From f2c7e02a34154d7d83e82dc92d15e23f37c9ba95 Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Fri, 26 Feb 2021 17:39:13 -0300
Subject: [PATCH] Expose .msg/.srv/.action to .idl conversion via rosidl
 translate CLI

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rosidl_adapter/package.xml           |  1 +
 rosidl_adapter/rosidl_adapter/cli.py | 59 +++++++++++++++++++++++++++-
 rosidl_adapter/setup.cfg             |  5 +++
 3 files changed, 64 insertions(+), 1 deletion(-)
 create mode 100644 rosidl_adapter/setup.cfg

diff --git a/rosidl_adapter/package.xml b/rosidl_adapter/package.xml
index c546c3208..9f047bc0b 100644
--- a/rosidl_adapter/package.xml
+++ b/rosidl_adapter/package.xml
@@ -14,6 +14,7 @@
   <build_depend>ament_cmake</build_depend>
 
   <exec_depend>python3-empy</exec_depend>
+  <exec_depend>rosidl_cli</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/rosidl_adapter/rosidl_adapter/cli.py b/rosidl_adapter/rosidl_adapter/cli.py
index dad3f0b39..5db46d4f5 100644
--- a/rosidl_adapter/rosidl_adapter/cli.py
+++ b/rosidl_adapter/rosidl_adapter/cli.py
@@ -1,4 +1,4 @@
-# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Copyright 2018-2021 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.
@@ -19,6 +19,9 @@
 from catkin_pkg.package import package_exists_at
 from catkin_pkg.package import parse_package
 
+from rosidl_cli.command.helpers import interface_path_as_tuple
+from rosidl_cli.command.translate.extensions import TranslateCommandExtension
+
 
 def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
     parser = argparse.ArgumentParser(
@@ -48,3 +51,57 @@ def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
             package_dir, pkg.name,
             interface_file.absolute().relative_to(package_dir),
             interface_file.parent)
+
+
+class TranslateToIDL(TranslateCommandExtension):
+
+    output_format = 'idl'
+
+    def translate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        translated_interface_files = []
+        for interface_file in interface_files:
+            prefix, interface_file = interface_path_as_tuple(interface_file)
+            output_dir = output_path / interface_file.parent
+            translated_interface_file = self.conversion_function(
+                prefix, package_name, interface_file, output_dir)
+            translated_interface_file = \
+                translated_interface_file.relative_to(output_path)
+            translated_interface_files.append(
+                f'{output_path}:{translated_interface_file}'
+            )
+        return translated_interface_files
+
+
+class TranslateMsgToIDL(TranslateToIDL):
+
+    input_format = 'msg'
+
+    @property
+    def conversion_function(self):
+        from rosidl_adapter.msg import convert_msg_to_idl
+        return convert_msg_to_idl
+
+
+class TranslateSrvToIDL(TranslateToIDL):
+
+    input_format = 'srv'
+
+    @property
+    def conversion_function(self):
+        from rosidl_adapter.srv import convert_srv_to_idl
+        return convert_srv_to_idl
+
+
+class TranslateActionToIDL(TranslateToIDL):
+    input_format = 'action'
+
+    @property
+    def conversion_function(self):
+        from rosidl_adapter.action import convert_action_to_idl
+        return convert_action_to_idl
diff --git a/rosidl_adapter/setup.cfg b/rosidl_adapter/setup.cfg
new file mode 100644
index 000000000..bfb5cb4b2
--- /dev/null
+++ b/rosidl_adapter/setup.cfg
@@ -0,0 +1,5 @@
+[options.entry_points]
+rosidl_cli.command.translate.extensions =
+  msg2idl = rosidl_adapter.cli:TranslateMsgToIDL
+  srv2idl = rosidl_adapter.cli:TranslateSrvToIDL
+  action2idl = rosidl_adapter.cli:TranslateActionToIDL