Move rosidl_cmake Python module to a new package rosidl_pycommon

rosidl_cmake/package.xml

@@ -16,8 +16,8 @@
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>python3-empy</buildtool_export_depend>
 
-  <exec_depend>rosidl_adapter</exec_depend>
-  <exec_depend>rosidl_parser</exec_depend>
+  <!-- Forwarding Python module -->
+  <exec_depend>rosidl_pycommon</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rosidl_cmake/rosidl_cmake/__init__.py

@@ -12,192 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from io import StringIO
-import json
-import os
-import pathlib
-import re
-import sys
+import warnings
 
-import em
-from rosidl_parser.definition import IdlLocator
-from rosidl_parser.parser import parse_idl_file
+from rosidl_pycommon import *  # noqa: F401, F403
 
-
-def convert_camel_case_to_lower_case_underscore(value):
-    # insert an underscore before any upper case letter
-    # which is followed by a lower case letter
-    value = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', value)
-    # insert an underscore before any upper case letter
-    # which is preseded by a lower case letter or number
-    value = re.sub('([a-z0-9])([A-Z])', r'\1_\2', value)
-    return value.lower()
-
-
-def read_generator_arguments(input_file):
-    with open(input_file, mode='r', encoding='utf-8') as h:
-        return json.load(h)
-
-
-def get_newest_modification_time(target_dependencies):
-    newest_timestamp = None
-    for dep in target_dependencies:
-        ts = os.path.getmtime(dep)
-        if newest_timestamp is None or ts > newest_timestamp:
-            newest_timestamp = ts
-    return newest_timestamp
-
-
-def generate_files(
-    generator_arguments_file, mapping, additional_context=None,
-    keep_case=False, post_process_callback=None
-):
-    args = read_generator_arguments(generator_arguments_file)
-
-    template_basepath = pathlib.Path(args['template_dir'])
-    for template_filename in mapping.keys():
-        assert (template_basepath / template_filename).exists(), \
-            'Could not find template: ' + template_filename
-
-    latest_target_timestamp = get_newest_modification_time(args['target_dependencies'])
-    generated_files = []
-
-    for idl_tuple in args.get('idl_tuples', []):
-        idl_parts = idl_tuple.rsplit(':', 1)
-        assert len(idl_parts) == 2
-        locator = IdlLocator(*idl_parts)
-        idl_rel_path = pathlib.Path(idl_parts[1])
-        idl_stem = idl_rel_path.stem
-        if not keep_case:
-            idl_stem = convert_camel_case_to_lower_case_underscore(idl_stem)
-        try:
-            idl_file = parse_idl_file(locator)
-            for template_file, generated_filename in mapping.items():
-                generated_file = os.path.join(
-                    args['output_dir'], str(idl_rel_path.parent),
-                    generated_filename % idl_stem)
-                generated_files.append(generated_file)
-                data = {
-                    'package_name': args['package_name'],
-                    'interface_path': idl_rel_path,
-                    'content': idl_file.content,
-                }
-                if additional_context is not None:
-                    data.update(additional_context)
-                expand_template(
-                    os.path.basename(template_file), data,
-                    generated_file, minimum_timestamp=latest_target_timestamp,
-                    template_basepath=template_basepath,
-                    post_process_callback=post_process_callback)
-        except Exception as e:
-            print(
-                'Error processing idl file: ' +
-                str(locator.get_absolute_path()), file=sys.stderr)
-            raise(e)
-
-    return generated_files
-
-
-template_prefix_path = []
-
-
-def get_template_path(template_name):
-    global template_prefix_path
-    for basepath in template_prefix_path:
-        template_path = basepath / template_name
-        if template_path.exists():
-            return template_path
-    raise RuntimeError(f"Failed to find template '{template_name}'")
-
-
-interpreter = None
-
-
-def expand_template(
-    template_name, data, output_file, minimum_timestamp=None,
-    template_basepath=None, post_process_callback=None
-):
-    # in the legacy API the first argument was the path to the template
-    if template_basepath is None:
-        template_name = pathlib.Path(template_name)
-        template_basepath = template_name.parent
-        template_name = template_name.name
-
-    global interpreter
-    output = StringIO()
-    interpreter = em.Interpreter(
-        output=output,
-        options={
-            em.BUFFERED_OPT: True,
-            em.RAW_OPT: True,
-        },
-    )
-
-    global template_prefix_path
-    template_prefix_path.append(template_basepath)
-    template_path = get_template_path(template_name)
-
-    # create copy before manipulating
-    data = dict(data)
-    _add_helper_functions(data)
-
-    try:
-        with template_path.open('r') as h:
-            template_content = h.read()
-            interpreter.invoke(
-                'beforeFile', name=template_name, file=h, locals=data)
-        interpreter.string(template_content, template_path, locals=data)
-        interpreter.invoke('afterFile')
-    except Exception as e:  # noqa: F841
-        if os.path.exists(output_file):
-            os.remove(output_file)
-        print(f"{e.__class__.__name__} when expanding '{template_name}' into "
-              f"'{output_file}': {e}", file=sys.stderr)
-        raise
-    finally:
-        template_prefix_path.pop()
-
-    content = output.getvalue()
-    interpreter.shutdown()
-
-    if post_process_callback:
-        content = post_process_callback(content)
-
-    # only overwrite file if necessary
-    # which is either when the timestamp is too old or when the content is different
-    if os.path.exists(output_file):
-        timestamp = os.path.getmtime(output_file)
-        if minimum_timestamp is None or timestamp > minimum_timestamp:
-            with open(output_file, 'r', encoding='utf-8') as h:
-                if h.read() == content:
-                    return
-    else:
-        # create folder if necessary
-        try:
-            os.makedirs(os.path.dirname(output_file))
-        except FileExistsError:
-            pass
-
-    with open(output_file, 'w', encoding='utf-8') as h:
-        h.write(content)
-
-
-def _add_helper_functions(data):
-    data['TEMPLATE'] = _expand_template
-
-
-def _expand_template(template_name, **kwargs):
-    global interpreter
-    template_path = get_template_path(template_name)
-    _add_helper_functions(kwargs)
-    with template_path.open('r') as h:
-        interpreter.invoke(
-            'beforeInclude', name=str(template_path), file=h, locals=kwargs)
-        content = h.read()
-    try:
-        interpreter.string(content, str(template_path), kwargs)
-    except Exception as e:  # noqa: F841
-        print(f"{e.__class__.__name__} in template '{template_path}': {e}",
-              file=sys.stderr)
-        raise
-    interpreter.invoke('afterInclude')
+warnings.warn(
+    "The 'rosidl_cmake' Python module is deprecated. Use 'rosidl_pycommon' instead.",
+    UserWarning
+)

