[WIP] auto-generate interface mapping

README.md

@@ -1,5 +1,7 @@
 A package to bridge actions between ROS1 and ROS2. 
-
+
+Please clone `dashing-devel` branch in case you are working with ROS Dashing.
+
 **NOTE:**   
 - Currently supports forwarding goals from ROS1 (melodic) action client to ROS2 (dashing) action server
 - As an example, implemented interfaces for the action bridge for FibonacciAction   

resources/interface_factories.cpp.em

@@ -0,0 +1,130 @@
+// Copyright 2019 Fraunhofer IPA
+//
+// 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.
+
+#include <action_bridge/action_bridge_1_2.hpp>
+@
+@{
+from ros1_bridge import camel_case_to_lower_case_underscore
+}@
+
+//need a find the proper path for the factories
+#include "@(ros2_package_name)_factories.hpp"
+#include <algorithm>
+
+#include "rclcpp/rclcpp.hpp"
+
+// include builtin interfaces
+#include <ros1_bridge/convert_builtin_interfaces.hpp>
+
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wunused-parameter"
+#endif
+// include ROS 1 actions
+@[for action in mapped_actions]@
+#include <@(action["ros1_package"])/@(action["ros1_name"]).h>
+hello
+@[end for]@
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// include ROS 2 actions
+@[for action in mapped_actions]@
+#include <@(action["ros2_package"])/action/@(camel_case_to_lower_case_underscore(action["ros2_name"])).hpp>
+@[end for]@
+
+
+std::unique_ptr<ActionFactoryInterface>
+get_action_factory_@(ros2_package_name)__@(interface_type)__@(interface.message_name)(const std::string & ros_id, const std::string & package_name, const std::string & action_name)
+{
+@[if not mapped_actions]@
+  (void)ros_id;
+  (void)package_name;
+  (void)action_name;
+@[end if]@
+@[for action in mapped_actions]@
+  if (
+    (
+      ros_id == "ros1" &&
+      package_name == "@(action["ros1_package"])" &&
+      action_name == "@(action["ros1_name"])"
+    ) || (
+      ros_id == "ros2" &&
+      package_name == "@(action["ros2_package"])" &&
+      action_name == "action/@(action["ros2_name"])"
+    )
+  ) {
+    return std::unique_ptr<ActionFactoryInterface>(new ActionFactory<
+      @(action["ros1_package"])::@(action["ros1_name"]),
+      @(action["ros2_package"])::srv::@(action["ros2_name"])
+    >);
+  }
+@[end for]@
+  return nullptr;
+}
+@
+
+@[for action in mapped_actions]@
+@[  for frm, to in [("1", "2"), ("2", "1")]]@
+@[    for type in ["Goal", "Result", "Feedback"]]@
+template <>
+void ActionFactory<
+@(action["ros1_package"])::@(action["ros1_name"])Action,
+@(action["ros2_package"])::action::@(action["ros2_name"])
+>::translate_@(type.lower())_@(frm)_to_@(to)(
+@[      if type == "Goal"]@
+  const ROS@(frm)Goal &@(type.lower())@(frm), 
+  ROS@(to)Goal &@(type.lower())@(to))
+@[      else]@
+  const ROS@(to)Goal &@(type.lower())@(to), 
+  ROS@(frm)Goal &@(type.lower())@(frm))
+@[      end if]@
+{
+@[      for field in action["fields"][type.lower()]]@
+@[        if field["array"]]@
+  @(type.lower())@(to).@(field["ros" + frm]["name"]).resize(@(type.lower())@(frm).@(field["ros" + to]["name"]).size());
+  auto @(field["ros" + frm]["name"])@(frm)_it = @(type.lower())@(frm).@(field["ros" + frm]["name"]).begin();
+  auto @(field["ros" + to]["name"])@(to)_it = @(type.lower())@(to).@(field["ros" + to]["name"]).begin();
+  while (
+    @(field["ros" + frm]["name"])@(frm)_it != @(type.lower())@(frm).@(field["ros" + frm]["name"]).end() &&
+    @(field["ros" + to]["name"])@(to)_it != @(type.lower())@(to).@(field["ros" + to]["name"]).end()
+  ) {
+    auto & @(field["ros" + frm]["name"])@(frm) = *(@(field["ros" + frm]["name"])@(frm)_it++);
+    auto & @(field["ros" + to]["name"])@(to) = *(@(field["ros" + to]["name"])@(to)_it++);
+@[        else]@
+  auto & @(field["ros" + frm]["name"])@(frm) = @(type.lower())@(frm).@(field["ros" + frm]["name"]);
+  auto & @(field["ros" + to]["name"])@(to) = @(type.lower())@(to).@(field["ros" + to]["name"]);
+@[        end if]@
+@[      if field["basic"]]@
+    @(field["ros" + to]["name"])@(to) = @(field["ros" + frm]["name"])@(frm);
+@[      else]@
+    Factory<@(field["ros" + frm]["cpptype"]),@(field["ros" + to]["cpptype"])>::convert_@(frm)_to_@(to)(@(field["ros" + frm]["name"])@(frm), @(field["ros" + to]["name"])@(to));
+@[end if]@
+@[        if field["array"]]@
+  }
+@[        end if]@
+
+@[      end for]@
+}
+
+@[    end for]@
+
+@[  end for]@
+
+@[end for]@
+
+
+