Add rosidl generate CLI. (#567)

Signed-off-by: Michel Hidalgo <[email protected]>
Co-authored-by: Shane Loretz <[email protected]>

rosidl_cli/completion/rosidl-argcomplete.bash

@@ -0,0 +1,19 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if type register-python-argcomplete3 > /dev/null 2>&1; then
+  eval "$(register-python-argcomplete3 rosidl)"
+elif type register-python-argcomplete > /dev/null 2>&1; then
+  eval "$(register-python-argcomplete rosidl)"
+fi

rosidl_cli/completion/rosidl-argcomplete.zsh

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+autoload -U +X compinit && compinit
+autoload -U +X bashcompinit && bashcompinit
+
+# Get this scripts directory
+__rosidl_cli_completion_dir=${0:a:h}
+# Just source the bash version, it works in zsh too
+source "$__rosidl_cli_completion_dir/rosidl-argcomplete.bash"
+# Cleanup
+unset __rosidl_cli_completion_dir

rosidl_cli/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>rosidl_cli</name>
+  <version>0.1.0</version>
+  <description>
+    Command line tools for ROS interface generation.
+  </description>
+  <maintainer email="[email protected]">Chris Lalancette</maintainer>
+  <maintainer email="[email protected]">Shane Loretz</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Michel Hidalgo</author>
+
+  <exec_depend>python3-argcomplete</exec_depend>
+  <exec_depend>python3-importlib-metadata</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rosidl_cli/pytest.ini

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+[pytest]
+junit_family=xunit2

rosidl_cli/resource/package.dsv

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+source;share/rosidl_cli/environment/rosidl-argcomplete.bash
+source;share/rosidl_cli/environment/rosidl-argcomplete.zsh

rosidl_cli/rosidl_cli/cli.py

@@ -0,0 +1,103 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import signal
+
+from rosidl_cli.command.generate import GenerateCommand
+from rosidl_cli.common import get_first_line_doc
+
+
+def add_subparsers(parser, cli_name, commands):
+    """
+    Create argparse subparser for each command.
+
+    The ``cli_name`` is used for the title and description of the
+    ``add_subparsers`` function call.
+
+    For each command a subparser is created.
+
+    :param parser: the parent argument parser
+    :type parser: :py:class:`argparse.ArgumentParser`
+    :param str cli_name: name of the command line command to which the
+      subparsers are being added
+    :param commands: each of the commands contributing specific arguments
+    :type commands: :py:class:`List[Command]`
+    """
+    # add subparser with description of available subparsers
+    description = ''
+
+    commands = sorted(commands, key=lambda command: command.name)
+    max_length = max(len(command.name) for command in commands)
+    for command in commands:
+        description += '%s  %s\n' % (
+            command.name.ljust(max_length),
+            get_first_line_doc(command))
+    subparser = parser.add_subparsers(
+        title='Commands', description=description,
+        metavar=f'Call `{cli_name} <command> -h` for more detailed usage.')
+    subparser.dest = '_command'
+    subparser.required = True
+
+    # add extension specific sub-sub-parser with its arguments
+    for command in commands:
+        command_parser = subparser.add_parser(
+            command.name,
+            description=get_first_line_doc(command),
+            formatter_class=argparse.RawDescriptionHelpFormatter)
+        command_parser.set_defaults(_command=command)
+        command.add_arguments(command_parser)
+
+    return subparser
+
+
+def main():
+    script_name = 'rosidl'
+    description = f'{script_name} is an extensible command-line tool ' \
+        'for ROS interface generation.'
+
+    # top level parser
+    parser = argparse.ArgumentParser(
+        description=description,
+        formatter_class=argparse.RawDescriptionHelpFormatter
+    )
+
+    commands = [GenerateCommand()]
+
+    # add arguments for command extension(s)
+    add_subparsers(
+        parser,
+        script_name,
+        commands
+    )
+
+    # register argcomplete hook if available
+    try:
+        from argcomplete import autocomplete
+    except ImportError:
+        pass
+    else:
+        autocomplete(parser, exclude=['-h', '--help'])
+
+    # parse the command line arguments
+    args = parser.parse_args()
+
+    # call the main method of the command
+    try:
+        rc = args._command.main(args=args)
+    except KeyboardInterrupt:
+        rc = signal.SIGINT
+    except (ValueError, RuntimeError) as e:
+        rc = str(e)
+    return rc

