Add helper functions for rosidl generate extensions

Signed-off-by: Michel Hidalgo <[email protected]>

Author: hidmic

rosidl_cli/rosidl_cli/command/generate/helpers.py

@@ -0,0 +1,67 @@
+# 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 contextlib
+import glob
+import json
+import os
+import tempfile
+
+
+def package_name_from_include_path(path):
+    return os.path.basename(os.path.dirname(os.path.dirname(path)))
+
+
+def dependencies_from_include_paths(include_paths):
+    return list({
+        f'{package_name_from_include_path(path)}:{path}'
+        for include_path in include_paths
+        for path in glob.iglob(f'{include_path}/**/*.idl', recursive=True)
+    })
+
+
+def idl_tuples_from_interface_files(interface_files):
+    idl_tuples = []
+    for path in interface_files:
+        if ':' not in path:
+            prefix = os.getcwd()
+            stem = path
+        else:
+            prefix, _, stem = path.partition(':')
+            prefix = os.path.realpath(prefix)
+        if os.path.isabs(stem):
+            raise ValueError()
+        idl_tuples.append(f'{prefix}:{stem}')
+    return idl_tuples
+
+
+@contextlib.contextmanager
+def legacy_generator_arguments_file(
+    package_name, interface_files,
+    include_paths, templates_path,
+    output_path
+):
+    idl_tuples = idl_tuples_from_interface_files(interface_files)
+    interface_dependencies = dependencies_from_include_paths(include_paths)
+    with tempfile.NamedTemporaryFile(mode='w') as tmp:
+        tmp.write(json.dumps({
+            'package_name': package_name,
+            'output_dir': output_path,
+            'template_dir': templates_path,
+            'idl_tuples': idl_tuples,
+            'ros_interface_dependencies': interface_dependencies,
+            'target_dependencies': []
+        }))
+        tmp.flush()
+        yield tmp.name