})
-  if(NOT EXISTS "${dep}")
-    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
-  endif()
-endforeach()
-
-set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_cpp__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_cpp_TEMPLATE_DIR}"
-  TARGET_DEPENDENCIES ${target_dependencies}
-)
-
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
-get_used_typesupports(typesupports "rosidl_typesupport_cpp")
-add_custom_command(
-  OUTPUT ${_generated_sources}
-  COMMAND Python3::Interpreter
-  ARGS ${rosidl_typesupport_cpp_BIN}
-  --generator-arguments-file "${generator_arguments_file}"
-  --typesupports ${typesupports}
-  DEPENDS ${target_dependencies}
-  COMMENT "Generating C++ type support dispatch for ROS interfaces"
-  VERBATIM
-)
-
 set(_target_suffix "__rosidl_typesupport_cpp")
 
 add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${rosidl_typesupport_cpp_LIBRARY_TYPE} ${_generated_sources})

rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_write_arguments.cmake

@@ -0,0 +1,62 @@
+# Copyright 2023 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
+  "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_cpp/${PROJECT_NAME}")
+
+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
+  ${rosidl_typesupport_cpp_GENERATOR_FILES}
+  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/action__type_support.cpp.em"
+  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/idl__type_support.cpp.em"
+  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/msg__type_support.cpp.em"
+  "${rosidl_typesupport_cpp_TEMPLATE_DIR}/srv__type_support.cpp.em"
+  ${rosidl_generate_interfaces_ABS_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+  endif()
+endforeach()
+
+set(additional_context_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_cpp__additional_context.json")
+rosidl_write_additional_context(
+  "${additional_context_file}"
+  TYPE_SUPPORTS ${typesupports}
+)
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_cpp__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_cpp_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  GENERATOR_FILES "${rosidl_typesupport_cpp_GENERATOR_FILES}"
+  ADDITIONAL_CONTEXT_FILE ${additional_context_file}
+)
+
+list(APPEND rosidl_generator_arguments_files ${generator_arguments_file})