rosidl_cli: Add type description support (#857)

* Add type description support to rosidl_cli

Signed-off-by: Francisco Rossi <[email protected]>

* Fix typing annotation

Signed-off-by: Francisco Rossi <[email protected]>

* Please flake8, mypy

Signed-off-by: Michel Hidalgo <[email protected]>

* Please flake8 take 2

Signed-off-by: Michel Hidalgo <[email protected]>

---------

Signed-off-by: Francisco Rossi <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
Co-authored-by: Michel Hidalgo <[email protected]>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Co-authored-by: Christophe Bedard <[email protected]>

Author: 4 people

rosidl_cli/rosidl_cli/cli.py

@@ -17,15 +17,16 @@
 from typing import Any, List, Union
 
 from rosidl_cli.command.generate import GenerateCommand
+from rosidl_cli.command.hash import HashCommand
 from rosidl_cli.command.translate import TranslateCommand
 from rosidl_cli.common import get_first_line_doc
 
 
 def add_subparsers(
     parser: argparse.ArgumentParser,
     cli_name: str,
-    commands: List[Union[GenerateCommand, TranslateCommand]]
-) -> argparse._SubParsersAction[argparse.ArgumentParser]:
+    commands: List[Union[GenerateCommand, HashCommand, TranslateCommand]]
+) -> argparse._SubParsersAction:
     """
     Create argparse subparser for each command.
 
@@ -79,8 +80,8 @@ def main() -> Union[str, signal.Signals, Any]:
         formatter_class=argparse.RawDescriptionHelpFormatter
     )
 
-    commands: List[Union[GenerateCommand, TranslateCommand]] = \
-        [GenerateCommand(), TranslateCommand()]
+    commands: List[Union[GenerateCommand, TranslateCommand, HashCommand]] = \
+        [GenerateCommand(), TranslateCommand(), HashCommand()]
 
     # add arguments for command extension(s)
     add_subparsers(

rosidl_cli/rosidl_cli/command/generate/__init__.py

@@ -39,6 +39,10 @@ def add_arguments(self, parser: argparse.ArgumentParser) -> None:
             '-ts', '--type-support', metavar='TYPESUPPORT',
             dest='typesupports', action='append', default=[],
             help='Target type supports for generation.')
+        parser.add_argument(
+            '-td', '--type-description-file', metavar='PATH',
+            dest='type_description_files', action='append', default=[],
+            help='Target type descriptions for generation.')
         parser.add_argument(
             '-I', '--include-path', type=pathlib.Path, metavar='PATH',
             dest='include_paths', action='append', default=[],
@@ -58,5 +62,6 @@ def main(self, *, args: argparse.Namespace) -> None:
             include_paths=args.include_paths,
             output_path=args.output_path,
             types=args.types,
-            typesupports=args.typesupports
+            typesupports=args.typesupports,
+            type_description_files=args.type_description_files
         )

rosidl_cli/rosidl_cli/command/generate/api.py

@@ -12,13 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import inspect
 import os
 import pathlib
-from typing import List, Optional
+from typing import Any, Callable, Dict, List, Optional
 
-from .extensions import GenerateCommandExtension
-from .extensions import load_type_extensions
-from .extensions import load_typesupport_extensions
+from .extensions import GenerateCommandExtension, load_type_extensions, load_typesupport_extensions
 
 
 def generate(
@@ -28,7 +27,8 @@ def generate(
     include_paths: Optional[List[str]] = None,
     output_path: Optional[pathlib.Path] = None,
     types: Optional[List[str]] = None,
-    typesupports: Optional[List[str]] = None
+    typesupports: Optional[List[str]] = None,
+    type_description_files: Optional[List[str]] = None
 ) -> List[List[str]]:
     """
     Generate source code from interface definition files.
@@ -59,6 +59,7 @@ def generate(
         source code files, defaults to the current working directory
     :param types: optional list of type representations to generate
     :param typesupports: optional list of type supports to generate
+    :param type_description_files: Optional list of paths to type description files
     :returns: list of lists of paths to generated source code files,
         one group per type or type support extension invoked
     """
@@ -87,15 +88,39 @@ def generate(
     else:
         os.makedirs(output_path, exist_ok=True)
 
-    if len(extensions) > 1:
-        return [
+    def extra_kwargs(func: Callable, **kwargs: Any) -> Dict[str, Any]:
+        matched_kwargs = {}
+        signature = inspect.signature(func)
+        for name, value in kwargs.items():
+            if name in signature.parameters:
+                if signature.parameters[name].kind not in [
+                    inspect.Parameter.POSITIONAL_ONLY,
+                    inspect.Parameter.VAR_POSITIONAL,
+                    inspect.Parameter.VAR_KEYWORD
+                ]:
+                    matched_kwargs[name] = value
+        return matched_kwargs
+
+    generated_files = []
+    if len(extensions) == 1:
+        extension = extensions[0]
+        generated_files.append(
             extension.generate(
                 package_name, interface_files, include_paths,
-                output_path=output_path / extension.name)
-            for extension in extensions
-        ]
-
-    return [extensions[0].generate(
-        package_name, interface_files,
-        include_paths, output_path
-    )]
+                output_path=output_path,
+                **extra_kwargs(extension.generate, type_description_files=type_description_files)
+            )
+        )
+    else:
+        for extension in extensions:
+            generated_files.append(
+                extension.generate(
+                    package_name, interface_files, include_paths,
+                    output_path=output_path / extension.name,
+                    **extra_kwargs(
+                        extension.generate,
+                        type_description_files=type_description_files
+                    )
+                )
+            )
+    return generated_files

