Hardcoded typesupport for Fibonacci action (ros2/rcl_interfaces#47)

* msg and srv in actions folder

* Add uniquely named messages and services

* Add hand made action typesupport

* respose -> result request

* respose -> response

* Use goal info in more places

* Fix feedback symbol

* Generate from .action file

* Hardcoded typesupport works with generated msg and srv

* C typesupport returns rcl_action_type_support_t

* Function to get typsupport struct from C++ typesupport

* rosidl_typesupport_cpp namespace

* Fix include guard

* Fix linter test failures

* Fix dll linkage on Windows

* Fix windows linking issue by having separate visibility macro

test_msgs/CMakeLists.txt

@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.5)
 
 project(test_msgs)
 
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+endif()
+
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -12,6 +17,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
+find_package(action_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 set(msg_files
@@ -34,18 +40,58 @@ set(srv_files
   "srv/Primitives.srv"
 )
 
+set(action_files
+  "action/Fibonacci.action"
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
-  DEPENDENCIES builtin_interfaces
+  ${action_files}
+  DEPENDENCIES builtin_interfaces action_msgs
   ADD_LINTER_TESTS
 )
 
+add_library(test_msgs_hardcoded_typesupport SHARED
+  src/fibonacci__typesupport.cpp
+  src/fibonacci__typesupport.c)
+add_dependencies(test_msgs_hardcoded_typesupport
+  ${PROJECT_NAME}
+)
+target_link_libraries(test_msgs_hardcoded_typesupport
+  ${_AMENT_EXPORT_LIBRARIES})
+target_include_directories(test_msgs_hardcoded_typesupport PUBLIC
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_c
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_cpp
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp
+  include
+)
+# Separate visibility macro because this is a separate library from one created
+# by rosidl_generator_c for messages and services
+target_compile_definitions(test_msgs_hardcoded_typesupport
+  PRIVATE "ROSIDL_GENERATOR_C_BUILDING_DLL_test_msgs_ACTION")
+
+ament_target_dependencies(test_msgs_hardcoded_typesupport
+  "rosidl_generator_c"
+  "rosidl_typesupport_c"
+  "rosidl_generator_cpp"
+  "action_msgs"
+)
+
+ament_export_libraries(test_msgs_hardcoded_typesupport)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  TARGETS test_msgs_hardcoded_typesupport
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
 if(DEFINED PYTHON_INSTALL_DIR)
   install(DIRECTORY src/test_msgs
     DESTINATION "${PYTHON_INSTALL_DIR}/")

test_msgs/action/Fibonacci.action

@@ -0,0 +1,8 @@
+#goal definition
+int32 order
+---
+#result definition
+int32[] sequence
+---
+#feedback
+int32[] sequence

test_msgs/include/test_msgs/action/fibonacci.h

@@ -0,0 +1,37 @@
+// Copyright 2018 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.
+
+// TODO(sloretz) generated code should not contain a copyright notice
+
+#ifndef TEST_MSGS__ACTION__FIBONACCI_H_
+#define TEST_MSGS__ACTION__FIBONACCI_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <action_msgs/msg/goal_info.h>
+#include <action_msgs/msg/goal_status_array.h>
+#include <action_msgs/srv/cancel_goal.h>
+#include <test_msgs/action/fibonacci__feedback.h>
+#include <test_msgs/action/fibonacci__goal.h>
+#include <test_msgs/action/fibonacci__result.h>
+#include "test_msgs/action/fibonacci__type_support.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // TEST_MSGS__ACTION__FIBONACCI_H_

test_msgs/include/test_msgs/action/fibonacci.hpp

@@ -0,0 +1,27 @@
+// Copyright 2018 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.
+
+#ifndef TEST_MSGS__ACTION__FIBONACCI_HPP_
+#define TEST_MSGS__ACTION__FIBONACCI_HPP_
+
+#include <action_msgs/msg/goal_info.hpp>
+#include <action_msgs/msg/goal_status_array.hpp>
+#include <action_msgs/srv/cancel_goal.hpp>
+#include <test_msgs/action/fibonacci__goal.hpp>
+#include <test_msgs/action/fibonacci__result.hpp>
+#include <test_msgs/action/fibonacci__feedback.hpp>
+#include <test_msgs/action/fibonacci__struct.hpp>
+#include "rosidl_generator_c/action_type_support_struct.h"
+
+#endif  // TEST_MSGS__ACTION__FIBONACCI_HPP_

test_msgs/include/test_msgs/action/fibonacci__struct.hpp

@@ -0,0 +1,49 @@
+// Copyright 2018 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.
+
+// TODO(sloretz) generated code should not contain a copyright notice
+
+#ifndef TEST_MSGS__ACTION__FIBONACCI__STRUCT_HPP_
+#define TEST_MSGS__ACTION__FIBONACCI__STRUCT_HPP_
+
+#include <action_msgs/msg/goal_info.hpp>
+#include <action_msgs/msg/goal_status_array.hpp>
+#include <action_msgs/srv/cancel_goal.hpp>
+#include <test_msgs/action/fibonacci__goal.hpp>
+#include <test_msgs/action/fibonacci__result.hpp>
+#include <test_msgs/action/fibonacci__feedback.hpp>
+
+namespace test_msgs
+{
+namespace action
+{
+struct Fibonacci
+{
+  // Typedefs handy for rcl and rclcpp
+  using CancelGoalService = action_msgs::srv::CancelGoal;
+  using GoalStatusMessage = action_msgs::msg::GoalStatusArray;
+  using GoalRequestService = test_msgs::action::Fibonacci_Goal;
+  using GoalResultService = test_msgs::action::Fibonacci_Result;
+
+  // Typedefs handy for user
+  using Goal = GoalRequestService::Request;
+  using Result = GoalResultService::Response;
+  using Feedback = test_msgs::action::Fibonacci_Feedback;
+};
+
+typedef struct Fibonacci Fibonacci;
+}  // namespace action
+}  // namespace test_msgs
+
+#endif  // TEST_MSGS__ACTION__FIBONACCI__STRUCT_HPP_

