actions: initial action idl generation

rcldotnet_common/CMakeLists.txt

@@ -10,6 +10,7 @@ find_package(DotNETExtra REQUIRED)
 
 set(CS_SOURCES
   DllLoadUtils.cs
+  IRosActionDefinition.cs
   IRosMessage.cs
   IRosServiceDefinition.cs
 )

rcldotnet_common/IRosActionDefinition.cs

@@ -0,0 +1,27 @@
+/* Copyright 2022 Stefan Hoffmann <stefan.hoffmann@schiller.de>
+ *
+ * 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.
+ */
+
+namespace ROS2
+{
+    public interface IRosActionDefinition<TGoal, TResult, TFeedback>
+        where TGoal : IRosMessage, new()
+        where TResult : IRosMessage, new()
+        where TFeedback : IRosMessage, new()
+    {
+        // must be implemented on deriving types, gets called via reflection
+        // (static abstract interface members are not supported yet.)
+        // public static abstract IntPtr __GetTypeSupport();
+    }
+}

rosidl_generator_dotnet/cmake/rosidl_generator_dotnet_generate_interfaces.cmake

@@ -68,6 +68,17 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       "${_output_path}/${_parent_folder}/${_module_name}.c"
       )
   elseif(_parent_folder STREQUAL "action")
+    list(APPEND _generated_cs_files
+      "${_output_path}/${_parent_folder}/${_module_name}.cs"
+      )
+
+    list(APPEND _generated_h_files
+      "${_output_path}/${_parent_folder}/rcldotnet_${_module_name}.h"
+      )
+
+    list(APPEND _generated_c_ts_files
+      "${_output_path}/${_parent_folder}/${_module_name}.c"
+      )
   else()
     message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
   endif()
@@ -87,13 +98,18 @@ endforeach()
 set(target_dependencies
   "${rosidl_generator_dotnet_BIN}"
   ${rosidl_generator_dotnet_GENERATOR_FILES}
-  "${rosidl_generator_dotnet_TEMPLATE_DIR}/idl.h.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/action.c.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/action.cs.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/action.h.em"
   "${rosidl_generator_dotnet_TEMPLATE_DIR}/idl.c.em"
   "${rosidl_generator_dotnet_TEMPLATE_DIR}/idl.cs.em"
-  "${rosidl_generator_dotnet_TEMPLATE_DIR}/msg.h.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/idl.h.em"
   "${rosidl_generator_dotnet_TEMPLATE_DIR}/msg.c.em"
   "${rosidl_generator_dotnet_TEMPLATE_DIR}/msg.cs.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/msg.h.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/srv.c.em"
   "${rosidl_generator_dotnet_TEMPLATE_DIR}/srv.cs.em"
+  "${rosidl_generator_dotnet_TEMPLATE_DIR}/srv.h.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
   ${_dependency_files})
 foreach(dep ${target_dependencies})

rosidl_generator_dotnet/resource/action.c.em

@@ -0,0 +1,8 @@
+@{
+type_name = action.namespaced_type.name
+action_typename = '%s__%s' % ('__'.join(action.namespaced_type.namespaces), type_name)
+}@
+const void * @(action_typename)__get_typesupport(void) {
+  const void * ptr = ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(rosidl_typesupport_c, @(', '.join(action.namespaced_type.namespaced_name())))();
+  return ptr;
+}

rosidl_generator_dotnet/resource/action.cs.em

@@ -0,0 +1,61 @@
+@{
+from rosidl_generator_dotnet import get_field_name
+from rosidl_generator_dotnet import get_dotnet_type
+from rosidl_generator_dotnet import get_builtin_dotnet_type
+from rosidl_generator_dotnet import constant_value_to_dotnet
+
+from rosidl_parser.definition import AbstractNestedType
+from rosidl_parser.definition import AbstractGenericString
+from rosidl_parser.definition import AbstractString
+from rosidl_parser.definition import AbstractWString
+from rosidl_parser.definition import AbstractSequence
+from rosidl_parser.definition import Array
+from rosidl_parser.definition import BasicType
+from rosidl_parser.definition import NamespacedType
+
+type_name = action.namespaced_type.name
+goal_type_name = action.goal.structure.namespaced_type.name
+result_type_name = action.result.structure.namespaced_type.name
+feedback_type_name = action.feedback.structure.namespaced_type.name
+action_typename = '%s__%s' % ('__'.join(action.namespaced_type.namespaces), type_name)
+}
+namespace @('.'.join(action.namespaced_type.namespaces))
+{
+@# sealed class with private constructor -> no instance can be created
+@# static classes can't implement an interface (or any other basetype),
+@# but we need some type that can hold the typesupport and be passed to the Node.CreateActionServce/Client() method.
+@# So sealed + private constructor is as static as it gets.
+@# static abstract interface members are currently in preview, so maybe we could use the feature in the future.
+@# (if hey add support to derive from static only interfaces in static classes)
+@# Another option is to not use generics for passing the typesupport, but lets try this until we hit some wall.
+    public sealed class @(type_name) : global::ROS2.IRosActionDefinition<@(goal_type_name), @(result_type_name), @(feedback_type_name)>
+    {
+        private static readonly DllLoadUtils dllLoadUtils;
+
+        private @(type_name)()
+        {
+        }
+
+        static @(type_name)()
+        {
+            dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
+            IntPtr nativelibrary = dllLoadUtils.LoadLibrary("@(package_name)__dotnetext");
+
+            IntPtr native_get_typesupport_ptr = dllLoadUtils.GetProcAddress(nativelibrary, "@(action_typename)__get_typesupport");
+
+            @(type_name).native_get_typesupport = (NativeGetTypeSupportType)Marshal.GetDelegateForFunctionPointer(
+                native_get_typesupport_ptr, typeof(NativeGetTypeSupportType));
+        }
+
+        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+        private delegate IntPtr NativeGetTypeSupportType();
+
+        private static NativeGetTypeSupportType native_get_typesupport = null;
+
+@# This method gets called via reflection as static abstract interface members are not supported yet.
+        [global::System.ComponentModel.EditorBrowsable(global::System.ComponentModel.EditorBrowsableState.Never)]
+        public static IntPtr __GetTypeSupport() {
+            return native_get_typesupport();
+        }
+    }
+}