rosidl_cli/rosidl_cli/command/__init__.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+class Command:
+    """
+    The extension point for 'command' extensions.
+
+    The following methods must be defined:
+    * `main`
+    * `add_arguments`
+    """
+
+    def add_arguments(self, parser):
+        pass
+
+    def main(self, *, parser, args):
+        raise NotImplementedError()

rosidl_cli/rosidl_cli/command/generate/__init__.py

@@ -0,0 +1,82 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pathlib
+
+from rosidl_cli.command import Command
+
+from .extensions import load_type_extensions
+from .extensions import load_typesupport_extensions
+
+
+class GenerateCommand(Command):
+    """Generate source code from interface definition files."""
+
+    name = 'generate'
+
+    def add_arguments(self, parser):
+        parser.add_argument(
+            '-o', '--output-path', type=pathlib.Path,
+            metavar='PATH', default=pathlib.Path.cwd(),
+            help=('Path to directory to hold generated source code files. '
+                  "Defaults to '.'."))
+        parser.add_argument(
+            '-t', '--type', metavar='TYPE_SPEC',
+            dest='type_specs', action='append', default=[],
+            help='Target type representations for generation.')
+        parser.add_argument(
+            '-ts', '--type-support', metavar='TYPESUPPORT_SPEC',
+            dest='typesupport_specs', action='append', default=[],
+            help='Target type supports for generation.')
+        parser.add_argument(
+            '-I', '--include-path', type=pathlib.Path, metavar='PATH',
+            dest='include_paths', action='append', default=[],
+            help='Paths to include dependency interface definition files from.')
+        parser.add_argument(
+            'package_name', help='Name of the package to generate code for')
+        parser.add_argument(
+            'interface_files', metavar='interface_file', nargs='+',
+            help=('Normalized relative path to interface definition file. '
+                  "If prefixed by another path followed by a colon ':', "
+                  'path resolution is performed against such path.'))
+
+    def main(self, *, args):
+        extensions = []
+
+        unspecific_generation = \
+            not args.type_specs and not args.typesupport_specs
+
+        if args.type_specs or unspecific_generation:
+            extensions.extend(load_type_extensions(
+                specs=args.type_specs,
+                strict=not unspecific_generation))
+
+        if args.typesupport_specs or unspecific_generation:
+            extensions.extend(load_typesupport_extensions(
+                specs=args.typesupport_specs,
+                strict=not unspecific_generation))
+
+        if unspecific_generation and not extensions:
+            return 'No type nor typesupport extensions were found'
+
+        if len(extensions) > 1:
+            for extension in extensions:
+                extension.generate(
+                    args.package_name, args.interface_files, args.include_paths,
+                    output_path=args.output_path / extension.name)
+        else:
+            extensions[0].generate(
+                args.package_name, args.interface_files,
+                args.include_paths, args.output_path
+            )

rosidl_cli/rosidl_cli/command/generate/extensions.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_cli.extensions import Extension
+from rosidl_cli.extensions import load_extensions
+
+
+class GenerateCommandExtension(Extension):
+    """
+    The extension point for source code generation.
+
+    The following methods must be defined:
+    * `generate`
+    """
+
+    def generate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        """
+        Generate source code.
+
+        Paths to interface definition files are relative paths optionally
+        prefixed by an absolute path followed by a colon ':', in which case
+        path resolution is to be performed against that absolute path.
+
+        :param package_name: name of the package to generate source code for
+        :param interface_files: list of paths to interface definition files
+        :param include_paths: list of paths to include dependency interface
+          definition files from.
+        :param output_path: path to directory to hold generated source code files
+        """
+        raise NotImplementedError()
+
+
+def load_type_extensions(**kwargs):
+    """Load extensions for type representation source code generation."""
+    return load_extensions('rosidl_cli.command.generate.type_extensions', **kwargs)
+
+
+def load_typesupport_extensions(**kwargs):
+    """Load extensions for type support source code generation."""
+    return load_extensions('rosidl_cli.command.generate.typesupport_extensions', **kwargs)