From 0d0e133a629c1eb07bf80d61dee3a067102f35df Mon Sep 17 00:00:00 2001 From: Atticus Russell <60147768+atticusrussell@users.noreply.github.com> Date: Fri, 25 Aug 2023 23:14:26 -0400 Subject: [PATCH] Swap foxy rosidl typesupport_introspection_c to a pio libdep Swap from having copied code from the `typesupport_introspection_c` directory of [ros2/rosidl](https://github.com/ros2/rosidl) inside 'firmware/lib' to using PlatformIO `lib_deps` to reference a [linorobot-hosted fork](https://github.com/linorobot/rosidl_typesupport_introspection_c) of that repository that contains `typesupport_introspection_c` --- .../CHANGELOG.rst | 64 ---- .../CMakeLists.txt | 73 ----- .../LICENSE | 202 ------------- .../bin/rosidl_typesupport_introspection_c | 23 -- ..._introspection_c_generate_interfaces.cmake | 179 ----------- .../field_types.h | 58 ---- .../identifier.h | 32 -- .../message_introspection.h | 55 ---- .../service_introspection.h | 34 --- .../visibility_control.h | 56 ---- .../package.xml | 30 -- ...l__rosidl_typesupport_introspection_c.h.em | 119 -------- .../resource/idl__type_support.c.em | 97 ------ ...g__rosidl_typesupport_introspection_c.h.em | 21 -- .../resource/msg__type_support.c.em | 283 ------------------ ...t_introspection_c__visibility_control.h.in | 43 --- ...v__rosidl_typesupport_introspection_c.h.em | 35 --- .../resource/srv__type_support.c.em | 88 ------ ...ypesupport_introspection_c-extras.cmake.in | 31 -- .../__init__.py | 24 -- .../src/identifier.c | 17 -- firmware/platformio.ini | 1 + 22 files changed, 1 insertion(+), 1564 deletions(-) delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/CHANGELOG.rst delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/CMakeLists.txt delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/LICENSE delete mode 100755 firmware/lib/rosidl_typesupport_introspection_c/bin/rosidl_typesupport_introspection_c delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/field_types.h delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/identifier.h delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/service_introspection.h delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/visibility_control.h delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/package.xml delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/idl__type_support.c.em delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/msg__rosidl_typesupport_introspection_c.h.em delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/msg__type_support.c.em delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/srv__rosidl_typesupport_introspection_c.h.em delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c-extras.cmake.in delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/__init__.py delete mode 100644 firmware/lib/rosidl_typesupport_introspection_c/src/identifier.c diff --git a/firmware/lib/rosidl_typesupport_introspection_c/CHANGELOG.rst b/firmware/lib/rosidl_typesupport_introspection_c/CHANGELOG.rst deleted file mode 100644 index 75f702b2..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/CHANGELOG.rst +++ /dev/null @@ -1,64 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package rosidl_typesupport_introspection_c -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.3.1 (2023-05-27) ------------------- - -1.3.0 (2022-09-20) ------------------- - -1.2.1 (2021-04-14) ------------------- - -1.2.0 (2020-12-08) ------------------- - -1.1.0 (2020-08-17) ------------------- - -1.0.1 (2020-06-03) ------------------- - -1.0.0 (2020-05-22) ------------------- -* Fix variable suffix in rosidl_export_typesupport_targets (`#483 `_) -* Contributors: Ivan Santiago Paunovic - -0.9.2 (2020-05-19) ------------------- -* Force extension points to be registered in order (`#485 `_) -* Contributors: Ivan Santiago Paunovic - -0.9.1 (2020-05-08) ------------------- -* use typesuport targets instead of libraries (`#478 `_) -* Contributors: Dirk Thomas - -0.9.0 (2020-04-24) ------------------- -* Export missing targets for single typesupport build, avoid exposing build directories in include dirs (`#477 `_) -* Export targets in addition to include directories / libraries (`#471 `_) -* Fix build with single introspection typesupport (`#470 `_) -* Rename rosidl_runtime_c_message_initialization to rosidl_runtime_c__message_initialization (`#464 `_) -* Move non-entry point headers into detail subdirectory (`#461 `_) -* Rename rosidl_generator_c 'namespace' to rosidl_runtime_c (`#458 `_) -* Split rosidl_generator_c and rosidl_generator_cpp in two: rosidl_generator_x and rosidl_runtime_x (`#442 `_) -* Export typesupport library in a separate cmake variable (`#453 `_) -* Style update to match uncrustify with explicit language (`#439 `_) -* Move repeated logic for C include prefix into common function (`#432 `_) -* Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron - -0.8.2 (2020-01-17) ------------------- - -0.8.1 (2019-10-23) ------------------- -* Add init and fini function for creating introspection messages (`#416 `_) -* Contributors: Karsten Knese - -0.8.0 (2019-09-24) ------------------- -* [rosidl_typesupport_introspection_c] Use message namespaced type name as function prefix (`#387 `_) -* fix cpp generator and introspection ts for long double (`#383 `_) -* Contributors: Dirk Thomas, Jacob Perron diff --git a/firmware/lib/rosidl_typesupport_introspection_c/CMakeLists.txt b/firmware/lib/rosidl_typesupport_introspection_c/CMakeLists.txt deleted file mode 100644 index 8167725f..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/CMakeLists.txt +++ /dev/null @@ -1,73 +0,0 @@ -cmake_minimum_required(VERSION 3.5) - -project(rosidl_typesupport_introspection_c) - -# Default to C11 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 11) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_python REQUIRED) -find_package(ament_cmake_ros REQUIRED) - -ament_export_dependencies(rosidl_cmake) -ament_export_dependencies(rosidl_runtime_c) -# The reason the impl folder is exported is that it contains the implementation -# for the get_*_type_support_handle functions and defines the opensplice -# specific version of these functions. - -ament_export_include_directories(include) - -ament_python_install_package(${PROJECT_NAME}) - -add_library(${PROJECT_NAME} src/identifier.c) -if(WIN32) - target_compile_definitions(${PROJECT_NAME} - PRIVATE "ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL") -endif() -target_include_directories(${PROJECT_NAME} PUBLIC - "$" - "$") -ament_export_libraries(${PROJECT_NAME}) -ament_export_targets(${PROJECT_NAME}) - -ament_index_register_resource("rosidl_typesupport_c") -ament_index_register_resource("rosidl_runtime_packages") - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -if(BUILD_SHARED_LIBS) - set(${PROJECT_NAME}_LIBRARY_TYPE "SHARED") -else() - set(${PROJECT_NAME}_LIBRARY_TYPE "STATIC") -endif() - -ament_package( - CONFIG_EXTRAS "rosidl_typesupport_introspection_c-extras.cmake.in" -) - -install( - PROGRAMS bin/rosidl_typesupport_introspection_c - DESTINATION lib/rosidl_typesupport_introspection_c -) -install( - DIRECTORY cmake resource - DESTINATION share/${PROJECT_NAME} -) -install( - DIRECTORY include/ - DESTINATION include -) -install( - TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) diff --git a/firmware/lib/rosidl_typesupport_introspection_c/LICENSE b/firmware/lib/rosidl_typesupport_introspection_c/LICENSE deleted file mode 100644 index d6456956..