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Маслов Александр Александрович
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Use single function for module import. Proper modules deinitialization.
Signed-off-by: Маслов Александр Александрович <[email protected]>
1 parent b305037 commit 5ff6598

22 files changed

+3280
-157
lines changed

‎rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake

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@@ -53,6 +53,11 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
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endforeach()
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list(APPEND _generated_c_base_files
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"${_output_path}/_${PROJECT_NAME}_bases.c")
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if(NOT _generated_c_files STREQUAL "")
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list(APPEND _generated_c_files
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"${_output_path}/_${PROJECT_NAME}_decl.h"
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"${_output_path}/_${PROJECT_NAME}_import.c")
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endif()
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file(MAKE_DIRECTORY "${_output_path}")
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file(WRITE "${_output_path}/__init__.py" "")
@@ -97,6 +102,8 @@ set(target_dependencies
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"${rosidl_generator_py_TEMPLATE_DIR}/_action_pkg_typesupport_entry_point.c.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_action.py.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_bases.c.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_decl.h.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_import.c.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_idl_pkg_typesupport_entry_point.c.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_idl_support.c.em"
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"${rosidl_generator_py_TEMPLATE_DIR}/_idl.py.em"

‎rosidl_generator_py/example/_example_msgs_bases.c

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// generated from rosidl_generator_py/resource/_idl_pkg_bases.c.em
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// generated code does not contain a copyright notice
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#include <Python.h>
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#include <stdbool.h>
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#include <structmember.h>
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#include "./_example_msgs_decl.h"
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static struct PyMemberDef CustomMessageBase_members[] = {
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{"_x", T_USHORT, offsetof(CustomMessageBase, _x), 0, NULL},
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{"_ts", T_OBJECT, offsetof(CustomMessageBase, _ts), 0, NULL},
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{"_fixed_seq", T_OBJECT, offsetof(CustomMessageBase, _fixed_seq), 0, NULL},
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{"_limited_seq", T_OBJECT, offsetof(CustomMessageBase, _limited_seq), 0, NULL},
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{"_unlimited_seq", T_OBJECT, offsetof(CustomMessageBase, _unlimited_seq), 0, NULL},
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{NULL} /* Sentinel */
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};
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static void CustomMessageBase_dealloc(CustomMessageBase * self)
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{
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Py_XDECREF(self->_ts);
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Py_XDECREF(self->_fixed_seq);
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Py_XDECREF(self->_limited_seq);
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Py_XDECREF(self->_unlimited_seq);
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Py_TYPE(self)->tp_free((PyObject *)self);
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}
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static PyTypeObject CustomMessageBaseType = {
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PyVarObject_HEAD_INIT(NULL, 0)
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.tp_name = "CustomMessageBase",
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.tp_doc = "Base for CustomMessage python class",
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.tp_basicsize = sizeof(CustomMessageBase),
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.tp_itemsize = 0,
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.tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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.tp_new = PyType_GenericNew,
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.tp_dealloc = (destructor)CustomMessageBase_dealloc,
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.tp_members = CustomMessageBase_members,
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};
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static int8_t _register_base_msg_type__msg__custom_message(PyObject * module)
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{
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if (PyType_Ready(&CustomMessageBaseType) < 0) {
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return 1;
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}
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Py_INCREF(&CustomMessageBaseType);
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if (PyModule_AddObject(module, "CustomMessageBase", (PyObject *) &CustomMessageBaseType) < 0) {
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Py_DECREF(&CustomMessageBaseType);
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return 1;
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}
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return 0;
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}
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// already included above
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// #include <Python.h>
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// already included above
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// #include <stdbool.h>
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// already included above
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// #include <structmember.h>
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// already included above
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// #include "./_example_msgs_decl.h"
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static struct PyMemberDef CustomCall_RequestBase_members[] = {
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{"_my_param", T_INT, offsetof(CustomCall_RequestBase, _my_param), 0, NULL},
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{NULL} /* Sentinel */
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};
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static void CustomCall_RequestBase_dealloc(CustomCall_RequestBase * self)
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{
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Py_TYPE(self)->tp_free((PyObject *)self);
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}
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static PyTypeObject CustomCall_RequestBaseType = {
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PyVarObject_HEAD_INIT(NULL, 0)
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.tp_name = "CustomCall_RequestBase",
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.tp_doc = "Base for CustomCall_Request python class",
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.tp_basicsize = sizeof(CustomCall_RequestBase),
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.tp_itemsize = 0,
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.tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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.tp_new = PyType_GenericNew,
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.tp_dealloc = (destructor)CustomCall_RequestBase_dealloc,
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.tp_members = CustomCall_RequestBase_members,
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};
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static int8_t _register_base_msg_type__srv__custom_call__request(PyObject * module)
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{
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if (PyType_Ready(&CustomCall_RequestBaseType) < 0) {
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return 1;
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}
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Py_INCREF(&CustomCall_RequestBaseType);
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if (PyModule_AddObject(module, "CustomCall_RequestBase", (PyObject *) &CustomCall_RequestBaseType) < 0) {
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Py_DECREF(&CustomCall_RequestBaseType);
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return 1;
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}
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return 0;
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}
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// already included above
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// #include <Python.h>
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// already included above
