added autogenrated message parameters for ROS action files

Author: exo-core

message_generation/src/main/java/org/ros/internal/message/GenerateInterfaces.java

@@ -24,6 +24,9 @@
 import org.ros.internal.message.definition.MessageDefinitionProviderChain;
 import org.ros.internal.message.definition.MessageDefinitionTupleParser;
 import org.ros.internal.message.action.ActionDefinitionFileProvider;
+import org.ros.internal.message.action.ActionGoalGenerationTemplate;
+import org.ros.internal.message.action.ActionFeedbackGenerationTemplate;
+import org.ros.internal.message.action.ActionResultGenerationTemplate;
 import org.ros.internal.message.service.ServiceDefinitionFileProvider;
 import org.ros.internal.message.topic.TopicDefinitionFileProvider;
 import org.ros.message.MessageDeclaration;
@@ -46,6 +49,10 @@ public class GenerateInterfaces {
   private final ActionDefinitionFileProvider actionDefinitionFileProvider;
   private final MessageDefinitionProviderChain messageDefinitionProviderChain;
   private final MessageFactory messageFactory;
+  private final ActionGoalGenerationTemplate actionGoalGenerationTemplate = new ActionGoalGenerationTemplate();
+  private final ActionFeedbackGenerationTemplate actionFeedbackGenerationTemplate = new ActionFeedbackGenerationTemplate();
+  private final ActionResultGenerationTemplate actionResultGenerationTemplate = new ActionResultGenerationTemplate();
+
   static private final String ROS_PACKAGE_PATH = "ROS_PACKAGE_PATH";
 
   public GenerateInterfaces() {
@@ -153,12 +160,18 @@ private void writeActionInterfaces(File outputDirectory, Collection<String> pack
       writeInterface(actionDeclaration, outputDirectory, false);
       List<String> goalResultAndFeedback = MessageDefinitionTupleParser.parse(definition, 3);
 
-      MessageDeclaration goalDeclaration =
-              MessageDeclaration.of(actionType.getType() + "Goal", goalResultAndFeedback.get(0));
-      MessageDeclaration resultDeclaration =
-              MessageDeclaration.of(actionType.getType() + "Result", goalResultAndFeedback.get(1));
-      MessageDeclaration feedbackDeclaration =
-              MessageDeclaration.of(actionType.getType() + "Feedback", goalResultAndFeedback.get(2));
+      MessageDeclaration goalDeclaration = MessageDeclaration.of(
+              actionType.getType() + "Goal",
+              actionGoalGenerationTemplate.applyTemplate(goalResultAndFeedback.get(0))
+      );
+      MessageDeclaration resultDeclaration = MessageDeclaration.of(
+              actionType.getType() + "Result",
+              actionResultGenerationTemplate.applyTemplate(goalResultAndFeedback.get(1))
+      );
+      MessageDeclaration feedbackDeclaration = MessageDeclaration.of(
+              actionType.getType() + "Feedback",
+              actionFeedbackGenerationTemplate.applyTemplate(goalResultAndFeedback.get(2))
+      );
 
       writeInterface(goalDeclaration, outputDirectory, true);
       writeInterface(resultDeclaration, outputDirectory, true);

message_generation/src/main/java/org/ros/internal/message/MessageGenerationTemplate.java

@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public interface MessageGenerationTemplate {
+
+  /**
+   * @return returns this {@link Message} as a {@link RawMessage}
+   */
+  public String applyTemplate(String messageSource);
+}

message_generation/src/main/java/org/ros/internal/message/action/ActionFeedbackGenerationTemplate.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message.action;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionFeedbackGenerationTemplate {
+
+  /**
+   * @return returns this {@link Message} as a {@link RawMessage}
+   */
+  public String applyTemplate(String messageSource) {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
+           "\n" +
+           "Header header\n" +
+           "actionlib_msgs/GoalStatus status\n" +
+           messageSource;
+  }
+}

message_generation/src/main/java/org/ros/internal/message/action/ActionGoalGenerationTemplate.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message.action;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionGoalGenerationTemplate {
+
+  /**
+   * @return returns this {@link Message} as a {@link RawMessage}
+   */
+  public String applyTemplate(String messageSource) {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
+           "\n" +
+           "Header header\n" +
+            "actionlib_msgs/GoalID goal_id\n" +
+           messageSource;
+  }
+}

message_generation/src/main/java/org/ros/internal/message/action/ActionResultGenerationTemplate.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message.action;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionResultGenerationTemplate {
+
+  /**
+   * @return returns this {@link Message} as a {@link RawMessage}
+   */
+  public String applyTemplate(String messageSource) {
+    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
+           "\n" +
+           "Header header\n" +
+           "actionlib_msgs/GoalStatus status\n" +
+           messageSource;
+  }
+}