test_msgs/include/test_msgs/action/fibonacci__type_support.h

@@ -0,0 +1,42 @@
+// Copyright 2018 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.
+
+// TODO(sloretz) generated code should not contain a copyright notice
+
+#ifndef TEST_MSGS__ACTION__FIBONACCI__TYPE_SUPPORT_H_
+#define TEST_MSGS__ACTION__FIBONACCI__TYPE_SUPPORT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rosidl_generator_c/action_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "test_msgs/action/rosidl_generator_c__visibility_control.h"
+
+/* *INDENT-OFF* */
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_test_msgs_ACTION
+const rosidl_action_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
+  rosidl_typesupport_c, test_msgs, action, Fibonacci)();
+/* *INDENT-ON* */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // TEST_MSGS__ACTION__FIBONACCI__TYPE_SUPPORT_H_

test_msgs/include/test_msgs/action/rosidl_generator_c__visibility_control.h

@@ -0,0 +1,55 @@
+// Copyright 2018 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.
+
+// TODO(sloretz) generated code should not contain a copyright notice
+
+#ifndef TEST_MSGS__ACTION__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+#define TEST_MSGS__ACTION__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_GENERATOR_C_EXPORT_test_msgs_ACTION __attribute__ ((dllexport))
+    #define ROSIDL_GENERATOR_C_IMPORT_test_msgs_ACTION __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_GENERATOR_C_EXPORT_test_msgs_ACTION __declspec(dllexport)
+    #define ROSIDL_GENERATOR_C_IMPORT_test_msgs_ACTION __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL_test_msgs_ACTION
+    #define ROSIDL_GENERATOR_C_PUBLIC_test_msgs_ACTION ROSIDL_GENERATOR_C_EXPORT_test_msgs_ACTION
+  #else
+    #define ROSIDL_GENERATOR_C_PUBLIC_test_msgs_ACTION ROSIDL_GENERATOR_C_IMPORT_test_msgs_ACTION
+  #endif
+#else
+  #define ROSIDL_GENERATOR_C_EXPORT_test_msgs_ACTION __attribute__ ((visibility("default")))
+  #define ROSIDL_GENERATOR_C_IMPORT_test_msgs_ACTION
+  #if __GNUC__ >= 4
+    #define ROSIDL_GENERATOR_C_PUBLIC_test_msgs_ACTION __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_GENERATOR_C_PUBLIC_test_msgs_ACTION
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // TEST_MSGS__ACTION__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_

test_msgs/package.xml

@@ -13,6 +13,7 @@
 
   <build_depend>builtin_interfaces</build_depend>
 
+  <depend>action_msgs</depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 

test_msgs/src/fibonacci__typesupport.c

@@ -0,0 +1,51 @@
+// Copyright 2018 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.
+
+#include <action_msgs/msg/goal_info.h>
+#include <action_msgs/msg/goal_status_array.h>
+#include <action_msgs/srv/cancel_goal.h>
+#include <rosidl_generator_c/action_type_support_struct.h>
+#include <test_msgs/action/fibonacci__goal.h>
+#include <test_msgs/action/fibonacci__result.h>
+#include <test_msgs/action/fibonacci__feedback.h>
+
+#include "test_msgs/action/fibonacci__type_support.h"
+#include "test_msgs/msg/rosidl_generator_c__visibility_control.h"
+
+
+static rosidl_action_type_support_t _test_msgs__action__Fibonacci__typesupport_c;
+
+const rosidl_action_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME(
+  rosidl_typesupport_c, test_msgs, action, Fibonacci)()
+{
+  // Thread-safe by always writing the same values to the static struct
+  _test_msgs__action__Fibonacci__typesupport_c.goal_service_type_support =
+    ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
+    rosidl_typesupport_c, test_msgs, action, Fibonacci_Goal)();
+  _test_msgs__action__Fibonacci__typesupport_c.result_service_type_support =
+    ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
+    rosidl_typesupport_c, test_msgs, action, Fibonacci_Result)();
+  _test_msgs__action__Fibonacci__typesupport_c.cancel_service_type_support =
+    ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
+    rosidl_typesupport_c, action_msgs, srv, CancelGoal)();
+  _test_msgs__action__Fibonacci__typesupport_c.feedback_message_type_support =
+    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+    rosidl_typesupport_c, test_msgs, action, Fibonacci_Feedback)();
+  _test_msgs__action__Fibonacci__typesupport_c.status_message_type_support =
+    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+    rosidl_typesupport_c, action_msgs, msg, GoalStatusArray)();
+
+  return &_test_msgs__action__Fibonacci__typesupport_c;
+}