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - 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. diff --git a/firmware/lib/rosidl_typesupport_introspection_c/bin/rosidl_typesupport_introspection_c b/firmware/lib/rosidl_typesupport_introspection_c/bin/rosidl_typesupport_introspection_c deleted file mode 100755 index 26615a6e..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/bin/rosidl_typesupport_introspection_c +++ /dev/null @@ -1,23 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import sys - -from rosidl_typesupport_introspection_c import generate_c - - -def main(argv=sys.argv[1:]): - parser = argparse.ArgumentParser( - description='Generate the C type support to dynamically handle ROS messages.', - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument( - '--generator-arguments-file', - required=True, - help='The location of the file containing the generator arguments') - args = parser.parse_args(argv) - - return generate_c(args.generator_arguments_file) - - -if __name__ == '__main__': - sys.exit(main()) diff --git a/firmware/lib/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/firmware/lib/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake deleted file mode 100644 index bdd89184..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake +++ /dev/null @@ -1,179 +0,0 @@ -# Copyright 2014-2018 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. - -if(NOT rosidl_generator_c_FOUND) - message(FATAL_ERROR - "'rosidl_generator_c' not found when executing " - "'rosidl_typesupport_introspection_c' extension.") -endif() - -set(_output_path - "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_introspection_c/${PROJECT_NAME}") -set(_generated_header_files "") -set(_generated_source_files "") -foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES}) - get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY) - get_filename_component(_parent_folder "${_parent_folder}" NAME) - get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE) - string_camel_case_to_lower_case_underscore("${_idl_name}" _header_name) - list(APPEND _generated_header_files - "${_output_path}/${_parent_folder}/detail/${_header_name}__rosidl_typesupport_introspection_c.h") - list(APPEND _generated_source_files - "${_output_path}/${_parent_folder}/detail/${_header_name}__type_support.c") -endforeach() - -set(_dependency_files "") -set(_dependencies "") -foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) - foreach(_idl_file ${${_pkg_name}_IDL_FILES}) - set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}") - normalize_path(_abs_idl_file "${_abs_idl_file}") - list(APPEND _dependency_files "${_abs_idl_file}") - list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}") - endforeach() -endforeach() - -set(target_dependencies - "${rosidl_typesupport_introspection_c_BIN}" - ${rosidl_typesupport_introspection_c_GENERATOR_FILES} - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/idl__rosidl_typesupport_introspection_c.h.em" - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/idl__type_support.c.em" - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/msg__rosidl_typesupport_introspection_c.h.em" - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/msg__type_support.c.em" - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/srv__rosidl_typesupport_introspection_c.h.em" - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/srv__type_support.c.em" - ${rosidl_generate_interfaces_ABS_IDL_FILES} - ${_dependency_files}) -foreach(dep ${target_dependencies}) - if(NOT EXISTS "${dep}") - message(FATAL_ERROR "Target dependency '${dep}' does not exist") - endif() -endforeach() - -set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_introspection_c__arguments.json") -rosidl_write_generator_arguments( - "${generator_arguments_file}" - PACKAGE_NAME "${PROJECT_NAME}" - IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}" - ROS_INTERFACE_DEPENDENCIES "${_dependencies}" - OUTPUT_DIR "${_output_path}" - TEMPLATE_DIR "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}" - TARGET_DEPENDENCIES ${target_dependencies} -) - -add_custom_command( - OUTPUT ${_generated_header_files} ${_generated_source_files} - COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_introspection_c_BIN} - --generator-arguments-file "${generator_arguments_file}" - DEPENDS ${target_dependencies} - COMMENT "Generating C introspection for ROS interfaces" - VERBATIM -) - -# generate header to switch between export and import for a specific package -set(_visibility_control_file - "${_output_path}/msg/rosidl_typesupport_introspection_c__visibility_control.h") -string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER) -configure_file( - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}/rosidl_typesupport_introspection_c__visibility_control.h.in" - "${_visibility_control_file}" - @ONLY -) -list(APPEND _generated_msg_header_files "${_visibility_control_file}") - -set(_target_suffix "__rosidl_typesupport_introspection_c") - -add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} ${rosidl_typesupport_introspection_c_LIBRARY_TYPE} - ${_generated_header_files} ${_generated_source_files}) -if(rosidl_generate_interfaces_LIBRARY_NAME) - set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix} - PROPERTIES OUTPUT_NAME "${rosidl_generate_interfaces_LIBRARY_NAME}${_target_suffix}") -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix} PROPERTIES - C_STANDARD 11 - COMPILE_OPTIONS -Wall -Wextra -Wpedantic) -endif() -if(WIN32) - target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix} - PRIVATE "ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL_${PROJECT_NAME}") -endif() -target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix} - PUBLIC - "$" - "$" -) -target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} - ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c) -ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix} - "rosidl_typesupport_introspection_c") -foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) - ament_target_dependencies( - ${rosidl_generate_interfaces_TARGET}${_target_suffix} - ${_pkg_name}) - target_link_libraries( - ${rosidl_generate_interfaces_TARGET}${_target_suffix} - ${${_pkg_name}_TARGETS${_target_suffix}}) -endforeach() - -add_dependencies( - ${rosidl_generate_interfaces_TARGET} - ${rosidl_generate_interfaces_TARGET}${_target_suffix} -) - -if(NOT rosidl_generate_interfaces_SKIP_INSTALL) - if(NOT _generated_header_files STREQUAL "") - install( - DIRECTORY ${_output_path}/ - DESTINATION "include/${PROJECT_NAME}" - PATTERN "*.h" - ) - endif() - install( - TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix} - EXPORT ${rosidl_generate_interfaces_TARGET}${_target_suffix} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin - ) - rosidl_export_typesupport_targets(${_target_suffix} - ${rosidl_generate_interfaces_TARGET}${_target_suffix}) - ament_export_targets(${rosidl_generate_interfaces_TARGET}${_target_suffix}) -endif() - -if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS) - if(NOT _generated_header_files STREQUAL "") - find_package(ament_cmake_cppcheck REQUIRED) - ament_cppcheck( - TESTNAME "cppcheck_rosidl_typesupport_introspection_c" - "${_output_path}") - - find_package(ament_cmake_cpplint REQUIRED) - get_filename_component(_cpplint_root "${_output_path}" DIRECTORY) - ament_cpplint( - TESTNAME "cpplint_rosidl_typesupport_introspection_c" - # the generated code might contain longer lines for templated types - MAX_LINE_LENGTH 999 - ROOT "${_cpplint_root}" - "${_output_path}") - - find_package(ament_cmake_uncrustify REQUIRED) - ament_uncrustify( - TESTNAME "uncrustify_rosidl_typesupport_introspection_c" - # the generated code might contain longer lines for templated types - # a value of zero tells uncrustify to ignore line length - MAX_LINE_LENGTH 0 - "${_output_path}") - endif() -endif() diff --git a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/field_types.h b/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/field_types.h deleted file mode 100644 index 30547b82..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/field_types.h +++ /dev/null @@ -1,58 +0,0 @@ -// Copyright 2014-2015 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 ROSIDL_TYPESUPPORT_INTROSPECTION_C__FIELD_TYPES_H_ -#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__FIELD_TYPES_H_ - -#include - -#ifdef __cplusplus -extern "C" -{ -#endif - -enum -{ - rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT = 1, - rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE = 2, - rosidl_typesupport_introspection_c__ROS_TYPE_LONG_DOUBLE = 3, - rosidl_typesupport_introspection_c__ROS_TYPE_CHAR = 4, - rosidl_typesupport_introspection_c__ROS_TYPE_WCHAR = 5, - rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN = 6, - rosidl_typesupport_introspection_c__ROS_TYPE_OCTET = 7, - rosidl_typesupport_introspection_c__ROS_TYPE_UINT8 = 8, - rosidl_typesupport_introspection_c__ROS_TYPE_INT8 = 9, - rosidl_typesupport_introspection_c__ROS_TYPE_UINT16 = 10, - rosidl_typesupport_introspection_c__ROS_TYPE_INT16 = 11, - rosidl_typesupport_introspection_c__ROS_TYPE_UINT32 = 12, - rosidl_typesupport_introspection_c__ROS_TYPE_INT32 = 13, - rosidl_typesupport_introspection_c__ROS_TYPE_UINT64 = 14, - rosidl_typesupport_introspection_c__ROS_TYPE_INT64 = 15, - rosidl_typesupport_introspection_c__ROS_TYPE_STRING = 16, - rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING = 17, - - rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE = 18, - - // for backward compatibility only - rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT32 = 1, - rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT64 = 2, - rosidl_typesupport_introspection_c__ROS_TYPE_BOOL = 6, - rosidl_typesupport_introspection_c__ROS_TYPE_BYTE = 7 -}; - -#ifdef __cplusplus -} -#endif - -#endif // ROSIDL_TYPESUPPORT_INTROSPECTION_C__FIELD_TYPES_H_ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/identifier.h b/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/identifier.h deleted file mode 100644 index 889831c0..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/identifier.h +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2014-2015 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 ROSIDL_TYPESUPPORT_INTROSPECTION_C__IDENTIFIER_H_ -#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__IDENTIFIER_H_ - -#include "rosidl_typesupport_introspection_c/visibility_control.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - -ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC -extern const char * rosidl_typesupport_introspection_c__identifier; - -#ifdef __cplusplus -} -#endif - -#endif // ROSIDL_TYPESUPPORT_INTROSPECTION_C__IDENTIFIER_H_ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h b/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h deleted file mode 100644 index 79eadafc..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h +++ /dev/null @@ -1,55 +0,0 @@ -// Copyright 2014-2015 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 ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_ -#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_ - -#include -#include -#include - -#include "rosidl_runtime_c/message_initialization.h" -#include "rosidl_runtime_c/message_type_support_struct.h" - -#include "rosidl_typesupport_introspection_c/visibility_control.h" - -typedef struct rosidl_typesupport_introspection_c__MessageMember -{ - const char * name_; - uint8_t type_id_; - size_t string_upper_bound_; - const rosidl_message_type_support_t * members_; - bool is_array_; - size_t array_size_; - bool is_upper_bound_; - uint32_t offset_; - const void * default_value_; - size_t (* size_function)(const void *); - const void * (*get_const_function)(const void *, size_t index); - void * (*get_function)(void *, size_t index); - bool (* resize_function)(void *, size_t size); -} rosidl_typesupport_introspection_c__MessageMember; - -typedef struct rosidl_typesupport_introspection_c__MessageMembers -{ - const char * message_namespace_; - const char * message_name_; - uint32_t member_count_; - size_t size_of_; - const rosidl_typesupport_introspection_c__MessageMember * members_; - void (* init_function)(void *, enum rosidl_runtime_c__message_initialization); - void (* fini_function)(void *); -} rosidl_typesupport_introspection_c__MessageMembers; - -#endif // ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/service_introspection.h b/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/service_introspection.h deleted file mode 100644 index c5d82a51..