added generation of python code for some of the protos and other supporting changes

.gitignore

@@ -0,0 +1 @@
+.DS_Store

grpc_vendor/CMakeLists.txt

@@ -34,6 +34,7 @@ ament_vendor(grpc_vendor
     -DgRPC_BUILD_NODE_PLUGIN:BOOL=OFF
     -DgRPC_BUILD_OBJECTIVEC_PLUGIN:BOOL=OFF
     -DgRPC_BUILD_RUBY_PLUGIN:BOOL=OFF
+    -DgRPC_BUILD_GRPC_PYTHON_PLUGIN=ON
     -DgRPC_PROTOBUF_PROVIDER:STRING=module
     -DPROTOBUF_ROOT_DIR=${PROTOBUF_ROOT_DIR}
 )

intrinsic_sdk_cmake/CMakeLists.txt

@@ -34,6 +34,9 @@ include(cmake/sdk_imw_zenoh.cmake)
 # Build the sdk C++ sources into a library.
 include(cmake/sdk.cmake)
 
+# Collect and install the sdk Python sources.
+include(cmake/sdk_python.cmake)
+
 # Extract tool binaries from bazel build of sdk.
 include(cmake/sdk_tools.cmake)
 

intrinsic_sdk_cmake/cmake/find_replace_fix_imports.cmake

@@ -0,0 +1,46 @@
+set(python_package_directory ${PYTHON_PACKAGE_DIRECTORY})
+set(python_package_to_install_package_dir
+  "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/${python_package_directory}")
+set(python_package_to_install_package_dir_fixed
+  "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/fixed_imports/${python_package_directory}")
+
+file(GLOB_RECURSE python_package_sources
+  RELATIVE "${python_package_to_install_package_dir}"
+  "${python_package_to_install_package_dir}/**/*.py"
+)
+
+set(FIND_LIST
+  "from google.api"
+  "from google.longrunning"
+  "from google.rpc"
+  "from google.type"
+)
+set(REPLACE_LIST
+  "from googleapis.google.api"
+  "from googleapis.google.longrunning"
+  "from googleapis.google.rpc"
+  "from googleapis.google.type"
+)
+
+foreach(python_package_source ${python_package_sources})
+  set(source_file "${python_package_to_install_package_dir}/${python_package_source}")
+  set(target_file "${python_package_to_install_package_dir_fixed}/${python_package_source}")
+
+  file(READ "${source_file}" contents)
+
+  list(LENGTH FIND_LIST len1)
+  math(EXPR len2 "${len1} - 1")
+
+  foreach(val RANGE ${len2})
+    list(GET FIND_LIST ${val} find)
+    list(GET REPLACE_LIST ${val} replace)
+
+    message(STATUS "'${find}' -> '${replace}' in '${source_file}'")
+    string(REPLACE "${find}" "${replace}" contents "${contents}")
+  endforeach()
+
+  get_filename_component(target_file_dir "${target_file}" DIRECTORY)
+  file(MAKE_DIRECTORY "${target_file_dir}")
+
+  file(WRITE "${target_file}" "${contents}")
+endforeach()

intrinsic_sdk_cmake/cmake/sdk_protos.cmake

@@ -1,10 +1,11 @@
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/protos_gen)
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py)
 
 file(GLOB_RECURSE intrinsic_proto_SRCS "${intrinsic_sdk_SOURCE_DIR}/**/*.proto")
 list(FILTER intrinsic_proto_SRCS EXCLUDE REGEX "_test\\.proto$")
 
 set(exclude_SRCS
-  intrinsic/icon/proto/service.proto 
+  intrinsic/icon/proto/service.proto
   third_party/ros2/ros_interfaces/jazzy/diagnostic_msgs/srv/self_test.proto
   third_party/ros2/ros_interfaces/jazzy/diagnostic_msgs/srv/add_diagnostics.proto
   third_party/ros2/ros_interfaces/jazzy/rcl_interfaces/srv/set_parameters.proto
@@ -77,22 +78,28 @@ set(grpc_gateway_SRCS
   ${grpc_gateway_SOURCE_DIR}/protoc-gen-openapiv2/options/openapiv2.proto
 )
 
