Added action generation

rosidl_generator_rs/resource/action.rs.em

@@ -1,8 +1,36 @@
+@{
+action_msg_specs = []
+
+for subfolder, action in action_specs:
+ action_msg_specs.append((subfolder, action.goal))
+ action_msg_specs.append((subfolder, action.result))
+ action_msg_specs.append((subfolder, action.feedback))
+ action_msg_specs.append((subfolder, action.feedback_message))
+
+action_srv_specs = []
+
+for subfolder, action in action_specs:
+ action_srv_specs.append((subfolder, action.send_goal_service))
+ action_srv_specs.append((subfolder, action.get_result_service))
+}@
+
+pub mod rmw {
+@{
+TEMPLATE(
+ 'msg_rmw.rs.em',
+ package_name=package_name, interface_path=interface_path,
+ msg_specs=action_msg_specs,
+ get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+ get_idiomatic_rs_type=get_idiomatic_rs_type,
+ constant_value_to_rs=constant_value_to_rs)
+}@
+} // mod rmw
+
 @{
 TEMPLATE(
  'msg_idiomatic.rs.em',
  package_name=package_name, interface_path=interface_path,
- msg_specs=msg_specs,
+ msg_specs=action_msg_specs,
  get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
  get_idiomatic_rs_type=get_idiomatic_rs_type,
  constant_value_to_rs=constant_value_to_rs)

rosidl_generator_rs/rosidl_generator_rs/__init__.py

@@ -29,6 +29,7 @@
 from rosidl_parser.definition import AbstractSequence
 from rosidl_parser.definition import AbstractString
 from rosidl_parser.definition import AbstractWString
+from rosidl_parser.definition import Action
 from rosidl_parser.definition import Array
 from rosidl_parser.definition import BASIC_TYPES
 from rosidl_parser.definition import BasicType
@@ -93,13 +94,20 @@ def generate_rs(generator_arguments_file, typesupport_impls):
  os.path.join(template_dir, 'srv.rs.em'): ['rust/src/%s.rs'],
  }
 
+ mapping_actions = {
+ os.path.join(template_dir, 'action.rs.em'): ['rust/src/%s.rs'],
+ }
+
  # Ensure the required templates exist
  for template_file in mapping_msgs.keys():
  assert os.path.exists(template_file), \
  'Messages template file %s not found' % template_file
  for template_file in mapping_srvs.keys():
  assert os.path.exists(template_file), \
  'Services template file %s not found' % template_file
+ for template_file in mapping_actions.keys():
+ assert os.path.exists(template_file), \
+ 'Actions template file %s not found' % template_file
 
  data = {
  'get_rmw_rs_type': make_get_rmw_rs_type(args['package_name']),
@@ -113,6 +121,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
  convert_lower_case_underscore_to_camel_case,
  'msg_specs': [],
  'srv_specs': [],
+ 'action_specs': [],
  'package_name': args['package_name'],
  'typesupport_impls': typesupport_impls,
  'interface_path': idl_rel_path,
@@ -127,6 +136,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
  for service in idl_content.get_elements_of_type(Service):
  data['srv_specs'].append(('srv', service))
 
+ for action in idl_content.get_elements_of_type(Action):
+ data['action_specs'].append(('action', action))
+
  if data['msg_specs']:
  for template_file, generated_filenames in mapping_msgs.items():
  for generated_filename in generated_filenames:
@@ -149,6 +161,17 @@ def generate_rs(generator_arguments_file, typesupport_impls):
  generated_file,
  minimum_timestamp=latest_target_timestamp)
 
+ if data['action_specs']:
+ for template_file, generated_filenames in mapping_actions.items():
+ for generated_filename in generated_filenames:
+ generated_file = os.path.join(args['output_dir'],
+ generated_filename % 'action')
+ expand_template(
+ os.path.join(template_dir, template_file),
+ data.copy(),
+ generated_file,
+ minimum_timestamp=latest_target_timestamp)
+
  expand_template(
  os.path.join(template_dir, 'lib.rs.em'),
  data.copy(),