rosidl_cli/rosidl_cli/command/generate/extensions.py

@@ -32,7 +32,8 @@ def generate(
         package_name: str,
         interface_files: List[str],
         include_paths: List[str],
-        output_path: Path
+        output_path: Path,
+        type_description_files: Optional[List[str]] = None
     ) -> List[str]:
         """
         Generate source code.
@@ -46,6 +47,7 @@ def generate(
         :param include_paths: list of paths to include dependency interface
           definition files from.
         :param output_path: path to directory to hold generated source code files
+        :param type_description_files: Optional list of paths to type description files
         :returns: list of paths to generated source files
         """
         raise NotImplementedError()

rosidl_cli/rosidl_cli/command/hash/__init__.py

@@ -0,0 +1,51 @@
+# Copyright 2021 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 pathlib
+
+from rosidl_cli.command import Command
+
+from .api import generate_type_hashes
+
+
+class HashCommand(Command):
+    """Generate type description hashes from interface definition files."""
+
+    name = 'hash'
+
+    def add_arguments(self, parser):
+        parser.add_argument(
+            '-o', '--output-path', metavar='PATH',
+            type=pathlib.Path, default=None,
+            help=('Path to directory to hold generated '
+                  "source code files. Defaults to '.'."))
+        parser.add_argument(
+            '-I', '--include-path', type=pathlib.Path, metavar='PATH',
+            dest='include_paths', action='append', default=[],
+            help='Paths to include dependency interface definition files from.')
+        parser.add_argument(
+            'package_name', help='Name of the package to generate code for')
+        parser.add_argument(
+            'interface_files', metavar='interface_file', nargs='+',
+            help=('Relative path to an interface definition file. '
+                  "If prefixed by another path followed by a colon ':', "
+                  'path resolution is performed against such path.'))
+
+    def main(self, *, args):
+        generate_type_hashes(
+            package_name=args.package_name,
+            interface_files=args.interface_files,
+            include_paths=args.include_paths,
+            output_path=args.output_path,
+        )

rosidl_cli/rosidl_cli/command/hash/api.py

@@ -0,0 +1,68 @@
+# Copyright 2021 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 pathlib
+
+from .extensions import load_hash_extensions
+
+
+def generate_type_hashes(
+    *,
+    package_name,
+    interface_files,
+    include_paths=None,
+    output_path=None,
+):
+    """
+    Generate type hashes from interface definition files.
+
+    To do so, this function leverages type description hash generation support
+    as provided by third-party package extensions.
+
+    Each path to an interface definition file is a relative path optionally
+    prefixed by another path followed by a colon ':', against which the first
+    relative path is to be resolved.
+
+    The directory structure that these relative paths exhibit will be replicated
+    on output (as opposed to the prefix path, which will be ignored).
+
+    :param package_name: name of the package to generate hashes for
+    :param interface_files: list of paths to interface definition files
+    :param include_paths: optional list of paths to include dependency
+        interface definition files from
+    :param output_path: optional path to directory to hold generated
+        source code files, defaults to the current working directory
+    :returns: list of lists of paths to generated hashed json files,
+        one group per type or type support extension invoked
+    """
+    extensions = []
+    extensions.extend(load_hash_extensions())
+
+    if include_paths is None:
+        include_paths = []
+    if output_path is None:
+        output_path = pathlib.Path.cwd()
+    else:
+        pathlib.Path.mkdir(output_path, parents=True, exist_ok=True)
+
+    generated_hashes = []
+    for extension in extensions:
+        generated_hashes.extend(extension.generate_type_hashes(
+            package_name,
+            interface_files,
+            include_paths,
+            output_path=output_path,
+        ))
+
+    return generated_hashes

rosidl_cli/rosidl_cli/command/hash/extensions.py

@@ -0,0 +1,55 @@
+# Copyright 2021 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_cli.extensions import Extension
+from rosidl_cli.extensions import load_extensions
+
+
+class HashCommandExtension(Extension):
+    """
+    The extension point for source code generation.
+
+    The following methods must be defined:
+    * `generate_type_hashes`
+    """
+
+    def generate_type_hashes(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path,
+    ):
+        """
+        Generate type hashes from interface definition files.
+
+        Paths to interface definition files are relative paths optionally
+        prefixed by an absolute path followed by a colon ':', in which case
+        path resolution is to be performed against that absolute path.
+
+        :param package_name: name of the package to generate source code for
+        :param interface_files: list of paths to interface definition files
+        :param include_paths: list of paths to include dependency interface
+          definition files from.
+        :param output_path: path to directory to hold generated source code files
+        :returns: list of paths to generated source files
+        """
+        raise NotImplementedError()
+
+
+def load_hash_extensions(**kwargs):
+    """Load extensions for type hash generation."""
+    return load_extensions(
+        'rosidl_cli.command.hash.extensions', **kwargs
+    )