rosidl_generator_c/CMakeLists.txt

@@ -14,7 +14,6 @@ endif()
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 
-ament_export_dependencies(rosidl_cmake)
 ament_export_dependencies(rosidl_typesupport_interface)
 ament_index_register_resource("rosidl_generator_packages")
 

rosidl_generator_c/package.xml

@@ -16,7 +16,7 @@
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
   <buildtool_export_depend>python3</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_pycommon</buildtool_export_depend>
 
   <build_export_depend>rosidl_typesupport_interface</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>

rosidl_generator_c/resource/idl.h.em

@@ -12,7 +12,7 @@
 @#######################################################################
 @
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + \
     [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
 include_parts_detail = [package_name] + list(interface_path.parents[0].parts) + [

rosidl_generator_c/resource/idl__functions.c.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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)

rosidl_generator_c/resource/idl__functions.h.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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_generator_c/resource/idl__struct.h.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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_generator_c/resource/idl__type_support.h.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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_generator_c/rosidl_generator_c/__init__.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
-from rosidl_cmake import generate_files
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractSequence
 from rosidl_parser.definition import AbstractString
@@ -24,6 +22,8 @@
 from rosidl_parser.definition import CHARACTER_TYPES
 from rosidl_parser.definition import NamespacedType
 from rosidl_parser.definition import OCTET_TYPE
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import generate_files
 
 
 def generate_c(generator_arguments_file):

rosidl_generator_cpp/CMakeLists.txt

@@ -5,8 +5,6 @@ project(rosidl_generator_cpp)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 
-ament_export_dependencies(rosidl_cmake)
-
 ament_index_register_resource("rosidl_generator_packages")
 
 ament_python_install_package(${PROJECT_NAME})

rosidl_generator_cpp/package.xml

@@ -14,7 +14,7 @@
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
   <buildtool_export_depend>python3</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_pycommon</buildtool_export_depend>
 
   <!-- This is needed for the rosidl_message_type_support_t struct and visibility macros -->
   <build_export_depend>rosidl_generator_c</build_export_depend>

rosidl_generator_cpp/resource/idl.hpp.em

@@ -11,7 +11,7 @@
 @#######################################################################
 @
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 include_parts = [package_name] + list(interface_path.parents[0].parts) + \
     [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
 include_parts_detail = [package_name] + list(interface_path.parents[0].parts) + [

rosidl_generator_cpp/resource/idl__builder.hpp.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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)

rosidl_generator_cpp/resource/idl__struct.hpp.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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_generator_cpp/resource/idl__traits.hpp.em

@@ -11,7 +11,7 @@
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon 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)

rosidl_generator_cpp/resource/msg__struct.hpp.em

@@ -30,7 +30,7 @@ msvc_common_macros = ('DELETE', 'ERROR', 'NO_ERROR')
 @# Collect necessary include directives for all members
 @{
 from collections import OrderedDict
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 includes = OrderedDict()
 for member in message.structure.members:
     type_ = member.type

rosidl_generator_cpp/resource/msg__traits.hpp.em

@@ -21,7 +21,7 @@ message_fully_qualified_name = '/'.join(message.structure.namespaced_type.namesp
 @# Collect necessary include directives for all members
 @{
 from collections import OrderedDict
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 includes = OrderedDict()
 for member in message.structure.members:
     type_ = member.type

rosidl_generator_cpp/rosidl_generator_cpp/__init__.py

@@ -14,7 +14,6 @@
 
 from ast import literal_eval
 
-from rosidl_cmake import generate_files
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
@@ -26,6 +25,7 @@
 from rosidl_parser.definition import FLOATING_POINT_TYPES
 from rosidl_parser.definition import NamespacedType
 from rosidl_parser.definition import UnboundedSequence
+from rosidl_pycommon import generate_files
 
 
 def generate_cpp(generator_arguments_file):