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// #include <stdbool.h>
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// already included above
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// #include <structmember.h>
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// already included above
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// #include "./_example_msgs_decl.h"
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static struct PyMemberDef CustomCall_ResponseBase_members[] = {
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{"_my_result", T_INT, offsetof(CustomCall_ResponseBase, _my_result), 0, NULL},
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{NULL} /* Sentinel */
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};
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static void CustomCall_ResponseBase_dealloc(CustomCall_ResponseBase * self)
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{
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Py_TYPE(self)->tp_free((PyObject *)self);
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}
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static PyTypeObject CustomCall_ResponseBaseType = {
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PyVarObject_HEAD_INIT(NULL, 0)
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.tp_name = "CustomCall_ResponseBase",
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.tp_doc = "Base for CustomCall_Response python class",
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.tp_basicsize = sizeof(CustomCall_ResponseBase),
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.tp_itemsize = 0,
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.tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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.tp_new = PyType_GenericNew,
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.tp_dealloc = (destructor)CustomCall_ResponseBase_dealloc,
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.tp_members = CustomCall_ResponseBase_members,
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};
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static int8_t _register_base_msg_type__srv__custom_call__response(PyObject * module)
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{
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if (PyType_Ready(&CustomCall_ResponseBaseType) < 0) {
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return 1;
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}
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Py_INCREF(&CustomCall_ResponseBaseType);
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if (PyModule_AddObject(module, "CustomCall_ResponseBase", (PyObject *) &CustomCall_ResponseBaseType) < 0) {
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Py_DECREF(&CustomCall_ResponseBaseType);
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return 1;
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}
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return 0;
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}
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// already included above
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// #include <Python.h>
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// already included above
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// #include <stdbool.h>
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// already included above
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// #include <structmember.h>
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// already included above
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// #include "./_example_msgs_decl.h"
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static struct PyMemberDef CustomCall_EventBase_members[] = {
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{"_info", T_OBJECT, offsetof(CustomCall_EventBase, _info), 0, NULL},
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{"_request", T_OBJECT, offsetof(CustomCall_EventBase, _request), 0, NULL},
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{"_response", T_OBJECT, offsetof(CustomCall_EventBase, _response), 0, NULL},
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{NULL} /* Sentinel */
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};
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static void CustomCall_EventBase_dealloc(CustomCall_EventBase * self)
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{
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Py_XDECREF(self->_info);
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Py_XDECREF(self->_request);
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Py_XDECREF(self->_response);
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Py_TYPE(self)->tp_free((PyObject *)self);
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}
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static PyTypeObject CustomCall_EventBaseType = {
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PyVarObject_HEAD_INIT(NULL, 0)
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.tp_name = "CustomCall_EventBase",
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.tp_doc = "Base for CustomCall_Event python class",
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.tp_basicsize = sizeof(CustomCall_EventBase),
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.tp_itemsize = 0,
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.tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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.tp_new = PyType_GenericNew,
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.tp_dealloc = (destructor)CustomCall_EventBase_dealloc,
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.tp_members = CustomCall_EventBase_members,
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};
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static int8_t _register_base_msg_type__srv__custom_call__event(PyObject * module)
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{
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if (PyType_Ready(&CustomCall_EventBaseType) < 0) {
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return 1;
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}
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Py_INCREF(&CustomCall_EventBaseType);
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if (PyModule_AddObject(module, "CustomCall_EventBase", (PyObject *) &CustomCall_EventBaseType) < 0) {
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Py_DECREF(&CustomCall_EventBaseType);
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return 1;
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}
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return 0;
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}
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static PyModuleDef _module = {
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PyModuleDef_HEAD_INIT,
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.m_name = "_example_msgs_bases",
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.m_doc = "Extention module for example_msgs messages",
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.m_size = -1,
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};
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PyMODINIT_FUNC
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PyInit__example_msgs_bases(void)
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{
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PyObject * pymodule = NULL;
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pymodule = PyModule_Create(&_module);
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if (!pymodule) {
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return NULL;
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}
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int8_t err;
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err = _register_base_msg_type__msg__custom_message(pymodule);
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if (err) {
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Py_XDECREF(pymodule);
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return NULL;
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}
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err = _register_base_msg_type__srv__custom_call__request(pymodule);
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if (err) {
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Py_XDECREF(pymodule);
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return NULL;
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}
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err = _register_base_msg_type__srv__custom_call__response(pymodule);
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if (err) {
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Py_XDECREF(pymodule);
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return NULL;
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}
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err = _register_base_msg_type__srv__custom_call__event(pymodule);
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if (err) {
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Py_XDECREF(pymodule);
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return NULL;
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}
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return pymodule;
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}

