Generate full type description raw sources

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake

@@ -79,8 +79,6 @@ foreach(dep ${target_dependencies})
 endforeach()
 
 get_target_property(_target_sources ${rosidl_generate_interfaces_TARGET} SOURCES)
-message(WARNING "TARGET SOURCES  ${_target_sources}")
-
 set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c__arguments.json")
 rosidl_write_generator_arguments(
   "${generator_arguments_file}"
@@ -91,6 +89,7 @@ rosidl_write_generator_arguments(
   TEMPLATE_DIR "${rosidl_generator_c_TEMPLATE_DIR}"
   TARGET_DEPENDENCIES ${target_dependencies}
   TYPE_DESCRIPTION_TUPLES "${${rosidl_generate_interfaces_TARGET}__DESCRIPTION_TUPLES}"
+  ROS_INTERFACE_FILES "${_target_sources}"
 )
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter)

rosidl_generator_c/resource/full__description.c.em

@@ -7,11 +7,18 @@ from rosidl_parser.definition import NamespacedType
 from rosidl_generator_type_description import FIELD_TYPE_ID_TO_NAME
 from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
 from rosidl_generator_type_description import GET_HASH_FUNC
+from rosidl_generator_type_description import GET_INDIVIDUAL_SOURCE_FUNC
 from rosidl_generator_type_description import GET_SOURCES_FUNC
 
 def typename_to_c(typename):
   return typename.replace('/', '__')
 
+def static_seq_n(varname, n):
+  """Statically define a runtime Sequence or String type."""
+  if n > 0:
+    return f'{{{varname}, {n}, {n}}}'
+  return '{NULL, 0, 0}'
+
 def static_seq(varname, values):
   """Statically define a runtime Sequence or String type."""
   if values:
@@ -37,6 +44,10 @@ for referenced_td in toplevel_msg['referenced_type_descriptions']:
 full_type_descriptions = [toplevel_type_description] + implicit_type_descriptions
 full_type_names = [t['type_description']['type_name'] for t, _ in full_type_descriptions]
 all_type_descriptions = [toplevel_msg['type_description']] + toplevel_msg['referenced_type_descriptions']
+
+toplevel_encoding = type_source_file.suffix[1:]
+with open(type_source_file, 'r') as f:
+  raw_source_content = f.read()
 }@
 
 #include <assert.h>
@@ -62,6 +73,9 @@ static const rosidl_type_hash_t @(c_typename)__EXPECTED_HASH = @(type_hash_to_c_
 static char @(typename_to_c(itype_description['type_name']))__TYPE_NAME[] = "@(itype_description['type_name'])";
 @[end for]@
 
+@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+@# Define all values going into each local type
+@
 @[for msg, interface_type in full_type_descriptions]@
 @{
 itype_description = msg['type_description']
@@ -78,7 +92,6 @@ static char @(td_c_typename)__DEFAULT_VALUE__@(field['name'])[] = "@(escape_stri
 @[    end if]@
 @[  end for]@
 
-/// Define arrays of Fields
 @
 @[  if itype_description['fields']]@
 static rosidl_runtime_c__type_description__Field @(td_c_typename)__FIELDS[] = {
@@ -97,7 +110,6 @@ static rosidl_runtime_c__type_description__Field @(td_c_typename)__FIELDS[] = {
 };
 @[  end if]@
 