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/service_introspection.h +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright 2015 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 ROSIDL_TYPESUPPORT_INTROSPECTION_C__SERVICE_INTROSPECTION_H_ -#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__SERVICE_INTROSPECTION_H_ - -#include -#include - -#include "rosidl_runtime_c/service_type_support_struct.h" -#include "rosidl_runtime_c/visibility_control.h" - -#include "rosidl_typesupport_introspection_c/message_introspection.h" - -typedef struct rosidl_typesupport_introspection_c__ServiceMembers -{ - const char * service_namespace_; - const char * service_name_; - const rosidl_typesupport_introspection_c__MessageMembers * request_members_; - const rosidl_typesupport_introspection_c__MessageMembers * response_members_; -} rosidl_typesupport_introspection_c__ServiceMembers; - -#endif // ROSIDL_TYPESUPPORT_INTROSPECTION_C__SERVICE_INTROSPECTION_H_ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/visibility_control.h b/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/visibility_control.h deleted file mode 100644 index c0a3ae09..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/visibility_control.h +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2015 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 ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_ -#define ROSIDL_TYPESUPPORT_INTROSPECTION_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_TYPESUPPORT_INTROSPECTION_C_EXPORT __attribute__ ((dllexport)) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT __attribute__ ((dllimport)) - #else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT __declspec(dllexport) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT __declspec(dllimport) - #endif - #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT - #else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT - #endif - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_LOCAL -#else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT __attribute__ ((visibility("default"))) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT - #if __GNUC__ >= 4 - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC __attribute__ ((visibility("default"))) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_LOCAL __attribute__ ((visibility("hidden"))) - #else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_LOCAL - #endif -#endif - -#ifdef __cplusplus -} -#endif - -#endif // ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/package.xml b/firmware/lib/rosidl_typesupport_introspection_c/package.xml deleted file mode 100644 index 142919ab..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - rosidl_typesupport_introspection_c - 1.3.1 - - Generate the message type support for dynamic message construction in C. - - Dirk Thomas - Apache License 2.0 - - ament_cmake_ros - - ament_cmake - rosidl_cmake - - rosidl_runtime_c - - rosidl_cmake - rosidl_parser - - ament_lint_auto - ament_lint_common - - rosidl_typesupport_c_packages - - - ament_cmake - - diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em b/firmware/lib/rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em deleted file mode 100644 index 2c6bf9ba..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em +++ /dev/null @@ -1,119 +0,0 @@ -// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em -// with input from @(package_name):@(interface_path) -// generated code does not contain a copyright notice -@ -@####################################################################### -@# EmPy template for generating __rosidl_typesupport_introspection_c.h files -@# -@# Context: -@# - package_name (string) -@# - interface_path (Path relative to the directory named after the package) -@# - content (IdlContent, list of elements, e.g. Messages or Services) -@####################################################################### -@{ -from rosidl_cmake import convert_camel_case_to_lower_case_underscore -include_parts = [package_name] + list(interface_path.parents[0].parts) + [ - 'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)] -header_guard_variable = '__'.join([x.upper() for x in include_parts]) + \ - '__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_' -}@ - -#ifndef @(header_guard_variable) -#define @(header_guard_variable) - -#ifdef __cplusplus -extern "C" -{ -#endif - -@{ -include_directives = set() -}@ -@####################################################################### -@# Handle message -@####################################################################### -@{ -from rosidl_parser.definition import Message -}@ -@[for message in content.get_elements_of_type(Message)]@ - -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=message, - include_directives=include_directives) -}@ -@[end for]@ -@ -@####################################################################### -@# Handle service -@####################################################################### -@{ -from rosidl_parser.definition import Service -}@ -@[for service in content.get_elements_of_type(Service)]@ - -@{ -TEMPLATE( - 'srv__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, service=service, - include_directives=include_directives) -}@ -@[end for]@ -@ -@####################################################################### -@# Handle action -@####################################################################### -@{ -from rosidl_parser.definition import Action -}@ -@[for action in content.get_elements_of_type(Action)]@ - -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=action.goal, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=action.result, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=action.feedback, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'srv__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, service=action.send_goal_service, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'srv__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, service=action.get_result_service, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=action.feedback_message, - include_directives=include_directives) -}@ -@[end for]@ - -#ifdef __cplusplus -} -#endif - -#endif // @(header_guard_variable) diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/idl__type_support.c.em b/firmware/lib/rosidl_typesupport_introspection_c/resource/idl__type_support.c.em deleted file mode 100644 index 7ed2c874..