[service introspection] generate service_event messages (#700)

* add service event message

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

rosidl_adapter/rosidl_adapter/parser.py

@@ -26,6 +26,7 @@
 SERVICE_REQUEST_RESPONSE_SEPARATOR = '---'
 SERVICE_REQUEST_MESSAGE_SUFFIX = '_Request'
 SERVICE_RESPONSE_MESSAGE_SUFFIX = '_Response'
+SERVICE_EVENT_MESSAGE_SUFFIX = '_Event'
 
 ACTION_REQUEST_RESPONSE_SEPARATOR = '---'
 ACTION_GOAL_SUFFIX = '_Goal'

rosidl_cmake/cmake/rosidl_generate_interfaces.cmake

@@ -139,21 +139,49 @@ macro(rosidl_generate_interfaces target)
   # afterwards all remaining interface files are .idl files
   list(APPEND _idl_tuples ${_idl_adapter_tuples})
 
-  # to generate action interfaces, we need to depend on "action_msgs"
+  # Check for any action or service interfaces
+  # Which have implicit dependencies that need to be found
   foreach(_tuple ${_interface_tuples})
+    # We use the parent directory name to identify if the interface is an action or service
     string(REGEX REPLACE ".*:([^:]*)$" "\\1" _tuple_file "${_tuple}")
     get_filename_component(_parent_dir "${_tuple_file}" DIRECTORY)
+    get_filename_component(_parent_dir ${_parent_dir} NAME)
+
     if("${_parent_dir}" STREQUAL "action")
+      # Actions depend on the packages service_msgs and action_msgs
+      find_package(service_msgs QUIET)
+      if(NOT ${service_msgs_FOUND})
+        message(FATAL_ERROR
+          "Unable to generate action interface for '${_tuple_file}'. "
+          "In order to generate action interfaces you must add a depend tag "
+          "for 'service_msgs' in your package.xml.")
+      endif()
+      ament_export_dependencies(service_msgs)
+      list_append_unique(_ARG_DEPENDENCIES "service_msgs")
       find_package(action_msgs QUIET)
       if(NOT ${action_msgs_FOUND})
         message(FATAL_ERROR
           "Unable to generate action interface for '${_tuple_file}'. "
           "In order to generate action interfaces you must add a depend tag "
           "for 'action_msgs' in your package.xml.")
       endif()
-      list_append_unique(_ARG_DEPENDENCIES "action_msgs")
       ament_export_dependencies(action_msgs)
+      list_append_unique(_ARG_DEPENDENCIES "action_msgs")
+
+      # It is safe to break out of the loop since services only depend on service_msgs
+      # Which has already been found above
       break()
+    elseif("${_parent_dir}" STREQUAL "srv")
+      # Services depend on service_msgs
+      find_package(service_msgs QUIET)
+      if(NOT ${service_msgs_FOUND})
+        message(FATAL_ERROR
+          "Unable to generate service interface for '${_tuple_file}'. "
+          "In order to generate service interfaces you must add a depend tag "
+          "for 'service_msgs' in your package.xml.")
+      endif()
+      ament_export_dependencies(service_msgs)
+      list_append_unique(_ARG_DEPENDENCIES "service_msgs")
     endif()
   endforeach()
 

rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake

@@ -34,6 +34,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   )
   list(APPEND _generated_sources
     "${_output_path}/${_parent_folder}/detail/${_header_name}__functions.c"
+    "${_output_path}/${_parent_folder}/detail/${_header_name}__type_support.c"
   )
 endforeach()
 
@@ -52,15 +53,18 @@ set(target_dependencies
   "${rosidl_generator_c_BIN}"
   ${rosidl_generator_c_GENERATOR_FILES}
   "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.h.em"
+  "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.c.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/idl.h.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/idl__functions.c.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/idl__functions.h.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/idl__struct.h.em"
+  "${rosidl_generator_c_TEMPLATE_DIR}/idl__type_support.c.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/idl__type_support.h.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/msg__functions.c.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/msg__functions.h.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/msg__struct.h.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/msg__type_support.h.em"
+  "${rosidl_generator_c_TEMPLATE_DIR}/srv__type_support.c.em"
   "${rosidl_generator_c_TEMPLATE_DIR}/srv__type_support.h.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
   ${_dependency_files})

rosidl_generator_c/resource/action__type_support.c.em

@@ -0,0 +1,14 @@
+@# Included from rosidl_generator_c/resource/idl__type_support.c.em
+@{
+TEMPLATE(
+    'srv__type_support.c.em',
+    package_name=package_name, service=action.send_goal_service,
+    interface_path=interface_path, include_directives=include_directives)
+}@
+
+@{
+TEMPLATE(
+    'srv__type_support.c.em',
+    package_name=package_name, service=action.get_result_service,
+    interface_path=interface_path, include_directives=include_directives)
+}@