-/// Define exported TypeDescription and TypeSources
 @[  if ref_tds]@
 static rosidl_runtime_c__type_description__IndividualTypeDescription @(td_c_typename)__REFERENCED_TYPE_DESCRIPTIONS[] = {
 @[    for ref_td in ref_tds]@
@@ -139,12 +151,67 @@ c_typename = typename_to_c(ref_td['type_name'])
   }
   return &description;
 }
+@[end for]@
+@#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+
+@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+@# Define Raw Sources
+@[if raw_source_content]@
+static char toplevel_type_raw_source[] = ""@
+@[  for line in raw_source_content.splitlines()]
+"@(escape_string(line))\n"@
+@[  end for]@
+;
+@[end if]@
+@
+static char @(toplevel_encoding)_encoding[] = "@(toplevel_encoding)";
+@[if implicit_type_descriptions]@
+static char implicit_encoding[] = "implicit";
+@[end if]@
+@
+@[for type_description_msg, interface_type in full_type_descriptions]@
+@{
+itype_description = type_description_msg['type_description']
+td_typename = itype_description['type_name']
+td_c_typename = typename_to_c(td_typename)
+encoding = 'implicit' if td_typename in implicit_type_names else toplevel_encoding
+contents = None if td_typename in implicit_type_names else raw_source_content
+}@
+
+const rosidl_runtime_c__type_description__TypeSource *
+@(td_c_typename)__@(GET_INDIVIDUAL_SOURCE_FUNC)(
+  const rosidl_@(interface_type)_type_support_t *)
+{
+  static const rosidl_runtime_c__type_description__TypeSource source = {
+    @(static_seq(f'{td_c_typename}__TYPE_NAME', td_typename)),
+    @(static_seq(f'{encoding}_encoding', encoding)),
+    @(static_seq('toplevel_type_raw_source', contents)),
+  };
+  return &source;
+}
+@[end for]@
+@
+@[for type_description_msg, interface_type in full_type_descriptions]@
+@{
+ref_tds = type_description_msg['referenced_type_descriptions']
+num_sources = len(ref_tds) + 1
+td_c_typename = typename_to_c(type_description_msg['type_description']['type_name'])
+}@
 
 const rosidl_runtime_c__type_description__TypeSource__Sequence *
-@(td_c_typename)__@(GET_SOURCES_FUNC)(const rosidl_@(interface_type)_type_support_t *)
+@(td_c_typename)__@(GET_SOURCES_FUNC)(
+  const rosidl_@(interface_type)_type_support_t *)
 {
-@# TODO(ek) Implement raw source code embedding/generation. This sequence is left empty for now.
-  static const rosidl_runtime_c__type_description__TypeSource__Sequence sources = @(static_seq(None, ''));
-  return &sources;
+  static rosidl_runtime_c__type_description__TypeSource sources[@(num_sources)];
+  static const rosidl_runtime_c__type_description__TypeSource__Sequence source_sequence = @(static_seq_n('sources', num_sources));
+  static bool constructed = false;
+  if (!constructed) {
+    sources[0] = *@(td_c_typename)__@(GET_INDIVIDUAL_SOURCE_FUNC)(NULL),
+@[  for idx, ref_td in enumerate(ref_tds)]@
+    sources[@(idx)] = *@(typename_to_c(ref_td['type_name']))__@(GET_INDIVIDUAL_SOURCE_FUNC)(NULL);
+@[  end for]@
+    constructed = true;
+  }
+  return &source_sequence;
 }
 @[end for]@

rosidl_generator_c/resource/idl__description.c.em

@@ -92,6 +92,7 @@ TEMPLATE(
   'full__description.c.em',
   toplevel_type_description=toplevel_type_description,
   implicit_type_descriptions=implicit_type_descriptions,
-  hash_lookup=hash_lookup)
+  hash_lookup=hash_lookup,
+  type_source_file=type_source_file)
 }@
 @[end if]@

rosidl_generator_c/resource/msg__functions.h.em

@@ -5,6 +5,7 @@ from rosidl_generator_c import idl_structure_type_to_c_typename
 from rosidl_generator_c import interface_path_to_string
 from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
 from rosidl_generator_type_description import GET_HASH_FUNC
+from rosidl_generator_type_description import GET_INDIVIDUAL_SOURCE_FUNC
 from rosidl_generator_type_description import GET_SOURCES_FUNC
 
 message_typename = idl_structure_type_to_c_typename(message.structure.namespaced_type)
@@ -101,6 +102,11 @@ const rosidl_runtime_c__type_description__TypeDescription *
 @(message_typename)__@(GET_DESCRIPTION_FUNC)(
   const rosidl_message_type_support_t *);
 
+ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
+const rosidl_runtime_c__type_description__TypeSource *
+@(message_typename)__@(GET_INDIVIDUAL_SOURCE_FUNC)(
+  const rosidl_message_type_support_t *);
+
 /// Retrieve pointer to the raw source texts that defined the description of the message type.
 ROSIDL_GENERATOR_C_PUBLIC_@(package_name)
 const rosidl_runtime_c__type_description__TypeSource__Sequence *

rosidl_generator_tests/test/rosidl_generator_c/test_descriptions.c

@@ -54,6 +54,7 @@ int description_namecheck(
 
 int test_description_linkage();
 int test_copied_type_description_struct_hashes();
+int test_source_defined();
 
 int main(void)
 {
@@ -68,6 +69,11 @@ int main(void)
     fprintf(stderr, "test_copied_type_description_struct_hashes() FAILED\n");
     rc++;
   }
+  printf("Testing rosidl_generator_tests embedded raw sources...\n");
+  if (test_source_defined()) {
+    fprintf(stderr, "test_source_defined() FAILED\n");
+    rc++;
+  }
 
   if (rc != 0) {
     fprintf(stderr, "Some tests failed!\n");
@@ -135,6 +141,42 @@ int test_description_linkage()
   return 0;
 }
 
+int test_source_defined()
+{
+  // Smoke test that definitions are present for raw type sources
+  // Message
+  if (!rosidl_generator_tests__msg__Defaults__get_type_description_sources(NULL)) {
+    return 1;
+  }
+
+  // Service
+  if (!rosidl_generator_tests__srv__Empty__get_type_description_sources(NULL)) {
+    return 1;
+  }
+  // Implicit message of a service
+  if (!rosidl_generator_tests__srv__Empty_Response__get_type_description_sources(NULL)) {
+    return 1;
+  }
+
+  // Action
+  if (!rosidl_generator_tests__action__Fibonacci__get_type_description_sources(NULL)) {
+    return 1;
+  }
+  // Implicit message of an action
+  if (!rosidl_generator_tests__action__Fibonacci_Goal__get_type_description_sources(NULL)) {
+    return 1;
+  }
+  // Implicit service of an action
+  if (!rosidl_generator_tests__action__Fibonacci_GetResult__get_type_description_sources(NULL)) {
+    return 1;
+  }
+  // Implicit message of implicit service of an action
+  if (!rosidl_generator_tests__action__Fibonacci_SendGoal_Response__get_type_description_sources(NULL)) {
+    return 1;
+  }
+  return 0;
+}
+
 int test_copied_type_description_struct_hashes()
 {
   #define runtimehash(x) rosidl_runtime_c__type_description__ ## x ## __get_type_hash(NULL)

rosidl_generator_type_description/rosidl_generator_type_description/__init__.py

@@ -35,6 +35,7 @@
 # Used by code generators to create variable names
 GET_DESCRIPTION_FUNC = 'get_type_description'
 GET_HASH_FUNC = 'get_type_hash'
+GET_INDIVIDUAL_SOURCE_FUNC = 'get_individual_type_description_source'
 GET_SOURCES_FUNC = 'get_type_description_sources'
 
 

rosidl_pycommon/rosidl_pycommon/__init__.py

@@ -67,6 +67,10 @@ def generate_files(
         tuple_parts = description_tuple.split(':', 1)
         assert len(tuple_parts) == 2
         type_description_files[tuple_parts[0]] = tuple_parts[1]
+    ros_interface_files = {}
+    for ros_interface_file in args.get('ros_interface_files',  []):
+        p = pathlib.Path(ros_interface_file)
+        ros_interface_files[p.stem] = p
 
     for idl_tuple in args.get('idl_tuples', []):
         idl_parts = idl_tuple.rsplit(':', 1)
@@ -81,6 +85,7 @@ def generate_files(
                 type_description_info = json.load(f)
 
         idl_stem = idl_rel_path.stem
+        type_source_file = ros_interface_files.get(idl_stem, locator.get_absolute_path())
         if not keep_case:
             idl_stem = convert_camel_case_to_lower_case_underscore(idl_stem)
         try:
@@ -95,6 +100,7 @@ def generate_files(
                     'interface_path': idl_rel_path,
                     'content': idl_file.content,
                     'type_description_info': type_description_info,
+                    'type_source_file': type_source_file,
                 }
                 if additional_context is not None:
                     data.update(additional_context)