From 9f58f463af5e9d54e634c7a615cc2b97092b17a4 Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Tue, 9 Feb 2021 13:01:15 -0300
Subject: [PATCH 1/2] Expose C++ code generation via rosidl generate CLI.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rosidl_generator_cpp/bin/rosidl_generator_cpp |  4 +-
 rosidl_generator_cpp/package.xml              |  1 +
 .../rosidl_generator_cpp/__init__.py          |  2 +-
 .../rosidl_generator_cpp/cli.py               | 63 +++++++++++++++++++
 rosidl_generator_cpp/setup.cfg                |  3 +
 5 files changed, 69 insertions(+), 4 deletions(-)
 create mode 100644 rosidl_generator_cpp/rosidl_generator_cpp/cli.py
 create mode 100644 rosidl_generator_cpp/setup.cfg

diff --git a/rosidl_generator_cpp/bin/rosidl_generator_cpp b/rosidl_generator_cpp/bin/rosidl_generator_cpp
index 1f1ecbe75..a63e1b5b7 100755
--- a/rosidl_generator_cpp/bin/rosidl_generator_cpp
+++ b/rosidl_generator_cpp/bin/rosidl_generator_cpp
@@ -31,9 +31,7 @@ def main(argv=sys.argv[1:]):
         help='The location of the file containing the generator arguments')
     args = parser.parse_args(argv)
 
-    return generate_cpp(
-        args.generator_arguments_file,
-    )
+    generate_cpp(args.generator_arguments_file)
 
 
 if __name__ == '__main__':
diff --git a/rosidl_generator_cpp/package.xml b/rosidl_generator_cpp/package.xml
index 04f39fcc6..6e077a2ab 100644
--- a/rosidl_generator_cpp/package.xml
+++ b/rosidl_generator_cpp/package.xml
@@ -17,6 +17,7 @@
   <!-- This is needed for the rosidl_message_type_support_t struct and visibility macros -->
   <build_export_depend>rosidl_generator_c</build_export_depend>
 
+  <exec_depend>rosidl_cli</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py b/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
index 39271a301..9fbbf62f0 100644
--- a/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
+++ b/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
@@ -35,7 +35,7 @@ def generate_cpp(generator_arguments_file):
         'idl__struct.hpp.em': 'detail/%s__struct.hpp',
         'idl__traits.hpp.em': 'detail/%s__traits.hpp',
     }
-    generate_files(
+    return generate_files(
         generator_arguments_file, mapping,
         post_process_callback=prefix_with_bom_if_necessary)
 
diff --git a/rosidl_generator_cpp/rosidl_generator_cpp/cli.py b/rosidl_generator_cpp/rosidl_generator_cpp/cli.py
new file mode 100644
index 000000000..0d3044f7e
--- /dev/null
+++ b/rosidl_generator_cpp/rosidl_generator_cpp/cli.py
@@ -0,0 +1,63 @@
+# Copyright 2021 Open Source Robotics Foundation, 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.
+
+import pathlib
+
+from ament_index_python import get_package_share_directory
+from rosidl_cli.command.generate.extensions import GenerateCommandExtension
+from rosidl_cli.command.helpers import legacy_generator_arguments_file
+from rosidl_cli.command.translate.api import translate
+
+from rosidl_generator_cpp import generate_cpp
+
+
+class GenerateCpp(GenerateCommandExtension):
+
+    def generate(
+        self,
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
+        package_share_path = \
+            pathlib.Path(get_package_share_directory('rosidl_generator_cpp'))
+        templates_path = package_share_path / 'resource'
+
+        # Normalize interface definition format to .idl
+        idl_interface_files = []
+        non_idl_interface_files = []
+        for path in interface_files:
+            if not path.endswith('.idl'):
+                non_idl_interface_files.append(path)
+            else:
+                idl_interface_files.append(path)
+        if non_idl_interface_files:
+            idl_interface_files.extend(translate(
+                package_name=package_name,
+                interface_files=non_idl_interface_files,
+                include_paths=include_paths,
+                output_format='idl',
+                output_path=output_path / 'tmp',
+            ))
+
+        # Generate code
+        with legacy_generator_arguments_file(
+            package_name=package_name,
+            interface_files=idl_interface_files,
+            include_paths=include_paths,
+            templates_path=templates_path,
+            output_path=output_path
+        ) as path_to_arguments_file:
+            return generate_cpp(path_to_arguments_file)
diff --git a/rosidl_generator_cpp/setup.cfg b/rosidl_generator_cpp/setup.cfg
new file mode 100644
index 000000000..e710b275d
--- /dev/null
+++ b/rosidl_generator_cpp/setup.cfg
@@ -0,0 +1,3 @@
+[options.entry_points]
+rosidl_cli.command.generate.type_extensions =
+  cpp = rosidl_generator_cpp.cli:GenerateCpp

From 9d8bb3089f86ff9b7770124931c2c8e967914717 Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Wed, 10 Mar 2021 10:38:14 -0300
Subject: [PATCH 2/2] Add ament_index_python as dependency

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rosidl_generator_cpp/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rosidl_generator_cpp/package.xml b/rosidl_generator_cpp/package.xml
index 6e077a2ab..d845d5dc8 100644
--- a/rosidl_generator_cpp/package.xml
+++ b/rosidl_generator_cpp/package.xml
@@ -17,6 +17,7 @@
   <!-- This is needed for the rosidl_message_type_support_t struct and visibility macros -->
   <build_export_depend>rosidl_generator_c</build_export_depend>
 
+  <exec_depend>ament_index_python</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>