diff --git a/message_generation/src/main/java/org/ros/internal/message/GenerateInterfaces.java b/message_generation/src/main/java/org/ros/internal/message/GenerateInterfaces.java
index 1a53d13e8de0b9522d2d6fb37bccd52526451458..00bff33d1d11ad5a7d3fc6379c83b6e6b60258f2 100644
--- a/message_generation/src/main/java/org/ros/internal/message/GenerateInterfaces.java
+++ b/message_generation/src/main/java/org/ros/internal/message/GenerateInterfaces.java
@@ -24,9 +24,12 @@ import org.ros.exception.RosMessageRuntimeException;
import org.ros.internal.message.definition.MessageDefinitionProviderChain;
import org.ros.internal.message.definition.MessageDefinitionTupleParser;
import org.ros.internal.message.action.ActionDefinitionFileProvider;
-import org.ros.internal.message.action.ActionGoalGenerationTemplate;
-import org.ros.internal.message.action.ActionFeedbackGenerationTemplate;
-import org.ros.internal.message.action.ActionResultGenerationTemplate;
+import org.ros.internal.message.action.ActionGenerationTemplateActionGoal;
+import org.ros.internal.message.action.ActionGenerationTemplateActionResult;
+import org.ros.internal.message.action.ActionGenerationTemplateActionFeedback;
+import org.ros.internal.message.action.ActionGenerationTemplateGoal;
+import org.ros.internal.message.action.ActionGenerationTemplateResult;
+import org.ros.internal.message.action.ActionGenerationTemplateFeedback;
import org.ros.internal.message.service.ServiceDefinitionFileProvider;
import org.ros.internal.message.topic.TopicDefinitionFileProvider;
import org.ros.message.MessageDeclaration;
@@ -49,9 +52,14 @@ public class GenerateInterfaces {
private final ActionDefinitionFileProvider actionDefinitionFileProvider;
private final MessageDefinitionProviderChain messageDefinitionProviderChain;
private final MessageFactory messageFactory;
- private final ActionGoalGenerationTemplate actionGoalGenerationTemplate = new ActionGoalGenerationTemplate();
- private final ActionFeedbackGenerationTemplate actionFeedbackGenerationTemplate = new ActionFeedbackGenerationTemplate();
- private final ActionResultGenerationTemplate actionResultGenerationTemplate = new ActionResultGenerationTemplate();
+
+ private final MessageGenerationTemplate actionGenerationTemplateGoal = new ActionGenerationTemplateGoal();
+ private final MessageGenerationTemplate actionGenerationTemplateResult = new ActionGenerationTemplateResult();
+ private final MessageGenerationTemplate actionGenerationTemplateFeedback = new ActionGenerationTemplateFeedback();
+
+ private final MessageGenerationTemplate actionGenerationTemplateActionGoal = new ActionGenerationTemplateActionGoal();
+ private final MessageGenerationTemplate actionGenerationTemplateActionResult = new ActionGenerationTemplateActionResult();
+ private final MessageGenerationTemplate actionGenerationTemplateActionFeedback = new ActionGenerationTemplateActionFeedback();
static private final String ROS_PACKAGE_PATH = "ROS_PACKAGE_PATH";
@@ -162,20 +170,37 @@ public class GenerateInterfaces {
MessageDeclaration goalDeclaration = MessageDeclaration.of(
actionType.getType() + "Goal",
- actionGoalGenerationTemplate.applyTemplate(goalResultAndFeedback.get(0))
+ actionGenerationTemplateGoal.applyTemplate(goalResultAndFeedback.get(0))
);
MessageDeclaration resultDeclaration = MessageDeclaration.of(
actionType.getType() + "Result",
- actionResultGenerationTemplate.applyTemplate(goalResultAndFeedback.get(1))
+ actionGenerationTemplateResult.applyTemplate(goalResultAndFeedback.get(1))
);
MessageDeclaration feedbackDeclaration = MessageDeclaration.of(
actionType.getType() + "Feedback",
- actionFeedbackGenerationTemplate.applyTemplate(goalResultAndFeedback.get(2))
+ actionGenerationTemplateFeedback.applyTemplate(goalResultAndFeedback.get(2))
+ );
+
+ MessageDeclaration actionGoalDeclaration = MessageDeclaration.of(
+ actionType.getType() + "ActionGoal",
+ actionGenerationTemplateActionGoal.applyTemplate(actionType.getType())
+ );
+ MessageDeclaration actionResultDeclaration = MessageDeclaration.of(
+ actionType.getType() + "ActionResult",
+ actionGenerationTemplateActionResult.applyTemplate(actionType.getType())
+ );
+ MessageDeclaration actionFeedbackDeclaration = MessageDeclaration.of(
+ actionType.getType() + "ActionFeedback",
+ actionGenerationTemplateActionFeedback.applyTemplate(actionType.getType())
);
writeInterface(goalDeclaration, outputDirectory, true);
writeInterface(resultDeclaration, outputDirectory, true);
writeInterface(feedbackDeclaration, outputDirectory, true);
+
+ writeInterface(actionGoalDeclaration, outputDirectory, true);
+ writeInterface(actionResultDeclaration, outputDirectory, true);
+ writeInterface(actionFeedbackDeclaration, outputDirectory, true);
}
}
diff --git a/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionFeedback.java b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionFeedback.java
new file mode 100644
index 0000000000000000000000000000000000000000..239192ed5c9adcfa8544abc9c59c1ed17c59e05e
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionFeedback.java
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message.action;
+
+import org.ros.internal.message.MessageGenerationTemplate;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionGenerationTemplateActionFeedback implements MessageGenerationTemplate {
+
+ /**
+ * @return returns this {@link Message} as a {@link RawMessage}
+ */
+ public String applyTemplate(String messageSource) {
+ return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
+ "\n" +
+ "Header header\n" +
+ "actionlib_msgs/GoalStatus status\n" +
+ messageSource + "Feedback feedback";
