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| 1 | +// generated from rosidl_generator_py/resource/_idl_pkg_bases.c.em |
| 2 | +// generated code does not contain a copyright notice |
| 3 | +@ |
| 4 | +@####################################################################### |
| 5 | +@# EmPy template for generating _<idl>_bases.c files |
| 6 | +@# |
| 7 | +@# Context: |
| 8 | +@# - package_name (string) |
| 9 | +@# - content (IdlContent, list of elements, e.g. Messages or Services) |
| 10 | +@####################################################################### |
| 11 | +@ |
| 12 | +@####################################################################### |
| 13 | +@# Handle messages |
| 14 | +@####################################################################### |
| 15 | +@{ |
| 16 | +from rosidl_parser.definition import Message |
| 17 | +from rosidl_pycommon import convert_camel_case_to_lower_case_underscore |
| 18 | + |
| 19 | +include_directives = set() |
| 20 | +register_functions = [] |
| 21 | + |
| 22 | +}@ |
| 23 | +@[for message in content.get_elements_of_type(Message)]@ |
| 24 | +@{ |
| 25 | + |
| 26 | +TEMPLATE( |
| 27 | + '_msg_base.c.em', |
| 28 | + package_name=package_name, |
| 29 | + message=message, include_directives=include_directives, |
| 30 | + register_functions=register_functions) |
| 31 | +}@ |
| 32 | +@[end for]@ |
| 33 | +@ |
| 34 | +@####################################################################### |
| 35 | +@# Handle services |
| 36 | +@####################################################################### |
| 37 | +@{ |
| 38 | +from rosidl_parser.definition import Service |
| 39 | +}@ |
| 40 | +@[for service in content.get_elements_of_type(Service)]@ |
| 41 | +@{ |
| 42 | + |
| 43 | +TEMPLATE( |
| 44 | + '_msg_base.c.em', |
| 45 | + package_name=package_name, |
| 46 | + message=service.request_message, include_directives=include_directives, |
| 47 | + register_functions=register_functions) |
| 48 | +}@ |
| 49 | + |
| 50 | +@{ |
| 51 | +TEMPLATE( |
| 52 | + '_msg_base.c.em', |
| 53 | + package_name=package_name, |
| 54 | + message=service.response_message, include_directives=include_directives, |
| 55 | + register_functions=register_functions) |
| 56 | +}@ |
| 57 | + |
| 58 | +@{ |
| 59 | +TEMPLATE( |
| 60 | + '_msg_base.c.em', |
| 61 | + package_name=package_name, |
| 62 | + message=service.event_message, include_directives=include_directives, |
| 63 | + register_functions=register_functions) |
| 64 | +}@ |
| 65 | +@[end for]@ |
| 66 | +@ |
| 67 | +@####################################################################### |
| 68 | +@# Handle actions |
| 69 | +@####################################################################### |
| 70 | +@{ |
| 71 | +from rosidl_parser.definition import Action |
| 72 | +}@ |
| 73 | +@[for action in content.get_elements_of_type(Action)]@ |
| 74 | +@{ |
| 75 | + |
| 76 | +TEMPLATE( |
| 77 | + '_msg_base.c.em', |
| 78 | + package_name=package_name, |
| 79 | + message=action.goal, include_directives=include_directives, |
| 80 | + register_functions=register_functions) |
| 81 | +}@ |
| 82 | + |
| 83 | +@{ |
| 84 | +TEMPLATE( |
| 85 | + '_msg_base.c.em', |
| 86 | + package_name=package_name, |
| 87 | + message=action.result, include_directives=include_directives, |
| 88 | + register_functions=register_functions) |
| 89 | +}@ |
| 90 | + |
| 91 | +@{ |
| 92 | +TEMPLATE( |
| 93 | + '_msg_base.c.em', |
| 94 | + package_name=package_name, |
| 95 | + message=action.feedback, include_directives=include_directives, |
| 96 | + register_functions=register_functions) |
| 97 | +}@ |
| 98 | + |
| 99 | +@{ |
| 100 | +TEMPLATE( |
| 101 | + '_msg_base.c.em', |
| 102 | + package_name=package_name, |
| 103 | + message=action.send_goal_service.request_message, |
| 104 | + include_directives=include_directives, |
| 105 | + register_functions=register_functions) |
| 106 | +}@ |
| 107 | + |
| 108 | +@{ |
| 109 | +TEMPLATE( |
| 110 | + '_msg_base.c.em', |
| 111 | + package_name=package_name, |
| 112 | + message=action.send_goal_service.response_message, |
| 113 | + include_directives=include_directives, |
| 114 | + register_functions=register_functions) |
| 115 | +}@ |
| 116 | + |
| 117 | +@{ |
| 118 | +TEMPLATE( |
| 119 | + '_msg_base.c.em', |
| 120 | + package_name=package_name, |
| 121 | + message=action.send_goal_service.event_message, |
| 122 | + include_directives=include_directives, |
| 123 | + register_functions=register_functions) |
| 124 | +}@ |
| 125 | + |
| 126 | +@{ |
| 127 | +TEMPLATE( |
| 128 | + '_msg_base.c.em', |
| 129 | + package_name=package_name, |
| 130 | + message=action.get_result_service.request_message, |
| 131 | + include_directives=include_directives, |
| 132 | + register_functions=register_functions) |
| 133 | +}@ |
| 134 | + |
| 135 | +@{ |
| 136 | +TEMPLATE( |
| 137 | + '_msg_base.c.em', |
| 138 | + package_name=package_name, |
| 139 | + message=action.get_result_service.response_message, |
| 140 | + include_directives=include_directives, |
| 141 | + register_functions=register_functions) |
| 142 | +}@ |
| 143 | + |
| 144 | +@{ |
| 145 | +TEMPLATE( |
| 146 | + '_msg_base.c.em', |
| 147 | + package_name=package_name, |
| 148 | + message=action.get_result_service.event_message, |
| 149 | + include_directives=include_directives, |
| 150 | + register_functions=register_functions) |
| 151 | +}@ |
| 152 | + |
| 153 | +@{ |
| 154 | +TEMPLATE( |
| 155 | + '_msg_base.c.em', |
| 156 | + package_name=package_name, |
| 157 | + message=action.feedback_message, include_directives=include_directives, |
| 158 | + register_functions=register_functions) |
| 159 | +}@ |
| 160 | +@[end for]@ |
| 161 | + |
| 162 | + |
| 163 | +static PyModuleDef _module = { |
| 164 | + PyModuleDef_HEAD_INIT, |
| 165 | + .m_name = "_@(package_name)_bases", |
| 166 | + .m_doc = "Extention module for @(package_name) messages", |
| 167 | + .m_size = -1, |
| 168 | +}; |
| 169 | + |
| 170 | + |
| 171 | +PyMODINIT_FUNC |
| 172 | +PyInit__@(package_name)_bases(void) |
| 173 | +{ |
| 174 | + PyObject * pymodule = NULL; |
| 175 | + pymodule = PyModule_Create(&_module); |
| 176 | + if (!pymodule) { |
| 177 | + return NULL; |
| 178 | + } |
| 179 | + int8_t err; |
| 180 | +@[for register_function in register_functions]@ |
| 181 | + |
| 182 | + err = @(register_function)(pymodule); |
| 183 | + if (err) { |
| 184 | + Py_XDECREF(pymodule); |
| 185 | + return NULL; |
| 186 | + } |
| 187 | +@[end for]@ |
| 188 | + |
| 189 | + return pymodule; |
| 190 | +} |
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