-# Generate code from protos and build into a library.
-add_library(intrinsic_sdk_protos STATIC
+set(sdk_protos
   ${intrinsic_proto_SRCS}
   ${googleapis_SRCS}
   ${grpc_gateway_SRCS}
   ${grpc_SRCS}
 )
+set(sdk_proto_import_dirs
+  ${intrinsic_sdk_SOURCE_DIR}
+  ${googleapis_SOURCE_DIR}
+  ${grpc_gateway_SOURCE_DIR}
+  ${grpc_SOURCE_DIR}
+)
+
+# Generate code from protos and build into a library.
+add_library(intrinsic_sdk_protos STATIC
+  ${sdk_protos}
+)
 set_property(TARGET intrinsic_sdk_protos PROPERTY POSITION_INDEPENDENT_CODE ON)
 protobuf_generate(
   TARGET intrinsic_sdk_protos
   LANGUAGE cpp
-  IMPORT_DIRS
-    ${intrinsic_sdk_SOURCE_DIR}
-    ${googleapis_SOURCE_DIR}
-    ${grpc_gateway_SOURCE_DIR}
-    ${grpc_SOURCE_DIR}
+  IMPORT_DIRS ${sdk_proto_import_dirs}
   PROTOC_OPTIONS --experimental_editions
   PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/protos_gen
 )
@@ -114,11 +121,7 @@ protobuf_generate(
   TARGET intrinsic_sdk_services
   LANGUAGE grpc
   PLUGIN protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>
-  IMPORT_DIRS
-    ${intrinsic_sdk_SOURCE_DIR}
-    ${googleapis_SOURCE_DIR}
-    ${grpc_gateway_SOURCE_DIR}
-    ${grpc_SOURCE_DIR}
+  IMPORT_DIRS ${sdk_proto_import_dirs}
   PROTOC_OPTIONS --experimental_editions
   PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/protos_gen
   GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
@@ -131,6 +134,158 @@ target_include_directories(intrinsic_sdk_services
 target_link_libraries(intrinsic_sdk_services PUBLIC intrinsic_sdk_protos)
 set_property(TARGET intrinsic_sdk_services PROPERTY POSITION_INDEPENDENT_CODE ON)
 