‎rosidl_generator_py/example/_example_msgs_decl.h

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// generated from rosidl_generator_py/resource/_idl_pkg_decl.c.em
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// generated code does not contain a copyright notice
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#pragma once
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#include <Python.h>
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#include <stdbool.h>
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#include <structmember.h>
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typedef struct
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{
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PyObject_HEAD
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/* Type-specific fields go here. */
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uint16_t _x;
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PyObject * _ts;
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PyObject * _fixed_seq;
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PyObject * _limited_seq;
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PyObject * _unlimited_seq;
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} CustomMessageBase;
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// Import support constants for CustomMessageBase type
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#define NUMPY__NDARRAY__IMPORT_INDEX 0
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#define NUMPY__INT16__IMPORT_INDEX 1
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#define ARRAY__ARRAY__IMPORT_INDEX 2
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#define EXAMPLE_MSGS__MSG__CUSTOM_MESSAGE__IMPORT_INDEX 3
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// already included above
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// #include <Python.h>
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// already included above
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// #include <stdbool.h>
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// already included above
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// #include <structmember.h>
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typedef struct
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{
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PyObject_HEAD
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/* Type-specific fields go here. */
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int32_t _my_param;
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} CustomCall_RequestBase;
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// Import support constants for CustomCall_RequestBase type
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#define EXAMPLE_MSGS__SRV__CUSTOM_CALL__REQUEST__IMPORT_INDEX 4
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// already included above
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// #include <Python.h>
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// already included above
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// #include <stdbool.h>
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// already included above
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// #include <structmember.h>
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typedef struct
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{
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PyObject_HEAD
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/* Type-specific fields go here. */
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int32_t _my_result;
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} CustomCall_ResponseBase;
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// Import support constants for CustomCall_ResponseBase type
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#define EXAMPLE_MSGS__SRV__CUSTOM_CALL__RESPONSE__IMPORT_INDEX 5
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// already included above
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// #include <Python.h>
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// already included above
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// #include <stdbool.h>
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// already included above
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// #include <structmember.h>
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typedef struct
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{
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PyObject_HEAD
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/* Type-specific fields go here. */
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PyObject * _info;
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PyObject * _request;
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PyObject * _response;
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} CustomCall_EventBase;
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// Import support constants for CustomCall_EventBase type
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#define EXAMPLE_MSGS__SRV__CUSTOM_CALL__EVENT__IMPORT_INDEX 6
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#define MAX__IMPORT_INDEX 7
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typedef struct lazy_import_state
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{
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PyObject * cached_imports[MAX__IMPORT_INDEX];
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} lazy_import_state;
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int example_msgs__lazy_import_initialize(lazy_import_state * state);
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int example_msgs__lazy_import_finalize(lazy_import_state * state);
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PyObject * example_msgs__lazy_import(lazy_import_state * state, size_t index);
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// Since lazy cache global state is shared between multiple typesupport implementations,
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// its lifetime should be managed carefully. Extention module can call `__lazy_import`
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// function only between `__lazy_import_acquire` and `__lazy_import_release` calls.
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// This functions should be removed when cache state becomes module specific.
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int example_msgs__lazy_import_acquire();
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int example_msgs__lazy_import_release();

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