+ }
+}
diff --git a/message_generation/src/main/java/org/ros/internal/message/action/ActionGoalGenerationTemplate.java b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionGoal.java
similarity index 84%
rename from message_generation/src/main/java/org/ros/internal/message/action/ActionGoalGenerationTemplate.java
rename to message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionGoal.java
index 87e9b3646bf858f80b011226d93a9e2b18a87e06..3ea20a367954e8a929f202740dc24dcc1c6202bf 100644
--- a/message_generation/src/main/java/org/ros/internal/message/action/ActionGoalGenerationTemplate.java
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionGoal.java
@@ -16,10 +16,12 @@
package org.ros.internal.message.action;
+import org.ros.internal.message.MessageGenerationTemplate;
+
/**
* @author arne.peters@tum.de (Arne Peters)
*/
-public class ActionGoalGenerationTemplate {
+public class ActionGenerationTemplateActionGoal implements MessageGenerationTemplate {
/**
* @return returns this {@link Message} as a {@link RawMessage}
@@ -29,6 +31,6 @@ public class ActionGoalGenerationTemplate {
"\n" +
"Header header\n" +
"actionlib_msgs/GoalID goal_id\n" +
- messageSource;
+ messageSource + "Goal goal";
}
}
diff --git a/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionResult.java b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionResult.java
new file mode 100644
index 0000000000000000000000000000000000000000..0a137b9a60e2f406fa20b3ac88f266db60e7ff99
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateActionResult.java
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message.action;
+
+import org.ros.internal.message.MessageGenerationTemplate;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionGenerationTemplateActionResult implements MessageGenerationTemplate {
+
+ /**
+ * @return returns this {@link Message} as a {@link RawMessage}
+ */
+ public String applyTemplate(String messageSource) {
+ return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
+ "\n" +
+ "Header header\n" +
+ "actionlib_msgs/GoalStatus status\n" +
+ messageSource + "Result result";
+ }
+}
diff --git a/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateFeedback.java b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateFeedback.java
new file mode 100644
index 0000000000000000000000000000000000000000..9a466b08ba83c776f6563c041cf1e9673d263444
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateFeedback.java
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2012 Google 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.
+ */
+
+package org.ros.internal.message.action;
+
+import org.ros.internal.message.MessageGenerationTemplate;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionGenerationTemplateFeedback implements MessageGenerationTemplate {
+
+ /**
+ * @return returns this {@link Message} as a {@link RawMessage}
+ */
+ public String applyTemplate(String messageSource) {
+ return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
+ "#feedback definition\n" +
+ messageSource;
+ }
+}
diff --git a/message_generation/src/main/java/org/ros/internal/message/action/ActionFeedbackGenerationTemplate.java b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateGoal.java
similarity index 84%
rename from message_generation/src/main/java/org/ros/internal/message/action/ActionFeedbackGenerationTemplate.java
rename to message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateGoal.java
index 2091eef6bf54d353cb86426dd121aee3a5df1460..3a085af3c47e2e0d6e6b2f7a8e00a6c0cbb680f1 100644
--- a/message_generation/src/main/java/org/ros/internal/message/action/ActionFeedbackGenerationTemplate.java
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateGoal.java
@@ -16,19 +16,19 @@
package org.ros.internal.message.action;
+import org.ros.internal.message.MessageGenerationTemplate;
+
/**
* @author arne.peters@tum.de (Arne Peters)
*/
-public class ActionFeedbackGenerationTemplate {
+public class ActionGenerationTemplateGoal implements MessageGenerationTemplate {
/**
* @return returns this {@link Message} as a {@link RawMessage}
*/
public String applyTemplate(String messageSource) {
return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
- "\n" +
- "Header header\n" +
- "actionlib_msgs/GoalStatus status\n" +
+ "#goal definition" +
messageSource;
}
}
diff --git a/message_generation/src/main/java/org/ros/internal/message/action/ActionResultGenerationTemplate.java b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateResult.java
similarity index 84%
rename from message_generation/src/main/java/org/ros/internal/message/action/ActionResultGenerationTemplate.java
rename to message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateResult.java
index 2db93a733bfa221fce56ac474d50e5c030d9331f..234529200f2f6ff7fdfc0e9fee22fb876ccfad47 100644
--- a/message_generation/src/main/java/org/ros/internal/message/action/ActionResultGenerationTemplate.java
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGenerationTemplateResult.java
@@ -16,19 +16,19 @@
package org.ros.internal.message.action;
+import org.ros.internal.message.MessageGenerationTemplate;
+
/**
* @author arne.peters@tum.de (Arne Peters)
*/
-public class ActionResultGenerationTemplate {
+public class ActionGenerationTemplateResult implements MessageGenerationTemplate {
/**
* @return returns this {@link Message} as a {@link RawMessage}
*/
public String applyTemplate(String messageSource) {
return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n" +
- "\n" +
- "Header header\n" +
- "actionlib_msgs/GoalStatus status\n" +
+ "#result definition" +
messageSource;
}
}