+# Generate Python code from the protos.
+# add_custom_target(intrinsic_sdk_protos_python ALL DEPENDS ${sdk_protos})
+# protobuf_generate(
+#   TARGET intrinsic_sdk_protos_python
+#   PLUGIN protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_python_plugin>
+#   LANGUAGE python
+#   PROTOS ${sdk_protos}
+#   IMPORT_DIRS ${sdk_proto_import_dirs}
+#   PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py
+#   OUT_VAR sdk_protos_python_sources_maybe_hyphens
+# )
+# Use the protoc from the grpcio-tools Python package to generate _pb2.py and _pb2_grpc.py files.
+set(venv_dir "${CMAKE_CURRENT_BINARY_DIR}/grpc_venv")
+if(NOT EXISTS "${venv_dir}")
+  execute_process(
+    COMMAND "${Python3_EXECUTABLE}" -m venv "${venv_dir}"
+    WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+    RESULT_VARIABLE VENV_CREATE_RESULT
+    OUTPUT_VARIABLE VENV_CREATE_OUTPUT
+    ERROR_VARIABLE VENV_CREATE_ERROR
+  )
+  if(NOT VENV_CREATE_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to create virtual environment: ${VENV_CREATE_ERROR}")
+  endif()
+
+  execute_process(
+    COMMAND "${venv_dir}/bin/pip" install -U grpcio-tools
+    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
+    RESULT_VARIABLE PIP_INSTALL_RESULT
+    OUTPUT_VARIABLE PIP_INSTALL_OUTPUT
+    ERROR_VARIABLE PIP_INSTALL_ERROR
+  )
+  if(NOT PIP_INSTALL_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to install Python dependencies: ${PIP_INSTALL_ERROR}")
+  endif()
+endif()
+set(protoc_include_flags)
+foreach(sdk_proto_import_dir ${sdk_proto_import_dirs})
+  list(APPEND protoc_include_flags -I "${sdk_proto_import_dir}")
+endforeach()
+set(protoc_generated_files)
+foreach(sdk_proto ${sdk_protos})
+  set(_proto ${sdk_proto})
+  get_filename_component(_abs_file ${_proto} ABSOLUTE)
+  get_filename_component(_abs_dir ${_abs_file} DIRECTORY)
+  get_filename_component(_file_full_name ${_proto} NAME)
+  string(FIND "${_file_full_name}" "." _file_last_ext_pos REVERSE)
+  string(SUBSTRING "${_file_full_name}" 0 ${_file_last_ext_pos} _basename)
+  set(_suitable_include_found FALSE)
+  foreach(DIR ${sdk_proto_import_dirs})
+    if(NOT DIR STREQUAL "-I")
+      file(RELATIVE_PATH _rel_dir ${DIR} ${_abs_dir})
+      if(_rel_dir STREQUAL _abs_dir)
+        # When there is no relative path from DIR to _abs_dir (e.g. due to
+        # different drive letters on Windows), _rel_dir is equal to _abs_dir.
+        # Therefore, DIR is not a suitable include path and must be skipped.
+        continue()
+      endif()
+      string(FIND "${_rel_dir}" "../" _is_in_parent_folder)
+      if (NOT ${_is_in_parent_folder} EQUAL 0)
+        set(_suitable_include_found TRUE)
+        break()
+      endif()
+    endif()
+  endforeach()
+  if(NOT _suitable_include_found)
+    message(FATAL_ERROR "Error: could not find any correct proto include directory: ${_proto}")
+  endif()
+  set(_proto_generated_files)
+  list(APPEND _proto_generated_files
+    "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/${_rel_dir}/${_basename}_pb2.py")
+  list(APPEND _proto_generated_files
+    "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/${_rel_dir}/${_basename}_pb2_grpc.py")
+  list(APPEND protoc_generated_files ${_proto_generated_files})
+  add_custom_command(
+    OUTPUT ${_proto_generated_files}
+    DEPENDS "${sdk_proto}"
+    COMMAND
+      "${venv_dir}/bin/python3"
+      -m grpc_tools.protoc
+      ${protoc_include_flags}
+      --python_out="${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py"
+      --grpc_python_out="${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py"
+      "${sdk_proto}"
+    COMMENT "Using 'grpc_tools.protoc' to generate Python code for '${sdk_proto}'..."
+  )
+endforeach()
+add_custom_target(intrinsic_sdk_protos_python ALL DEPENDS ${sdk_protos} ${protoc_generated_files})
+set(sdk_protos_python_sources_maybe_hyphens ${protoc_generated_files})
+# Create empty __init__.py files for each python package generated by protoc.
+set(sdk_protos_python_sources "")
+set(python_package_directories "")
+foreach(generated_python_file_maybe_hyphen ${sdk_protos_python_sources_maybe_hyphens})
+  file(RELATIVE_PATH rel_generated_python_file_maybe_hyphen
+    "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py"
+    "${generated_python_file_maybe_hyphen}"
+  )
+  string(REPLACE "-" "_" rel_generated_python_file "${rel_generated_python_file_maybe_hyphen}")
+  set(generated_python_file "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/${rel_generated_python_file}")
+  list(APPEND sdk_protos_python_sources "${generated_python_file}")
+  get_filename_component(generated_python_file_dir "${generated_python_file}" DIRECTORY)
+  list(APPEND python_package_directories "${generated_python_file_dir}")
+endforeach()
+list(REMOVE_DUPLICATES python_package_directories)
+set(python_init_py_files "")
+# add __init__.py to "leaf" directories
+foreach(python_package_directory ${python_package_directories})
+  file(MAKE_DIRECTORY "${python_package_directory}")
+  set(python_init_py_file "${python_package_directory}/__init__.py")
+  list(APPEND python_init_py_files "${python_init_py_file}")
+  file(TOUCH "${python_init_py_file}")
+endforeach()
+# second pass to add __init__.py to intermediate directories now that the folder structure exists.
+file(GLOB_RECURSE leaf_python_init_files_and_dirs
+  LIST_DIRECTORIES true
+  RELATIVE "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/"
+  "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/*/__init__.py"
+)
+foreach(leaf_python_init_file_or_dir ${leaf_python_init_files_and_dirs})
+  if(IS_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/${leaf_python_init_file_or_dir}")
+    set(python_init_py_file "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/${leaf_python_init_file_or_dir}/__init__.py")
+    list(APPEND python_init_py_files "${python_init_py_file}")
+    file(TOUCH "${python_init_py_file}")
+  endif()
+endforeach()
+# final pass because glob doesn't get the root folders correctly.
+file(GLOB root_directories
+  LIST_DIRECTORIES true
+  "${CMAKE_CURRENT_BINARY_DIR}/protos_gen_py/*"
+)
+foreach(root_directory ${root_directories})
+  if(IS_DIRECTORY "${root_directory}")
+    set(python_init_py_file "${root_directory}/__init__.py")
+    list(APPEND python_init_py_files "${python_init_py_file}")
+    file(TOUCH "${python_init_py_file}")
+  endif()
+endforeach()
+list(REMOVE_DUPLICATES python_init_py_files)
+
+# add_custom_target(intrinsic_sdk_protos_python_grpc ALL DEPENDS ${sdk_protos})
+# foreach(sdk_protos_python_source ${sdk_protos_python_sources})
+#   string(REPLACE "_pb2.py" "_pb2_grpc.py" grpc_version "${sdk_protos_python_source}")
+#   add_custom_command(
+#     TARGET intrinsic_sdk_protos_python_grpc POST_BUILD
+#     DEPENDS "${sdk_protos_python_source}" intrinsic_sdk_protos_python
+#     COMMAND ${CMAKE_COMMAND} -E copy "${sdk_protos_python_source}" "${grpc_version}"
+#     COMMENT "Duplicating '${sdk_protos_python_source}' as '${grpc_version}'..."
+#   )
+# endforeach()
+
+# Generated Python code is installed with the Python sdk files later.
+
 # Generate a descriptor set.
 add_custom_command(
   OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/intrinsic_proto.desc