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Published 20 hours ago • verified publisher icon ros2

Generate typesupport declarations for actions, messages and services

Open StefanFabian opened this issue 2 years ago • 1 comments

As discussed in ros2/rosidl_typesupport#114, this PR adds the generation of typesupport getter declarations that is currently missing.

For this, I have also added package-specific visibility control analogous to rosidl_generator_c.

Here's an example of the generated fibonacci__type_support.hpp from the action_tutorials_interfaces package:

// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
// with input from action_tutorials_interfaces:action/Fibonacci.idl
// generated code does not contain a copyright notice

#ifndef ACTION_TUTORIALS_INTERFACES__ACTION__DETAIL__FIBONACCI__TYPE_SUPPORT_HPP_
#define ACTION_TUTORIALS_INTERFACES__ACTION__DETAIL__FIBONACCI__TYPE_SUPPORT_HPP_

#include "rosidl_typesupport_interface/macros.h"

#include "action_tutorials_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp"

#include "rosidl_typesupport_cpp/action_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_action_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci
)();
#ifdef __cplusplus
}
#endif

#include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_Goal
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_Result
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_Feedback
)();
#ifdef __cplusplus
}
#endif

#include "rosidl_typesupport_cpp/service_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_service_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_SendGoal
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_SendGoal_Request
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_SendGoal_Response
)();
#ifdef __cplusplus
}
#endif


// already included above
// #include "rosidl_typesupport_cpp/service_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_service_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_GetResult
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_GetResult_Request
)();
#ifdef __cplusplus
}
#endif

// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_GetResult_Response
)();
#ifdef __cplusplus
}
#endif


// already included above
// #include "rosidl_typesupport_cpp/message_type_support.hpp"

#ifdef __cplusplus
extern "C"
{
#endif
// Forward declare the get type support functions for this type.
ROSIDL_GENERATOR_CPP_PUBLIC_action_tutorials_interfaces
const rosidl_message_type_support_t *
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
  rosidl_typesupport_cpp,
  action_tutorials_interfaces,
  action,
  Fibonacci_FeedbackMessage
)();
#ifdef __cplusplus
}
#endif


#endif  // ACTION_TUTORIALS_INTERFACES__ACTION__DETAIL__FIBONACCI__TYPE_SUPPORT_HPP_

StefanFabian avatar Sep 16 '22 15:09 StefanFabian

Can't reproduce the uncrustify test failing on the ros:rolling-ros-core docker container. All tests are passing for me.

StefanFabian avatar Nov 14 '22 15:11 StefanFabian

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

clalancette avatar May 15 '23 13:05 clalancette

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/preparing-for-foxy-fitzroy-end-of-life/31470/2

ros-discourse avatar May 22 '23 11:05 ros-discourse

@mergifyio backport humble

(Probably won't work for me, can one of the contributors trigger that?)

achim-k avatar Nov 23 '23 18:11 achim-k

backport humble

❌ Command disallowed due to command restrictions in the Mergify configuration.

  • [ ] sender-permission>=write

mergify[bot] avatar Nov 23 '23 18:11 mergify[bot]

I have created backports for humble (ros2/rosidl#778 and ros2/rosidl_typesupport#149) and verified that they work and pass all tests on my machine. Would be much appreciated if they could get merged so I don't have to wait until Ubuntu 24.04 is released for an LTS version where my ui module works. @clalancette @quarkytale

StefanFabian avatar Dec 27 '23 13:12 StefanFabian