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Allow test_communication to use idl messages #549

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Allow test_communication to use idl messages #549

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fc44c3a
Make test_communication use idl messages instead of msg ones.
MiguelCompany Apr 2, 2024
0eddfa9
Only process idl interfaces
MiguelCompany Sep 26, 2024
a8edc10
Additional refactor leveraging `elseif`
MiguelCompany Sep 26, 2024
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18 changes: 8 additions & 10 deletions test_communication/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -41,20 +41,18 @@ if(BUILD_TESTING)
foreach(interface_file ${interface_files})
get_filename_component(interface_ns "${interface_file}" DIRECTORY)
get_filename_component(interface_ns "${interface_ns}" NAME)
string_ends_with("${interface_file}" ".msg" is_message)
if(is_message AND interface_ns STREQUAL "msg")
list(APPEND message_files "${interface_file}")
# Only process IDL interfaces
string_ends_with("${interface_file}" ".idl" is_idl)
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I see current change works with test_communication pacakge, but more generally what we can do is,

  • if .idl, we can categorize them based on namespace.
  • and other files .msg, .srv and .action can be categorized with file extensions and namespace.

what do you think?

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The official definition language is currently idl.
When .msg, .srv and .action files are processed, they are converted into .idl, and both files are installed and returned by ament_index_get_resource(interface_files "rosidl_interfaces" "<pkg_name>")

For instance, the contents of the file in install/share/ament_index/resource_index/rosidl_interfaces/test_msgs are the following:

action/Fibonacci.action
action/Fibonacci.idl
action/NestedMessage.action
action/NestedMessage.idl
msg/Arrays.idl
msg/Arrays.msg
msg/BasicTypes.idl
msg/BasicTypes.msg
msg/BoundedPlainSequences.idl
msg/BoundedPlainSequences.msg
msg/BoundedSequences.idl
msg/BoundedSequences.msg
msg/Builtins.idl
msg/Builtins.msg
msg/Constants.idl
msg/Constants.msg
msg/Defaults.idl
msg/Defaults.msg
msg/Empty.idl
msg/Empty.msg
msg/MultiNested.idl
msg/MultiNested.msg
msg/Nested.idl
msg/Nested.msg
msg/Strings.idl
msg/Strings.msg
msg/UnboundedSequences.idl
msg/UnboundedSequences.msg
msg/WStrings.idl
msg/WStrings.msg
srv/Arrays.idl
srv/Arrays.srv
srv/BasicTypes.idl
srv/BasicTypes.srv
srv/Empty.idl
srv/Empty.srv

So we should filter the list to remove duplicates. I think we should stick to .idl files.
We could take this a step further, and have a specific CMake function in either ament_index or rosidl_cmake to return the list of .idl in the ament index.

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I see. In that case, to keep the consistent check for all endpoints, we also want to change the line 49 and 50 for service files to use is_idl and namespace check?

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@MiguelCompany MiguelCompany Sep 26, 2024 •
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Refactored to only process idl interfaces in 0eddfa9 and a8edc10

if(NOT is_idl)
continue()
endif()
string_ends_with("${interface_file}" ".srv" is_service)
if(is_service AND interface_ns STREQUAL "srv")
# Decide category based on interface_ns
if(interface_ns STREQUAL "msg")
list(APPEND message_files "${interface_file}")
elseif(interface_ns STREQUAL "srv")
list(APPEND service_files "${interface_file}")
continue()
endif()
string_ends_with("${interface_file}" ".idl" is_action)
if(is_action AND interface_ns STREQUAL "action")
elseif(interface_ns STREQUAL "action")
list(APPEND action_files "${interface_file}")
continue()
endif()
endforeach()

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