From d91274e74aebd1c3817808b4ac6138325a3f06b6 Mon Sep 17 00:00:00 2001
From: Arne <arne.peters@tum.de>
Date: Wed, 29 Aug 2018 17:29:29 +0200
Subject: [PATCH] added autogenrated message parameters for ROS action files
---
.../internal/message/GenerateInterfaces.java | 25 ++++++++++----
.../message/MessageGenerationTemplate.java | 28 +++++++++++++++
.../ActionFeedbackGenerationTemplate.java | 34 +++++++++++++++++++
.../action/ActionGoalGenerationTemplate.java | 34 +++++++++++++++++++
.../ActionResultGenerationTemplate.java | 34 +++++++++++++++++++
5 files changed, 149 insertions(+), 6 deletions(-)
create mode 100644 message_generation/src/main/java/org/ros/internal/message/MessageGenerationTemplate.java
create mode 100644 message_generation/src/main/java/org/ros/internal/message/action/ActionFeedbackGenerationTemplate.java
create mode 100644 message_generation/src/main/java/org/ros/internal/message/action/ActionGoalGenerationTemplate.java
create mode 100644 message_generation/src/main/java/org/ros/internal/message/action/ActionResultGenerationTemplate.java
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 4d3b23e..1a53d13 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
@@ -24,6 +24,9 @@ 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.service.ServiceDefinitionFileProvider;
import org.ros.internal.message.topic.TopicDefinitionFileProvider;
import org.ros.message.MessageDeclaration;
@@ -46,6 +49,10 @@ 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();
+
static private final String ROS_PACKAGE_PATH = "ROS_PACKAGE_PATH";
public GenerateInterfaces() {
@@ -153,12 +160,18 @@ public class GenerateInterfaces {
writeInterface(actionDeclaration, outputDirectory, false);
List<String> goalResultAndFeedback = MessageDefinitionTupleParser.parse(definition, 3);
- MessageDeclaration goalDeclaration =
- MessageDeclaration.of(actionType.getType() + "Goal", goalResultAndFeedback.get(0));
- MessageDeclaration resultDeclaration =
- MessageDeclaration.of(actionType.getType() + "Result", goalResultAndFeedback.get(1));
- MessageDeclaration feedbackDeclaration =
- MessageDeclaration.of(actionType.getType() + "Feedback", goalResultAndFeedback.get(2));
+ MessageDeclaration goalDeclaration = MessageDeclaration.of(
+ actionType.getType() + "Goal",
+ actionGoalGenerationTemplate.applyTemplate(goalResultAndFeedback.get(0))
+ );
+ MessageDeclaration resultDeclaration = MessageDeclaration.of(
+ actionType.getType() + "Result",
+ actionResultGenerationTemplate.applyTemplate(goalResultAndFeedback.get(1))
+ );
+ MessageDeclaration feedbackDeclaration = MessageDeclaration.of(
+ actionType.getType() + "Feedback",
+ actionFeedbackGenerationTemplate.applyTemplate(goalResultAndFeedback.get(2))
+ );
writeInterface(goalDeclaration, outputDirectory, true);
writeInterface(resultDeclaration, outputDirectory, true);
diff --git a/message_generation/src/main/java/org/ros/internal/message/MessageGenerationTemplate.java b/message_generation/src/main/java/org/ros/internal/message/MessageGenerationTemplate.java
new file mode 100644
index 0000000..ba1ed92
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/MessageGenerationTemplate.java
@@ -0,0 +1,28 @@
+/*
+ * 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;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public interface MessageGenerationTemplate {
+
+ /**
+ * @return returns this {@link Message} as a {@link RawMessage}
+ */
+ public String applyTemplate(String 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/ActionFeedbackGenerationTemplate.java
new file mode 100644
index 0000000..2091eef
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionFeedbackGenerationTemplate.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;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionFeedbackGenerationTemplate {
+
+ /**
+ * @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;
+ }
+}
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/ActionGoalGenerationTemplate.java
new file mode 100644
index 0000000..87e9b36
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionGoalGenerationTemplate.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;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionGoalGenerationTemplate {
+
+ /**
+ * @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/GoalID goal_id\n" +
+ 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/ActionResultGenerationTemplate.java
new file mode 100644
index 0000000..2db93a7
--- /dev/null
+++ b/message_generation/src/main/java/org/ros/internal/message/action/ActionResultGenerationTemplate.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;
+
+/**
+ * @author arne.peters@tum.de (Arne Peters)
+ */
+public class ActionResultGenerationTemplate {
+
+ /**
+ * @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;
+ }
+}
--
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