rosidl_generator_dotnet/resource/action.h.em

@@ -0,0 +1,33 @@
+@{
+type_name = action.namespaced_type.name
+action_typename = '%s__%s' % ('__'.join(action.namespaced_type.namespaces), type_name)
+action_prefix = "RCLDOTNET_{0}_{1}_{2}".format(package_name, '_'.join(action.namespaced_type.namespaces), type_name).upper()
+}@
+#if defined(_MSC_VER)
+    //  Microsoft
+    #define @(action_prefix)_EXPORT __declspec(dllexport)
+    #define @(action_prefix)_IMPORT __declspec(dllimport)
+    #if defined(_M_IX86)
+        #define @(action_prefix)_CDECL __cdecl
+    #else
+        #define @(action_prefix)_CDECL
+    #endif
+#elif defined(__GNUC__)
+    //  GCC
+    #define @(action_prefix)_EXPORT __attribute__((visibility("default")))
+    #define @(action_prefix)_IMPORT
+    #if defined(__i386__)
+        #define @(action_prefix)_CDECL __attribute__((__cdecl__))
+    #else
+        #define @(action_prefix)_CDECL
+    #endif
+#else
+    //  do nothing and hope for the best?
+    #define @(action_prefix)_EXPORT
+    #define @(action_prefix)_IMPORT
+    #define @(action_prefix)_CDECL
+    #pragma warning Unknown dynamic link import/export semantics.
+#endif
+
+@(action_prefix)_EXPORT
+const void * @(action_prefix)_CDECL @(action_typename)__get_typesupport(void);

rosidl_generator_dotnet/resource/idl.c.em

@@ -87,5 +87,74 @@ TEMPLATE(
 @# Handle actions
 @#######################################################################
 @
-@#TODO - actions not implemented
-@
+@{
+from rosidl_parser.definition import Action
+}@
+@[for action in content.get_elements_of_type(Action)]@
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.goal)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.result)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.feedback)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.send_goal_service.request_message)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.send_goal_service.response_message)
+}@
+
+@{
+TEMPLATE(
+    'srv.c.em',
+    package_name=package_name, interface_path=interface_path, service=action.send_goal_service)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.get_result_service.request_message)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.get_result_service.response_message)
+}@
+
+@{
+TEMPLATE(
+    'srv.c.em',
+    package_name=package_name, interface_path=interface_path, service=action.get_result_service)
+}@
+
+@{
+TEMPLATE(
+    'msg.c.em',
+    package_name=package_name, interface_path=interface_path, message=action.feedback_message)
+}@
+
+@{
+TEMPLATE(
+    'action.c.em',
+    package_name=package_name, interface_path=interface_path, action=action)
+}@
+@[end for]@
+@

rosidl_generator_dotnet/resource/idl.cs.em

@@ -62,5 +62,74 @@ TEMPLATE(
 @# Handle actions
 @#######################################################################
 @
-@#TODO - actions not implemented
-@
+@{
+from rosidl_parser.definition import Action
+}@
+@[for action in content.get_elements_of_type(Action)]@
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.goal)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.result)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.feedback)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.send_goal_service.request_message)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.send_goal_service.response_message)
+}@
+
+@{
+TEMPLATE(
+    'srv.cs.em',
+    package_name=package_name, interface_path=interface_path, service=action.send_goal_service)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.get_result_service.request_message)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.get_result_service.response_message)
+}@
+
+@{
+TEMPLATE(
+    'srv.cs.em',
+    package_name=package_name, interface_path=interface_path, service=action.get_result_service)
+}@
+
+@{
+TEMPLATE(
+    'msg.cs.em',
+    package_name=package_name, interface_path=interface_path, message=action.feedback_message)
+}@
+
+@{
+TEMPLATE(
+    'action.cs.em',
+    package_name=package_name, interface_path=interface_path, action=action)
+}@
+@[end for]@
+@