rosidl_generator_c/resource/idl__functions.c.em

@@ -64,6 +64,13 @@ TEMPLATE(
     package_name=package_name, interface_path=interface_path,
     message=service.response_message, include_directives=include_directives)
 }@
+
+@{
+TEMPLATE(
+    'msg__functions.c.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message, include_directives=include_directives)
+}@
 @[end for]@
 @
 @#######################################################################
@@ -109,6 +116,13 @@ TEMPLATE(
     message=action.send_goal_service.response_message, include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    'msg__functions.c.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.send_goal_service.event_message, include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     'msg__functions.c.em',
@@ -123,6 +137,13 @@ TEMPLATE(
     message=action.get_result_service.response_message, include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    'msg__functions.c.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.get_result_service.event_message, include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     'msg__functions.c.em',

rosidl_generator_c/resource/idl__functions.h.em

@@ -72,6 +72,12 @@ TEMPLATE(
     message=service.response_message)
 }@
 
+@{
+TEMPLATE(
+    'msg__functions.h.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message)
+}@
 @[end for]@
 @
 @#######################################################################
@@ -116,6 +122,13 @@ TEMPLATE(
     message=action.send_goal_service.response_message)
 }@
 
+@{
+TEMPLATE(
+    'msg__functions.h.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.send_goal_service.event_message)
+}@
+
 @{
 TEMPLATE(
     'msg__functions.h.em',
@@ -130,6 +143,13 @@ TEMPLATE(
     message=action.get_result_service.response_message)
 }@
 
+@{
+TEMPLATE(
+    'msg__functions.h.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.get_result_service.event_message)
+}@
+
 @{
 TEMPLATE(
     'msg__functions.h.em',

rosidl_generator_c/resource/idl__struct.h.em

@@ -69,6 +69,13 @@ TEMPLATE(
     message=service.response_message, include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    'msg__struct.h.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message, include_directives=include_directives)
+}@
+
 @[end for]@
 @
 @#######################################################################
@@ -113,6 +120,13 @@ TEMPLATE(
     message=action.send_goal_service.response_message, include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    'msg__struct.h.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.send_goal_service.event_message, include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     'msg__struct.h.em',
@@ -127,6 +141,13 @@ TEMPLATE(
     message=action.get_result_service.response_message, include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    'msg__struct.h.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.get_result_service.event_message, include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     'msg__struct.h.em',

rosidl_generator_c/resource/idl__type_support.c.em

@@ -0,0 +1,70 @@
+// generated from rosidl_generator_c/resource/idl__type_support.c.em
+// with input from @(package_name):@(interface_path)
+// generated code does not contain a copyright notice
+@
+@#######################################################################
+@# EmPy template for generating <idl>__type_support.c files
+@#
+@# Context:
+@#  - package_name (string)
+@#  - interface_path (Path relative to the directory named after the package)
+@#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#######################################################################
+@{
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+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)
+
+include_directives = {
+  'rosidl_typesupport_interface/macros.h',
+  include_base + '__type_support.h',
+  include_base + '__struct.h',
+  include_base + '__functions.h'}
+}@
+
+#include <string.h>
+
+@[for header_file in include_directives]@
+#include "@(header_file)"
+@[end for]@
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+@#######################################################################
+@# Handle service
+@#######################################################################
+@{
+from rosidl_parser.definition import Service
+}@
+@[for service in content.get_elements_of_type(Service)]@
+@{
+TEMPLATE(
+    'srv__type_support.c.em',
+    package_name=package_name, service=service,
+    interface_path=interface_path, include_directives=include_directives)
+}@
+
+@[end for]@
+@
+@#######################################################################
+@# Handle action
+@#######################################################################
+@{
+from rosidl_parser.definition import Action
+}@
+@[for action in content.get_elements_of_type(Action)]@
+@{
+TEMPLATE(
+    'action__type_support.c.em',
+    package_name=package_name, action=action,
+    interface_path=interface_path, include_directives=include_directives)
+}@
+
+@[end for]@
+#ifdef __cplusplus
+}
+#endif

rosidl_generator_c/resource/msg__struct.h.em

@@ -13,6 +13,8 @@ from rosidl_parser.definition import FLOATING_POINT_TYPES
 from rosidl_parser.definition import INTEGER_TYPES
 from rosidl_parser.definition import NamespacedType
 from rosidl_parser.definition import OCTET_TYPE
+from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
 from rosidl_generator_c import basetype_to_c
 from rosidl_generator_c import idl_declaration_to_c
 from rosidl_generator_c import idl_structure_type_sequence_to_c_typename
@@ -43,6 +45,14 @@ for member in message.structure.members:
             'rosidl_runtime_c/u16string.h', [])
         member_names.append(member.name)
     elif isinstance(type_, NamespacedType):
+        if (
+            message.structure.namespaced_type.namespaces[-1] in ['action', 'srv'] and (
+            type_.name.endswith(SERVICE_REQUEST_MESSAGE_SUFFIX) or
+            type_.name.endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX))
+        ):
+            typename = type_.name.rsplit('_', 1)[0]
+            if typename == message.structure.namespaced_type.name.rsplit('_', 1)[0]:
+                continue
         include_prefix = idl_structure_type_to_c_include_prefix(
             type_, 'detail')
         member_names = includes.setdefault(