[WIP] restructure rosidl to work with IDL files

rosidl_adapter/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>rosidl_adapter</name>
+  <version>0.5.1</version>
+  <description>
+    Scripts to convert .msg/.srv files to .idl.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>python3-empy</exec_depend>
+  <exec_depend>rosidl_parser</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rosidl_adapter/rosidl_adapter/__init__.py

@@ -0,0 +1,52 @@
+# Copyright 2018 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.
+
+from enum import Enum
+
+
+class InterfaceType(Enum):
+    UNKNOWN = 0
+    MESSAGE = 1
+    SERVICE = 2
+
+
+def convert_to_idl(
+    package_dir, package_name, interface_file, output_dir,
+    interface_type=InterfaceType.UNKNOWN
+):
+    print('convert_to_idl', interface_file)
+    # TODO use plugin approach rather than hard coded alternatives
+    if interface_file.suffix == '.idl':
+        assert interface_type != InterfaceType.UNKNOWN, \
+            '.idl files must be passed explicitly as a message or service file'
+        # just pass through for now
+        # TODO support e.g. multiple entities in a single input file?
+        return (interface_type, interface_file)
+
+    if interface_file.suffix == '.msg':
+        assert interface_type in (InterfaceType.UNKNOWN, InterfaceType.MESSAGE)
+        from rosidl_adapter.msg import convert_msg_to_idl
+        return (InterfaceType.MESSAGE, convert_msg_to_idl(
+            package_dir, package_name, interface_file,
+            output_dir / package_name / 'msg'))
+
+    if interface_file.suffix == '.srv':
+        assert interface_type in (InterfaceType.UNKNOWN, InterfaceType.SERVICE)
+        from rosidl_adapter.srv import convert_srv_to_idl
+        return (InterfaceType.SERVICE, convert_srv_to_idl(
+            package_dir, package_name, interface_file,
+            output_dir / package_name / 'srv'))
+
+    # unknown / unhandled for now
+    return (InterfaceType.UNKNOWN, interface_file)

rosidl_adapter/rosidl_adapter/__main__.py

@@ -0,0 +1,19 @@
+# Copyright 2018 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.
+
+import sys
+
+from rosidl_adapter.main import main
+
+sys.exit(main())

rosidl_adapter/rosidl_adapter/main.py

@@ -0,0 +1,83 @@
+# Copyright 2018 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.
+
+import argparse
+import os
+import pathlib
+import sys
+
+
+from rosidl_adapter import convert_to_idl
+from rosidl_adapter import InterfaceType
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Convert interface files to .idl')
+    parser.add_argument(
+        '--package-dir', required=True,
+        help='The base directory of the package')
+    parser.add_argument(
+        '--package-name', required=True,
+        help='The name of the package')
+    parser.add_argument(
+        '--message-files', nargs='*',
+        help='The message files to convert to .idl')
+    parser.add_argument(
+        '--service-files', nargs='*',
+        help='The service files to convert to .idl')
+    parser.add_argument(
+        '--interface-files', nargs='*',
+        help='The interface files to convert to .idl')
+    parser.add_argument(
+        '--output-dir', required=True,
+        help='The base directory to create .idl files in')
+    parser.add_argument(
+        '--output-messages-file', required=True,
+        help='The output file containing the absolute paths to the message '
+             '.idl files')
+    parser.add_argument(
+        '--output-services-file', required=True,
+        help='The output file containing the absolute paths to the service '
+             '.idl files')
+    args = parser.parse_args(argv)
+    output_dir = pathlib.Path(args.output_dir)
+
+    message_files = []
+    service_files = []
+    for interface_file in args.interface_files:
+        interface_file = pathlib.Path(interface_file)
+
+        interface_type, idl_file = convert_to_idl(
+            args.package_dir, args.package_name, interface_file,
+            output_dir)
+        if interface_type == InterfaceType.MESSAGE:
+            message_files.append(idl_file)
+        elif interface_type == InterfaceType.SERVICE:
+            service_files.append(idl_file)
+        elif interface_type == InterfaceType.UNKNOWN:
+            raise RuntimeError(
+                'Unsupported interface file format: {interface_file}'
+                .format_map(locals()))
+        else:
+            assert False
+
+    os.makedirs(os.path.dirname(args.output_messages_file), exist_ok=True)
+    with open(args.output_messages_file, 'w') as h:
+        for message_file in message_files:
+            h.write('{message_file}\n'.format_map(locals()))
+    os.makedirs(os.path.dirname(args.output_services_file), exist_ok=True)
+    with open(args.output_services_file, 'w') as h:
+        for service_file in service_files:
+            h.write('{service_file}\n'.format_map(locals()))

