Added Ruby generator

rosidl_default_generators/CMakeLists.txt

@@ -9,10 +9,11 @@ ament_export_dependencies(rosidl_cmake)
 ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(rosidl_generator_cpp)
 ament_export_dependencies(rosidl_generator_py)
+ament_export_dependencies(rosidl_generator_rb)
 
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
-ament_export_dependencies(rosidl_typesupport_connext_cpp)
+#ament_export_dependencies(rosidl_typesupport_connext_cpp)
 ament_export_dependencies(rosidl_typesupport_opensplice_cpp)
 
 ament_package()

rosidl_default_generators/package.xml

@@ -13,9 +13,12 @@
   <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_generator_cpp</buildtool_export_depend>
   <buildtool_export_depend>rosidl_generator_py</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_rb</buildtool_export_depend>
 
   <buildtool_export_depend>rosidl_typesupport_introspection_cpp</buildtool_export_depend>
 
+<!--
   <buildtool_export_depend>rosidl_typesupport_connext_cpp</buildtool_export_depend>
+-->
   <buildtool_export_depend>rosidl_typesupport_opensplice_cpp</buildtool_export_depend>
 </package>

rosidl_generator_rb/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(rosidl_generator_rb NONE)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+ament_export_dependencies(rosidl_cmake)
+ament_export_include_directories(include)
+
+ament_python_install_package(${PROJECT_NAME})
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_generator_rb-extras.cmake.in"
+)
+
+install(
+  PROGRAMS bin/rosidl_generator_rb
+  DESTINATION lib/rosidl_generator_rb
+)
+install(
+  DIRECTORY cmake resource
+  DESTINATION share/${PROJECT_NAME}
+)
+install(
+  DIRECTORY include/
+  DESTINATION include
+)

rosidl_generator_rb/bin/rosidl_generator_rb

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+
+from rosidl_generator_rb import generate_rb
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C ROS interfaces.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--pkg-name',
+        required=True,
+        help='The package name to generate interfaces for')
+    parser.add_argument(
+        '--ros-interface-files',
+        nargs='*',
+        help='The ROS interface files')
+    parser.add_argument(
+        '--deps',
+        nargs='*',
+        help="The dependencies (each as '<pkgname>:<abs_interface_file>')")
+    parser.add_argument(
+        '--output-dir',
+        required=True,
+        help='The location of the generated C interfaces')
+    parser.add_argument(
+        '--template-dir',
+        required=True,
+        help='The location of the template files')
+    args = parser.parse_args(argv)
+
+    return generate_rb(
+        args.pkg_name,
+        args.ros_interface_files,
+        args.deps,
+        args.output_dir,
+        args.template_dir,
+    )
+
+
+if __name__ == '__main__':
+    sys.exit(main())

rosidl_generator_rb/cmake/rosidl_generator_rb_generate_interfaces.cmake

@@ -0,0 +1,64 @@
+message(" - rosidl_generator_rb_generate_interfaces.cmake")
+message("   - target: ${rosidl_generate_interfaces_TARGET}")
+message("   - interface files: ${rosidl_generate_interfaces_IDL_FILES}")
+message("   - dependency package names: ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}")
+
+set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_rb/${PROJECT_NAME}")
+set(_generated_files "")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(name "${_idl_file}" NAME_WE)
+  list(APPEND _generated_files
+    "${_output_path}/${name}-rb.c"
+    "${_output_path}/${name}.rb"
+  )
+endforeach()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_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()
+
+message("   - generated files: ${_generated_files}")
+message("   - dependencies: ${_dependencies}")
+
+add_custom_command(
+  OUTPUT ${_generated_files}
+  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_rb_BIN}
+  --pkg-name ${PROJECT_NAME}
+  --ros-interface-files ${rosidl_generate_interfaces_IDL_FILES}
+  --deps ${_dependencies}
+  --output-dir ${_output_path}
+  --template-dir ${rosidl_generator_rb_TEMPLATE_DIR}
+  DEPENDS
+  ${rosidl_generator_rb_BIN}
+  ${rosidl_generator_rb_GENERATOR_FILES}
+  ${rosidl_generator_rb_TEMPLATE_DIR}/msg-rb.c.template
+  ${rosidl_generator_rb_TEMPLATE_DIR}/msg-rb.rb.template
+  ${rosidl_generate_interfaces_IDL_FILES}
+  ${_dependency_files}
+  COMMENT "Generating Python code for ROS interfaces"
+  VERBATIM
+)
+
+add_custom_target(
+  ${rosidl_generate_interfaces_TARGET}__rb
+  DEPENDS
+  ${_generated_files}
+)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}
+  ${rosidl_generate_interfaces_TARGET}__rb
+)
+
+install(
+  FILES ${_generated_files}
+  DESTINATION "include/${PROJECT_NAME}"
+)
+
+ament_export_include_directories(include)

