Using C extention base class for every message

rosidl_generator_py/cmake/custom_command.cmake

@@ -19,7 +19,7 @@
 # a different CMake subdirectory, and this command is invoked after an
 # add_subdirectory() call.
 add_custom_command(
-  OUTPUT ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files}
+  OUTPUT ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files} ${_generated_c_base_files}
   # This assumes that python_cmake_module was found, which is always the case since this is only
   # called from rosidl_generator_py_generate_interfaces.cmake
   COMMAND Python3::Interpreter ${rosidl_generator_py_BIN}
@@ -39,5 +39,6 @@ else()
     ${_generated_extension_files}
     ${_generated_py_files}
     ${_generated_c_files}
+    ${_generated_c_base_files}
   )
 endif()

rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake

@@ -34,6 +34,7 @@ set(_output_path
 set(_generated_extension_files "")
 set(_generated_py_files "")
 set(_generated_c_files "")
+set(_generated_c_base_files "")
 
 foreach(_typesupport_impl ${_typesupport_impls})
   set(_generated_extension_${_typesupport_impl}_files "")
@@ -49,6 +50,13 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   list(APPEND _generated_c_files
     "${_output_path}/${_parent_folder}/_${_module_name}_s.c")
 endforeach()
+list(APPEND _generated_c_base_files
+  "${_output_path}/_${PROJECT_NAME}_bases.c")
+if(NOT _generated_c_files STREQUAL "")
+  list(APPEND _generated_c_files
+    "${_output_path}/_${PROJECT_NAME}_decl.h"
+    "${_output_path}/_${PROJECT_NAME}_import.c")
+endif()
 
 file(MAKE_DIRECTORY "${_output_path}")
 file(WRITE "${_output_path}/__init__.py" "")
@@ -92,9 +100,13 @@ set(target_dependencies
   ${rosidl_generator_py_GENERATOR_FILES}
   "${rosidl_generator_py_TEMPLATE_DIR}/_action_pkg_typesupport_entry_point.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_action.py.em"
+  "${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_bases.c.em"
+  "${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_decl.h.em"
+  "${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_import.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_typesupport_entry_point.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_idl_support.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_idl.py.em"
+  "${rosidl_generator_py_TEMPLATE_DIR}/_msg_base.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_msg_pkg_typesupport_entry_point.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_msg_support.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_msg.py.em"
@@ -133,7 +145,7 @@ file(WRITE "${_subdir}/CMakeLists.txt" "${_custom_command}")
 add_subdirectory("${_subdir}" ${rosidl_generate_interfaces_TARGET}${_target_suffix})
 set_property(
   SOURCE
-  ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files}
+  ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files} ${_generated_c_base_files}
   PROPERTY GENERATED 1)
 
 set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py")
@@ -165,6 +177,37 @@ endif()
 rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
 target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target})
 
+set(_target_name_bases_lib "${rosidl_generate_interfaces_TARGET}__bases")
+add_library(${_target_name_bases_lib} SHARED ${_generated_c_base_files})
+add_dependencies(
+  ${_target_name_bases_lib}
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix})
+target_link_libraries(
+  ${_target_name_bases_lib}
+  Python3::NumPy
+  Python3::Python
+  ${PythonExtra_LIBRARIES}
+)
+target_include_directories(
+  ${_target_name_bases_lib} PRIVATE
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
+  ${PythonExtra_INCLUDE_DIRS}
+)
+
+set_target_properties(${_target_name_bases_lib} PROPERTIES
+  COMPILE_OPTIONS "${_extension_compile_flags}"
+  PREFIX ""
+  LIBRARY_OUTPUT_DIRECTORY${_build_type} ${_output_path}
+  RUNTIME_OUTPUT_DIRECTORY${_build_type} ${_output_path}
+  OUTPUT_NAME "_${PROJECT_NAME}_bases${PythonExtra_EXTENSION_SUFFIX}"
+)
+if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+  install(TARGETS ${_target_name_bases_lib}
+    DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
+endif()
+
+
 foreach(_typesupport_impl ${_typesupport_impls})
   find_package(${_typesupport_impl} REQUIRED)
   # a typesupport package might not be able to generated a target anymore

rosidl_generator_py/resource/_idl_pkg_bases.c.em

@@ -0,0 +1,190 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_bases.c.em
+// generated code does not contain a copyright notice
+@
+@#######################################################################
+@# EmPy template for generating _<idl>_bases.c files
+@#
+@# Context:
+@#  - package_name (string)
+@#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#######################################################################
+@
+@#######################################################################
+@# Handle messages
+@#######################################################################
+@{
+from rosidl_parser.definition import Message
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+
+include_directives = set()
+register_functions = []
+
+}@
+@[for message in content.get_elements_of_type(Message)]@
+@{
+
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=message, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+@[end for]@
+@
+@#######################################################################
+@# Handle services
+@#######################################################################
+@{
+from rosidl_parser.definition import Service
+}@
+@[for service in content.get_elements_of_type(Service)]@
+@{
+
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=service.request_message, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=service.response_message, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=service.event_message, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+@[end for]@
+@
+@#######################################################################
+@# Handle actions
+@#######################################################################
+@{
+from rosidl_parser.definition import Action
+}@
+@[for action in content.get_elements_of_type(Action)]@
+@{
+
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.goal, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.result, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.feedback, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.send_goal_service.request_message,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.send_goal_service.response_message,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.send_goal_service.event_message,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.get_result_service.request_message,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.get_result_service.response_message,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.get_result_service.event_message,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
+
+@{
+TEMPLATE(
+    '_msg_base.c.em',
+    package_name=package_name,
+    message=action.feedback_message, include_directives=include_directives,
+    register_functions=register_functions)
+}@
+@[end for]@
+
+
+static PyModuleDef _module = {
+  PyModuleDef_HEAD_INIT,
+  .m_name = "_@(package_name)_bases",
+  .m_doc = "Extention module for @(package_name) messages",
+  .m_size = -1,
+};
+
+
+PyMODINIT_FUNC
+PyInit__@(package_name)_bases(void)
+{
+  PyObject * pymodule = NULL;
+  pymodule = PyModule_Create(&_module);
+  if (!pymodule) {
+    return NULL;
+  }
+  int8_t err;
+@[for register_function in register_functions]@
+
+  err = @(register_function)(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+@[end for]@
+
+  return pymodule;
+}