Separate writing arguments files from the code generation and build

rosidl_typesupport_fastrtps_c/CMakeLists.txt

@@ -111,11 +111,6 @@ ament_package(
   CONFIG_EXTRAS "rosidl_typesupport_fastrtps_c-extras.cmake.in"
 )
 
-install(
-  PROGRAMS bin/rosidl_typesupport_fastrtps_c
-  DESTINATION lib/rosidl_typesupport_fastrtps_c
-)
-
 install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}

rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_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.
@@ -38,57 +38,6 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
     "${_output_path}/${_parent_folder}/detail/${_header_name}__type_support_c.cpp")
 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_fastrtps_c_BIN}"
-  ${rosidl_typesupport_fastrtps_c_GENERATOR_FILES}
-  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/idl__rosidl_typesupport_fastrtps_c.h.em"
-  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/idl__type_support_c.cpp.em"
-  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_c.h.em"
-  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__type_support_c.cpp.em"
-  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_c.h.em"
-  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__type_support_c.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_fastrtps_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_fastrtps_c_TEMPLATE_DIR}"
-  TARGET_DEPENDENCIES ${target_dependencies}
-)
-
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
-add_custom_command(
-  OUTPUT ${_generated_files}
-  COMMAND Python3::Interpreter
-  ARGS ${rosidl_typesupport_fastrtps_c_BIN}
-  --generator-arguments-file "${generator_arguments_file}"
-  DEPENDS ${target_dependencies}
-  COMMENT "Generating C type support for eProsima Fast-RTPS"
-  VERBATIM
-)
-
 # generate header to switch between export and import for a specific package
 set(_visibility_control_file
 "${_output_path}/msg/rosidl_typesupport_fastrtps_c__visibility_control.h")

rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_write_arguments.cmake

@@ -0,0 +1,66 @@
+# 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 "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_c/${PROJECT_NAME}")
+set(_generated_files "")
+foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
+  get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
+  get_filename_component(_parent_folder "${_parent_folder}" NAME)
+  get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_idl_name}" _header_name)
+  list(APPEND _generated_files
+    "${_output_path}/${_parent_folder}/detail/${_header_name}__rosidl_typesupport_fastrtps_c.h"
+    "${_output_path}/${_parent_folder}/detail/${_header_name}__type_support_c.cpp")
+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
+  ${rosidl_typesupport_fastrtps_c_GENERATOR_FILES}
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/idl__rosidl_typesupport_fastrtps_c.h.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/idl__type_support_c.cpp.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_c.h.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__type_support_c.cpp.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_c.h.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__type_support_c.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_fastrtps_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_fastrtps_c_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  GENERATOR_FILES "${rosidl_typesupport_fastrtps_c_GENERATOR_FILES}"
+)
+
+list(APPEND rosidl_generator_arguments_files ${generator_arguments_file})

rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in

@@ -15,16 +15,15 @@ else()
   # Find it first so it registers it's extensions first
   find_package(rosidl_generator_c REQUIRED)
 
+  ament_register_extension(
+    "rosidl_write_generator_arguments_extensions"
+    "rosidl_typesupport_fastrtps_c"
+    "rosidl_typesupport_fastrtps_c_write_arguments.cmake")
   ament_register_extension(
     "rosidl_generate_idl_interfaces"
     "rosidl_typesupport_fastrtps_c"
     "rosidl_typesupport_fastrtps_c_generate_interfaces.cmake")
 
-  set(rosidl_typesupport_fastrtps_c_BIN
-    "${rosidl_typesupport_fastrtps_c_DIR}/../../../lib/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c")
-  normalize_path(rosidl_typesupport_fastrtps_c_BIN
-    "${rosidl_typesupport_fastrtps_c_BIN}")
-
   set(rosidl_typesupport_fastrtps_c_GENERATOR_FILES
     "${rosidl_typesupport_fastrtps_c_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_typesupport_fastrtps_c/__init__.py")
   normalize_path(rosidl_typesupport_fastrtps_c_GENERATOR_FILES

rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_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.
@@ -15,10 +15,14 @@
 from rosidl_pycommon import generate_files
 