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/idl__type_support.c.em +++ /dev/null @@ -1,97 +0,0 @@ -// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em -// with input from @(package_name):@(interface_path) -// generated code does not contain a copyright notice -@ -@####################################################################### -@# EmPy template for generating __type_support.c files -@# -@# Context: -@# - package_name (string) -@# - interface_path (Path relative to the directory named after the package) -@# - content (IdlContent, list of elements, e.g. Messages or Services) -@####################################################################### -@{ -include_directives = set() -}@ -@####################################################################### -@# Handle message -@####################################################################### -@{ -from rosidl_parser.definition import Message -}@ -@[for message in content.get_elements_of_type(Message)]@ - -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=message, - include_directives=include_directives) -}@ -@[end for]@ -@ -@####################################################################### -@# Handle service -@####################################################################### -@{ -from rosidl_parser.definition import Service -}@ -@[for service in content.get_elements_of_type(Service)]@ - -@{ -TEMPLATE( - 'srv__type_support.c.em', - package_name=package_name, interface_path=interface_path, service=service, - include_directives=include_directives) -}@ -@[end for]@ -@ -@####################################################################### -@# Handle action -@####################################################################### -@{ -from rosidl_parser.definition import Action -}@ -@[for action in content.get_elements_of_type(Action)]@ - -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=action.goal, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=action.result, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=action.feedback, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'srv__type_support.c.em', - package_name=package_name, interface_path=interface_path, service=action.send_goal_service, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'srv__type_support.c.em', - package_name=package_name, interface_path=interface_path, service=action.get_result_service, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=action.feedback_message, - include_directives=include_directives) -}@ -@[end for]@ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/msg__rosidl_typesupport_introspection_c.h.em b/firmware/lib/rosidl_typesupport_introspection_c/resource/msg__rosidl_typesupport_introspection_c.h.em deleted file mode 100644 index d9a68229..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/msg__rosidl_typesupport_introspection_c.h.em +++ /dev/null @@ -1,21 +0,0 @@ -@# Included from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em -@{ -header_files = [ - 'rosidl_runtime_c/message_type_support_struct.h', - 'rosidl_typesupport_interface/macros.h', - package_name + '/msg/rosidl_typesupport_introspection_c__visibility_control.h', -] -}@ -@[for header_file in header_files]@ -@[ if header_file in include_directives]@ -// already included above -// @ -@[ else]@ -@{include_directives.add(header_file)}@ -@[ end if]@ -#include "@(header_file)" -@[end for]@ - -ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_@(package_name) -const rosidl_message_type_support_t * -ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(message.structure.namespaced_type.name))(); diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/msg__type_support.c.em b/firmware/lib/rosidl_typesupport_introspection_c/resource/msg__type_support.c.em deleted file mode 100644 index a26b042e..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/msg__type_support.c.em +++ /dev/null @@ -1,283 +0,0 @@ -@# Included from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em -@{ -from rosidl_cmake import convert_camel_case_to_lower_case_underscore -from rosidl_generator_c import idl_structure_type_to_c_include_prefix -from rosidl_parser.definition import AbstractGenericString -from rosidl_parser.definition import AbstractNestedType -from rosidl_parser.definition import AbstractSequence -from rosidl_parser.definition import AbstractString -from rosidl_parser.definition import AbstractWString -from rosidl_parser.definition import Array -from rosidl_parser.definition import BasicType -from rosidl_parser.definition import BoundedSequence -from rosidl_parser.definition import NamespacedType - -include_parts = [package_name] + list(interface_path.parents[0].parts) + [ - 'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)] -include_base = '/'.join(include_parts) - -header_files = [ - 'stddef.h', # providing offsetof() - include_base + '__rosidl_typesupport_introspection_c.h', - package_name + '/msg/rosidl_typesupport_introspection_c__visibility_control.h', - 'rosidl_typesupport_introspection_c/field_types.h', - 'rosidl_typesupport_introspection_c/identifier.h', - 'rosidl_typesupport_introspection_c/message_introspection.h', - include_base + '__functions.h', - include_base + '__struct.h', -] - -function_prefix = message.structure.namespaced_type.name + '__rosidl_typesupport_introspection_c' -}@ -@[for header_file in header_files]@ -@[ if header_file in include_directives]@ -// already included above -// @ -@[ else]@ -@{include_directives.add(header_file)}@ -@[ end if]@ -@[ if '/' not in header_file]@ -#include <@(header_file)> -@[ else]@ -#include "@(header_file)" -@[ end if]@ -@[end for]@ - -@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -@# Collect necessary include directives for all members -@{ -from collections import OrderedDict -includes = OrderedDict() -for member in message.structure.members: - if isinstance(member.type, AbstractSequence) and isinstance(member.type.value_type, BasicType): - member_names = includes.setdefault( - 'rosidl_runtime_c/primitives_sequence_functions.h', []) - member_names.append(member.name) - continue - type_ = member.type - if isinstance(type_, AbstractNestedType): - type_ = type_.value_type - if isinstance(type_, AbstractString): - member_names = includes.setdefault('rosidl_runtime_c/string_functions.h', []) - member_names.append(member.name) - elif isinstance(type_, AbstractWString): - member_names = includes.setdefault( - 'rosidl_runtime_c/u16string_functions.h', []) - member_names.append(member.name) - elif isinstance(type_, NamespacedType): - include_prefix = idl_structure_type_to_c_include_prefix(type_) - member_names = includes.setdefault( - include_prefix + '.h', []) - member_names.append(member.name) - include_prefix_detail = idl_structure_type_to_c_include_prefix(type_, 'detail') - member_names = includes.setdefault( - include_prefix_detail + '__rosidl_typesupport_introspection_c.h', []) - member_names.append(member.name) -}@ -@#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> -@ -@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< -@[if includes]@ - -// Include directives for member types -@[ for header_file, member_names in includes.items()]@ -@[ for member_name in member_names]@ -// Member `@(member_name)` -@[ end for]@ -@[ if header_file in include_directives]@ -// already included above -// @ -@[ else]@ -@{include_directives.add(header_file)}@ -@[ end if]@ -#include "@(header_file)" -@[ end for]@ -@[end if]@ -@#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> - -#ifdef __cplusplus -extern "C" -{ -#endif - -@ -@####################################################################### -@# define callback functions -@####################################################################### -void @(function_prefix)__@(message.structure.namespaced_type.name)_init_function( - void * message_memory, enum rosidl_runtime_c__message_initialization _init) -{ - // TODO(karsten1987): initializers are not yet implemented for typesupport c - // see https://github.com/ros2/ros2/issues/397 - (void) _init; - @('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))__init(message_memory); -} - -void @(function_prefix)__@(message.structure.namespaced_type.name)_fini_function(void * message_memory) -{ - @('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))__fini(message_memory); -} - -@[for member in message.structure.members]@ -@[ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, NamespacedType)]@ -size_t @(function_prefix)__size_function__@(member.type.value_type.name)__@(member.name)( - const void * untyped_member) -{ -@[ if isinstance(member.type, Array)]@ - (void)untyped_member; - return @(member.type.size); -@[ else]@ - const @('__'.join(member.type.value_type.namespaced_name()))__Sequence * member = - (const @('__'.join(member.type.value_type.namespaced_name()))__Sequence *)(untyped_member); - return member->size; -@[ end if]@ -} - -const void * @(function_prefix)__get_const_function__@(member.type.value_type.name)__@(member.name)( - const void * untyped_member, size_t index) -{ -@[ if isinstance(member.type, Array)]@ - const @('__'.join(member.type.value_type.namespaced_name())) ** member = - (const @('__'.join(member.type.value_type.namespaced_name())) **)(untyped_member); - return &(*member)[index]; -@[ else]@ - const @('__'.join(member.type.value_type.namespaced_name()))__Sequence * member = - (const @('__'.join(member.type.value_type.namespaced_name()))__Sequence *)(untyped_member); - return &member->data[index]; -@[ end if]@ -} - -void * @(function_prefix)__get_function__@(member.type.value_type.name)__@(member.name)( - void * untyped_member, size_t index) -{ -@[ if isinstance(member.type, Array)]@ - @('__'.join(member.type.value_type.namespaced_name())) ** member = - (@('__'.join(member.type.value_type.namespaced_name())) **)(untyped_member); - return &(*member)[index]; -@[ else]@ - @('__'.join(member.type.value_type.namespaced_name()))__Sequence * member = - (@('__'.join(member.type.value_type.namespaced_name()))__Sequence *)(untyped_member); - return &member->data[index]; -@[ end if]@ -} - -@[ if isinstance(member.type, AbstractSequence)]@ -bool @(function_prefix)__resize_function__@(member.type.value_type.name)__@(member.name)( - void * untyped_member, size_t size) -{ - @('__'.join(member.type.value_type.namespaced_name()))__Sequence * member = - (@('__'.join(member.type.value_type.namespaced_name()))__Sequence *)(untyped_member); - @('__'.join(member.type.value_type.namespaced_name()))__Sequence__fini(member); - return @('__'.join(member.type.value_type.namespaced_name()))__Sequence__init(member, size); -} - -@[ end if]@ -@[ end if]@ -@[end for]@ -static rosidl_typesupport_introspection_c__MessageMember @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array[@(len(message.structure.members))] = { -@{ -for index, member in enumerate(message.structure.members): - type_ = member.type - if isinstance(type_, AbstractNestedType): - type_ = type_.value_type - - print(' {') - - # const char * name_ - print(' "%s", // name' % member.name) - if isinstance(type_, BasicType): - # uint8_t type_id_ - print(' rosidl_typesupport_introspection_c__ROS_TYPE_%s, // type' % type_.typename.replace(' ', '_').upper()) - # size_t string_upper_bound - print(' 0, // upper bound of string') - # const rosidl_generator_c::MessageTypeSupportHandle * members_ - print(' NULL, // members of sub message') - elif isinstance(type_, AbstractGenericString): - # uint8_t type_id_ - if isinstance(type_, AbstractString): - print(' rosidl_typesupport_introspection_c__ROS_TYPE_STRING, // type') - elif isinstance(type_, AbstractWString): - print(' rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING, // type') - else: - assert False, 'Unknown type: ' + str(type_) - # size_t string_upper_bound - print(' %u, // upper bound of string' % (type_.maximum_size if type_.has_maximum_size() else 0)) - # const rosidl_generator_c::MessageTypeSupportHandle * members_ - print(' NULL, // members of sub message') - else: - # uint8_t type_id_ - print(' rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE, // type') - # size_t string_upper_bound - print(' 0, // upper bound of string') - # const rosidl_message_type_support_t * members_ - print(' NULL, // members of sub message (initialized later)') - # bool is_array_ - print(' %s, // is array' % ('true' if isinstance(member.type, AbstractNestedType) else 'false')) - # size_t array_size_ - print(' %u, // array size' % (member.type.size if isinstance(member.type, Array) else (member.type.maximum_size if isinstance(member.type, BoundedSequence) else 0))) - # bool is_upper_bound_ - print(' %s, // is upper bound' % ('true' if isinstance(member.type, BoundedSequence) else 'false')) - # unsigned long offset_ - print(' offsetof(%s__%s, %s), // bytes offset in struct' % ('__'.join([package_name] + list(interface_path.parents[0].parts)), message.structure.namespaced_type.name, member.name)) - # void * default_value_ - print(' NULL, // default value') # TODO default value to be set - - function_suffix = ('%s__%s' % (member.type.value_type.name, member.name)) if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, NamespacedType) else None - - # size_t(const void *) size_function - print(' %s, // size() function pointer' % ('%s__size_function__%s' % (function_prefix, function_suffix) if function_suffix else 'NULL')) - # const void *(const void *, size_t) get_const_function - print(' %s, // get_const(index) function pointer' % ('%s__get_const_function__%s' % (function_prefix, function_suffix) if function_suffix else 'NULL')) - # void *(void *, size_t) get_function - print(' %s, // get(index) function pointer' % ('%s__get_function__%s' % (function_prefix, function_suffix) if function_suffix else 'NULL')) - # void(void *, size_t) resize_function - print(' %s // resize(index) function pointer' % ('%s__resize_function__%s' % (function_prefix, function_suffix) if function_suffix and isinstance(member.type, AbstractSequence) else 'NULL')) - - if index < len(message.structure.members) - 1: - print(' },') - else: - print(' }') -}@ -}; - -static const rosidl_typesupport_introspection_c__MessageMembers @(function_prefix)__@(message.structure.namespaced_type.name)_message_members = { - "@('__'.join([package_name] + list(interface_path.parents[0].parts)))", // message namespace - "@(message.structure.namespaced_type.name)", // message name - @(len(message.structure.members)), // number of fields - sizeof(@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))), - @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array, // message members - @(function_prefix)__@(message.structure.namespaced_type.name)_init_function, // function to initialize message memory (memory has to be allocated) - @(function_prefix)__@(message.structure.namespaced_type.name)_fini_function // function to terminate message instance (will not free memory) -}; - -// this is not const since it must be initialized on first access -// since C does not allow non-integral compile-time constants -static rosidl_message_type_support_t @(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle = { - 0, - &@(function_prefix)__@(message.structure.namespaced_type.name)_message_members, - get_message_typesupport_handle_function, -}; - -ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@(package_name) -const rosidl_message_type_support_t * -ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name])))() { -@[for i, member in enumerate(message.structure.members)]@ -@{ -type_ = member.type -if isinstance(type_, AbstractNestedType): - type_ = type_.value_type -}@ -@[ if isinstance(type_, NamespacedType)]@ - @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array[@(i)].members_ = - ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join(type_.namespaced_name())))(); -@[ end if]@ -@[end for]@ - if (!@(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle.typesupport_identifier) { - @(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle.typesupport_identifier = - rosidl_typesupport_introspection_c__identifier; - } - return &@(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle; -} -#ifdef __cplusplus -} -#endif diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in b/firmware/lib/rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in deleted file mode 100644 index a19f10c4..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in +++ /dev/null @@ -1,43 +0,0 @@ -// generated from -// rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in -// generated code does not contain a copyright notice - -#ifndef @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_ -#define @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_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_TYPESUPPORT_INTROSPECTION_C_EXPORT_@PROJECT_NAME@ __attribute__ ((dllexport)) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_@PROJECT_NAME@ __attribute__ ((dllimport)) - #else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@PROJECT_NAME@ __declspec(dllexport) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_@PROJECT_NAME@ __declspec(dllimport) - #endif - #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL_@PROJECT_NAME@ - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_@PROJECT_NAME@ ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@PROJECT_NAME@ - #else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_@PROJECT_NAME@ ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_@PROJECT_NAME@ - #endif -#else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@PROJECT_NAME@ __attribute__ ((visibility("default"))) - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_@PROJECT_NAME@ - #if __GNUC__ >= 4 - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_@PROJECT_NAME@ __attribute__ ((visibility("default"))) - #else - #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_@PROJECT_NAME@ - #endif -#endif - -#ifdef __cplusplus -} -#endif - -#endif // @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_ diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/srv__rosidl_typesupport_introspection_c.h.em b/firmware/lib/rosidl_typesupport_introspection_c/resource/srv__rosidl_typesupport_introspection_c.h.em deleted file mode 100644 index 360ea1f7..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/srv__rosidl_typesupport_introspection_c.h.em +++ /dev/null @@ -1,35 +0,0 @@ -@# Included from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=service.request_message, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__rosidl_typesupport_introspection_c.h.em', - package_name=package_name, interface_path=interface_path, message=service.response_message, - include_directives=include_directives) -}@ - -@{ -header_files = [ - 'rosidl_runtime_c/service_type_support_struct.h', - 'rosidl_typesupport_interface/macros.h', - package_name + '/msg/rosidl_typesupport_introspection_c__visibility_control.h', -] -}@ -@[for header_file in header_files]@ -@[ if header_file in include_directives]@ -// already included above -// @ -@[ else]@ -@{include_directives.add(header_file)}@ -@[ end if]@ -#include "@(header_file)" -@[end for]@ - -ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_@(package_name) -const rosidl_service_type_support_t * -ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name))(); diff --git a/firmware/lib/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em b/firmware/lib/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em deleted file mode 100644 index 44102566..