rosidl_generator_rb/include/rosidl_generator_py/message_type_support.h

@@ -0,0 +1,36 @@
+/* Copyright 2014 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.
+ */
+
+#ifndef ROSIDL_GENERATOR_C_ROSIDL_GENERATOR_C_MESSAGE_TYPE_SUPPORT_H_
+#define ROSIDL_GENERATOR_C_ROSIDL_GENERATOR_C_MESSAGE_TYPE_SUPPORT_H_
+
+typedef struct rosidl_message_type_support_t
+{
+  const char * typesupport_identifier;
+  const void * data;
+} rosidl_message_type_support_t;
+
+/* Macro for function that returns type support for a particular message type.
+ *
+ * Usage:
+ *
+ *   ROSIDL_CREATE_GET_TYPE_SUPPORT_FUNCTION(msg_type_name) {...}
+ *
+ */
+#define ROSIDL_CREATE_GET_TYPE_SUPPORT_FUNCTION(type_name) \
+rosidl_message_type_support_t * \
+rosidl_get_type_support_##type_name()
+
+#endif  /* ROSIDL_GENERATOR_C_ROSIDL_GENERATOR_C_MESSAGE_TYPE_SUPPORT_H_ */

rosidl_generator_rb/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>rosidl_generator_rb</name>
+  <version>0.0.0</version>
+  <description>Generate the ROS interfaces in Python.</description>
+  <maintainer email="[email protected]">Esteve Fernandez</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_cmake</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+
+  <build_depend>rosidl_generator_c</build_depend>
+
+  <exec_depend>rosidl_parser</exec_depend>
+</package>

rosidl_generator_rb/resource/msg-rb.c.template

@@ -0,0 +1,93 @@
+#include <ruby.h>
+
+#include "@(spec.base_type.pkg_name)/@(spec.base_type.type)-c.h"
+
+@{
+from rosidl_generator_rb import msg_type_to_rb
+from rosidl_generator_rb import msg_type_to_rb_convert
+from rosidl_generator_rb import rb_to_c
+}@
+
+VALUE C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c;
+
+@[for field in spec.fields]
+@[if not field.type.is_primitive_type()]
+VALUE C_@(field.type.pkg_name)_@(field.type.type)_c;
+@[end if]
+@[end for]
+
+VALUE @(spec.base_type.pkg_name)_@(spec.base_type.type)_create(VALUE class) {
+    return Data_Wrap_Struct(
+        class, NULL,
+        ruby_xfree,
+        ruby_xmalloc(sizeof(@(spec.base_type.pkg_name)_@(spec.base_type.type))));
+}
+
+@[for field in spec.fields]
+VALUE @(spec.base_type.pkg_name)_@(spec.base_type.type)_set_@(field.name)(
+    VALUE self, VALUE value) {
+
+    @(spec.base_type.pkg_name)_@(spec.base_type.type) * cobj;
+    Data_Get_Struct(
+        self, @(spec.base_type.pkg_name)_@(spec.base_type.type), cobj);
+
+    @[if field.type.is_primitive_type()]
+    @(msg_type_to_rb(field.type, "cvalue"));
+    cvalue = @(rb_to_c(field.type))(value);
+    cobj->@(field.name) = cvalue;
+    @[else]
+    @(field.type.pkg_name)_@(field.type.type) * cvalue;
+
+    Data_Get_Struct(
+        value, @(field.type.pkg_name)_@(field.type.type), cvalue);
+
+    cobj->@(field.name) = *cvalue;
+    @[end if]
+
+    return Qnil;
+}
+
+VALUE @(spec.base_type.pkg_name)_@(spec.base_type.type)_get_@(field.name)(
+    VALUE self) {
+
+    @(spec.base_type.pkg_name)_@(spec.base_type.type) * cobj;
+    Data_Get_Struct(
+        self, @(spec.base_type.pkg_name)_@(spec.base_type.type), cobj);
+
+    @[if field.type.is_primitive_type()]
+    VALUE ret = @(msg_type_to_rb_convert(field.type))(cobj->@(field.name));
+    @[else]
+    /* Replace second NULL with destructor */
+    VALUE ret = Data_Wrap_Struct(
+        C_@(field.type.pkg_name)_@(field.type.type)_c, NULL, NULL, &(cobj->@(field.name)));
+    @[end if]
+
+    return ret;
+}
+@[end for]
+
+void Init_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c(void)
+{
+  C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c = rb_define_class(
+      "C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c", rb_cObject);
+
+  rb_define_singleton_method(
+      C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c,
+      "create", @(spec.base_type.pkg_name)_@(spec.base_type.type)_create, 0);
+
+@[for field in spec.fields]
+  rb_define_method(
+      C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c,
+      "set_@(field.name)",
+      @(spec.base_type.pkg_name)_@(spec.base_type.type)_set_@(field.name), 1);
+  rb_define_method(
+      C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c,
+      "get_@(field.name)",
+      @(spec.base_type.pkg_name)_@(spec.base_type.type)_get_@(field.name), 0);
+
+@[if not field.type.is_primitive_type()]
+  C_@(field.type.pkg_name)_@(field.type.type)_c = rb_define_class(
+      "C_@(field.type.pkg_name)_@(field.type.type)_c", rb_cObject);
+@[end if]
+@[end for]
+}