 
-def generate_typesupport_fastrtps_c(generator_arguments_file):
-    mapping = {
+def get_template_mapping():
+    return {
         'idl__rosidl_typesupport_fastrtps_c.h.em':
         'detail/%s__rosidl_typesupport_fastrtps_c.h',
         'idl__type_support_c.cpp.em': 'detail/%s__type_support_c.cpp',
     }
+
+
+def generate_typesupport_fastrtps_c(generator_arguments_file):
+    mapping = get_template_mapping()
     return generate_files(generator_arguments_file, mapping)

rosidl_typesupport_fastrtps_cpp/CMakeLists.txt

@@ -117,10 +117,6 @@ ament_package(
   CONFIG_EXTRAS "rosidl_typesupport_fastrtps_cpp-extras.cmake.in"
 )
 
-install(
-  PROGRAMS bin/rosidl_typesupport_fastrtps_cpp
-  DESTINATION lib/rosidl_typesupport_fastrtps_cpp
-)
 install(
   DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}

rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake

@@ -1,4 +1,4 @@
-# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+# Copyright 2014-2023 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.
@@ -43,63 +43,6 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   )
 endforeach()
 
-# Create a list of IDL files from other packages that this generator should depend on
-set(_dependency_files "")
-set(_dependencies "")
-foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
-  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
-    # ${{_pkg_name}_DIR} is absolute path ending in 'share/<pkg_name>/cmake', so go back one
-    # directory for IDL files
-    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_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()
-
-# Create a list of templates and source files this generator uses, and check that they exist
-set(target_dependencies
-  "${rosidl_typesupport_fastrtps_cpp_BIN}"
-  ${rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES}
-  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/idl__rosidl_typesupport_fastrtps_cpp.hpp.em"
-  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/idl__type_support.cpp.em"
-  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_cpp.hpp.em"
-  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__type_support.cpp.em"
-  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_cpp.hpp.em"
-  "${rosidl_typesupport_fastrtps_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 '${dep}' does not exist")
-  endif()
-endforeach()
-
-# Write all this to a file to work around command line length limitations on some platforms
-set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_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_fastrtps_cpp_TEMPLATE_DIR}"
-  TARGET_DEPENDENCIES ${target_dependencies}
-)
-
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
-# Add a command that invokes generator at build time
-add_custom_command(
-  OUTPUT ${_generated_files}
-  COMMAND Python3::Interpreter
-  ARGS ${rosidl_typesupport_fastrtps_cpp_BIN}
-  --generator-arguments-file "${generator_arguments_file}"
-  DEPENDS ${target_dependencies}
-  COMMENT "Generating C++ type support for eProsima Fast-RTPS"
-  VERBATIM
-)
-
 # generate header to switch between export and import for a specific package
 set(_visibility_control_file
 "${_output_path}/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h")

rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_write_arguments.cmake

@@ -0,0 +1,61 @@
+# 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 "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp/${PROJECT_NAME}")
+
+# Create a list of IDL files from other packages that this generator should depend on
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_IDL_FILES})
+    # ${{_pkg_name}_DIR} is absolute path ending in 'share/<pkg_name>/cmake', so go back one
+    # directory for IDL files
+    set(_abs_idl_file "${${_pkg_name}_DIR}/../${_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()
+
+# Create a list of templates and source files this generator uses, and check that they exist
+set(target_dependencies
+  ${rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES}
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/idl__rosidl_typesupport_fastrtps_cpp.hpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/idl__type_support.cpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_cpp.hpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__type_support.cpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_cpp.hpp.em"
+  "${rosidl_typesupport_fastrtps_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 '${dep}' does not exist")
+  endif()
+endforeach()
+
+# Write all this to a file to work around command line length limitations on some platforms
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_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_fastrtps_cpp_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  GENERATOR_FILES "${rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES}"
+)
+
+list(APPEND rosidl_generator_arguments_files ${generator_arguments_file})