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em +++ /dev/null @@ -1,88 +0,0 @@ -@# Included from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=service.request_message, - include_directives=include_directives) -}@ - -@{ -TEMPLATE( - 'msg__type_support.c.em', - package_name=package_name, interface_path=interface_path, message=service.response_message, - include_directives=include_directives) -}@ - -@{ -from rosidl_cmake import convert_camel_case_to_lower_case_underscore -include_parts = [package_name] + list(interface_path.parents[0].parts) + [ - 'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)] -include_base = '/'.join(include_parts) - -header_files = [ - 'rosidl_runtime_c/service_type_support_struct.h', - package_name + '/msg/rosidl_typesupport_introspection_c__visibility_control.h', - include_base + '__rosidl_typesupport_introspection_c.h', - 'rosidl_typesupport_introspection_c/identifier.h', - 'rosidl_typesupport_introspection_c/service_introspection.h', -] - -function_prefix = '__'.join(include_parts) + '__rosidl_typesupport_introspection_c' -}@ -@[for header_file in header_files]@ -@[ if header_file in include_directives]@ -// already included above -// @ -@[ else]@ -@{include_directives.add(header_file)}@ -@[ end if]@ -#include "@(header_file)" -@[end for]@ - -// this is intentionally not const to allow initialization later to prevent an initialization race -static rosidl_typesupport_introspection_c__ServiceMembers @(function_prefix)__@(service.namespaced_type.name)_service_members = { - "@('__'.join([package_name] + list(interface_path.parents[0].parts)))", // service namespace - "@(service.namespaced_type.name)", // service name - // these two fields are initialized below on the first access - NULL, // request message - // @(function_prefix)__@(service.request_message.structure.namespaced_type.name)_message_type_support_handle, - NULL // response message - // @(function_prefix)__@(service.response_message.structure.namespaced_type.name)_message_type_support_handle -}; - -static rosidl_service_type_support_t @(function_prefix)__@(service.namespaced_type.name)_service_type_support_handle = { - 0, - &@(function_prefix)__@(service.namespaced_type.name)_service_members, - get_service_typesupport_handle_function, -}; - -// Forward declaration of request/response type support functions -const rosidl_message_type_support_t * -ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Request)(); - -const rosidl_message_type_support_t * -ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Response)(); - -ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@(package_name) -const rosidl_service_type_support_t * -ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name))() { - if (!@(function_prefix)__@(service.namespaced_type.name)_service_type_support_handle.typesupport_identifier) { - @(function_prefix)__@(service.namespaced_type.name)_service_type_support_handle.typesupport_identifier = - rosidl_typesupport_introspection_c__identifier; - } - rosidl_typesupport_introspection_c__ServiceMembers * service_members = - (rosidl_typesupport_introspection_c__ServiceMembers *)@(function_prefix)__@(service.namespaced_type.name)_service_type_support_handle.data; - - if (!service_members->request_members_) { - service_members->request_members_ = - (const rosidl_typesupport_introspection_c__MessageMembers *) - ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Request)()->data; - } - if (!service_members->response_members_) { - service_members->response_members_ = - (const rosidl_typesupport_introspection_c__MessageMembers *) - ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Response)()->data; - } - - return &@(function_prefix)__@(service.namespaced_type.name)_service_type_support_handle; -} diff --git a/firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c-extras.cmake.in b/firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c-extras.cmake.in deleted file mode 100644 index 004a1e62..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c-extras.cmake.in +++ /dev/null @@ -1,31 +0,0 @@ -# generated from -# rosidl_typesupport_introspection_c/ -# rosidl_typesupport_introspection_c-extras.cmake.in - -# use the same type of library -set(rosidl_typesupport_introspection_c_LIBRARY_TYPE - "@rosidl_typesupport_introspection_c_LIBRARY_TYPE@") - -# Make sure rosidl_generator_c extension point is registered first -find_package(rosidl_generator_c QUIET) - -find_package(ament_cmake_core QUIET REQUIRED) -ament_register_extension( - "rosidl_generate_idl_interfaces" - "rosidl_typesupport_introspection_c" - "rosidl_typesupport_introspection_c_generate_interfaces.cmake") - -set(rosidl_typesupport_introspection_c_BIN - "${rosidl_typesupport_introspection_c_DIR}/../../../lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c") -normalize_path(rosidl_typesupport_introspection_c_BIN - "${rosidl_typesupport_introspection_c_BIN}") - -set(rosidl_typesupport_introspection_c_GENERATOR_FILES - "${rosidl_typesupport_introspection_c_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_typesupport_introspection_c/__init__.py") -normalize_path(rosidl_typesupport_introspection_c_GENERATOR_FILES - "${rosidl_typesupport_introspection_c_GENERATOR_FILES}") - -set(rosidl_typesupport_introspection_c_TEMPLATE_DIR - "${rosidl_typesupport_introspection_c_DIR}/../resource") -normalize_path(rosidl_typesupport_introspection_c_TEMPLATE_DIR - "${rosidl_typesupport_introspection_c_TEMPLATE_DIR}") diff --git a/firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/__init__.py b/firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/__init__.py deleted file mode 100644 index 2e9b5cf7..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/__init__.py +++ /dev/null @@ -1,24 +0,0 @@ -# Copyright 2014-2018 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. - -from rosidl_cmake import generate_files - - -def generate_c(generator_arguments_file): - mapping = { - 'idl__rosidl_typesupport_introspection_c.h.em': - 'detail/%s__rosidl_typesupport_introspection_c.h', - 'idl__type_support.c.em': 'detail/%s__type_support.c', - } - generate_files(generator_arguments_file, mapping) diff --git a/firmware/lib/rosidl_typesupport_introspection_c/src/identifier.c b/firmware/lib/rosidl_typesupport_introspection_c/src/identifier.c deleted file mode 100644 index 60da35ce..00000000 --- a/firmware/lib/rosidl_typesupport_introspection_c/src/identifier.c +++ /dev/null @@ -1,17 +0,0 @@ -// Copyright 2015 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 "rosidl_typesupport_introspection_c/identifier.h" - -const char * rosidl_typesupport_introspection_c__identifier = "rosidl_typesupport_introspection_c"; diff --git a/firmware/platformio.ini b/firmware/platformio.ini index 864a2b6a..31e6e915 100644 --- a/firmware/platformio.ini +++ b/firmware/platformio.ini @@ -16,6 +16,7 @@ board_microros_transport = serial board_microros_distro = ${sysenv.ROS_DISTRO} lib_deps = https://github.com/micro-ROS/micro_ros_platformio#22cf9b631b0bbb8861c30469e33b24e9241819ef https://github.com/micro-ROS/micro_ros_utilities#2.0.0 + https://github.com/linorobot/rosidl_typesupport_introspection_c#foxy-tsic-only build_flags = -I ../config [env:teensy41]