rosidl_adapter/rosidl_adapter/msg/__init__.py

@@ -0,0 +1,81 @@
+# Copyright 2018 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.
+
+from rosidl_adapter.msg.parser import parse_message_string
+from rosidl_adapter.resource import expand_template
+
+
+def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
+    assert input_file.suffix == '.msg'
+
+    print('Reading input file: {input_file}'.format_map(locals()))
+    content = input_file.read_text(encoding='utf-8')
+    msg = parse_message_string(package_name, input_file.stem, content)
+
+    output_file = output_dir / input_file.with_suffix('.idl').name
+    print('Writing output file: {output_file}'.format_map(locals()))
+    data = {
+        'pkg_name': package_name,
+        'relative_input_file': input_file.absolute().relative_to(package_dir),
+        'msg': msg,
+        'get_idl_type': get_idl_type,
+        'get_include_file': get_include_file,
+    }
+    expand_template('msg.idl.em', data, output_file)
+    return output_file
+
+
+MSG_TYPE_TO_IDL = {
+    'bool': 'boolean',
+    'byte': 'octet',
+    'char': 'char',
+    'int8': 'int8',
+    'uint8': 'uint8',
+    'int16': 'int16',
+    'uint16': 'uint16',
+    'int32': 'int32',
+    'uint32': 'uint32',
+    'int64': 'int64',
+    'uint64': 'uint64',
+    'float32': 'float',
+    'float64': 'double',
+    'string': 'string',
+}
+
+
+def get_include_file(base_type):
+    if base_type.is_primitive_type():
+        return None
+    return '{base_type.pkg_name}/msg/{base_type.type}.idl'.format_map(locals())
+
+
+def get_idl_type(type_):
+    if isinstance(type_, str):
+        identifier = MSG_TYPE_TO_IDL[type_]
+    elif type_.is_primitive_type():
+        identifier = MSG_TYPE_TO_IDL[type_.type]
+    else:
+        identifier = '{type_.pkg_name}::msg::{type_.type}' \
+            .format_map(locals())
+
+    if isinstance(type_, str) or not type_.is_array:
+        return identifier
+
+    if type_.is_fixed_size_array():
+        return '{identifier}[{type_.array_size}]'.format_map(locals())
+
+    if not type_.is_upper_bound:
+        return 'sequence<{identifier}>'.format_map(locals())
+
+    return 'sequence<{identifier}, {type_.array_size}>'.format_map(locals())

rosidl_adapter/rosidl_adapter/msg/cli.py

@@ -0,0 +1,50 @@
+# Copyright 2018 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.
+
+import argparse
+import pathlib
+import sys
+
+from catkin_pkg.package import package_exists_at
+from catkin_pkg.package import parse_package
+
+from rosidl_adapter.msg import convert_msg_to_idl
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Convert .msg files to .idl')
+    parser.add_argument(
+        'interface_files', nargs='+',
+        help='The interface files to convert')
+    args = parser.parse_args(argv)
+
+    for interface_file in args.interface_files:
+        interface_file = pathlib.Path(interface_file)
+        package_dir = interface_file.parent.absolute()
+        while (
+            len(package_dir.parents) and
+            not package_exists_at(str(package_dir))
+        ):
+            package_dir = package_dir.parent
+        if not package_dir.parents:
+            print(
+                "Could not find package for '{interface_file}'"
+                .format_map(locals()), file=sys.stderr)
+            continue
+        warnings = []
+        pkg = parse_package(package_dir, warnings=warnings)
+
+        convert_msg_to_idl(
+            package_dir, pkg.name, interface_file, interface_file.parent)