rosidl_generator_rb/resource/msg-rb.rb.template

@@ -0,0 +1,60 @@
+require '@(spec.base_type.pkg_name)_@(spec.base_type.type)_c'
+@{
+import_modules = set()
+}@
+@[for field in spec.fields]
+@[if not field.type.is_primitive_type()]
+@{
+import_modules.add('%s/%s' % (field.type.pkg_name, field.type.type))
+}@
+@[end if]
+@[end for]
+@[for import_module in import_modules]
+require '@import_module'
+@[end for]
+
+module @(spec.base_type.pkg_name.upper())
+
+  class @(spec.base_type.type)
+
+    def initialize(@(', '.join(["%s=nil" % field.name for field in spec.fields])))
+@[for field in spec.fields]
+      @@@(field.name) = @(field.name)
+@[end for]
+    end
+
+@[for field in spec.fields]
+    def @(field.name)=(value)
+      @@@(field.name) = value
+    end
+    def @(field.name)
+      @@@(field.name)
+    end
+@[end for]
+
+    def materialize()
+      handle = C_@(spec.base_type.pkg_name)_@(spec.base_type.type)_c.create()
+@[for field in spec.fields]
+@[if field.type.is_primitive_type()]
+      handle.set_@(field.name)(@@@(field.name))
+@[else]
+      handle.set_@(field.name)(@@@(field.name).materialize())
+@[end if]
+@[end for]
+      return handle
+    end
+
+    def self.load(handle)
+      msg = self.new()
+@[for field in spec.fields]
+@[if field.type.is_primitive_type()]
+      msg.@(field.name) = handle.get_@(field.name)()
+@[else]
+      @(field.name)_handle = handle.get_@(field.name)()
+      msg.@(field.name) = @(field.type.pkg_name.upper())::@(field.type.type).load(@(field.name)_handle)
+@[end if]
+@[end for]
+      return msg
+    end
+  end
+end

rosidl_generator_rb/rosidl_generator_rb-extras.cmake.in

@@ -0,0 +1,21 @@
+# generated from rosidl_generator_rb/rosidl_generator_rb-extras.cmake
+
+find_package(ament_cmake_core REQUIRED)
+ament_register_extension(
+  "rosidl_generate_interfaces"
+  "rosidl_generator_rb"
+  "rosidl_generator_rb_generate_interfaces.cmake")
+
+set(rosidl_generator_rb_BIN
+    "${rosidl_generator_rb_DIR}/../../../lib/rosidl_generator_rb/rosidl_generator_rb")
+normalize_path(rosidl_generator_rb_BIN "${rosidl_generator_rb_BIN}")
+
+set(rosidl_generator_rb_GENERATOR_FILES
+    "${rosidl_generator_rb_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_generator_rb/__init__.py")
+normalize_path(rosidl_generator_rb_GENERATOR_FILES
+    "${rosidl_generator_rb_GENERATOR_FILES}")
+
+set(rosidl_generator_rb_TEMPLATE_DIR
+    "${rosidl_generator_rb_DIR}/../resource")
+normalize_path(rosidl_generator_rb_TEMPLATE_DIR
+               "${rosidl_generator_rb_TEMPLATE_DIR}")