Clean up harmonic implementation

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
gazebosim · mjcarroll · Apr 5, 2024 · Oct 11, 2023 · Feb 6, 2024 · Feb 6, 2024
commit 35d48cd1d656e44ff13ebf14d7998655d527ad01
@@ -46,7 +46,7 @@ protos = glob(["proto/gz/msgs/*.proto"])
 
 gz_include_header(
     name = "msgs_hh_genrule",
-    out = "include/gz/msgs.hh",
+    out = "core/include/gz/msgs.hh",
     hdrs = public_headers_no_gen + [
         "core/include/gz/msgs/config.hh",
         "core/include/gz/msgs/Export.hh",
@@ -88,16 +88,15 @@ gz_proto_library(
 gz_proto_factory(
   name = "gzmsgs_proto_factory",
   deps = [":gzmsgs_proto"],
-  namespace = "gz::msgs",
   cc_output = "core/src/RegisterMsgs.cc",
-  hh_output = "include/gz/msgs/MessageTypes.hh"
+  hh_output = "core/include/gz/msgs/MessageTypes.hh"
 )
 
 public_headers = public_headers_no_gen + [
     "core/include/gz/msgs/config.hh",
     "core/include/gz/msgs/Export.hh",
-    "include/gz/msgs.hh",
-    "include/gz/msgs/MessageTypes.hh"
+    "core/include/gz/msgs.hh",
+    "core/include/gz/msgs/MessageTypes.hh"
 ]
 
 

@@ -51,8 +51,9 @@ def _gz_proto_factory_impl(ctx):
         for proto in src[ProtoInfo].direct_sources:
             in_protos.append(proto)
 
-        for proto in src[ProtoInfo].transitive_sources.to_list():
-            in_protos.append(proto)
+        #for proto in src[ProtoInfo].transitive_sources.to_list():
+        #    print('transitive: ', proto)
+        #    in_protos.append(proto)
 
     in_protos = depset(in_protos).to_list()
     arguments = [
@@ -64,7 +65,6 @@ def _gz_proto_factory_impl(ctx):
         arguments.append("--proto-path=" + include_dir)
 
     arguments.append("--proto-include-path=" + out_dir.path)
-    arguments.append("--namespace=" + ctx.attr.namespace)
     arguments.append("--protos")
     for proto in in_protos:
       arguments.append(proto.path)
@@ -92,9 +92,6 @@ _gz_proto_factory = rule(
             allow_empty = False,
             providers = [ProtoInfo],
         ),
-        "namespace": attr.string(
-            mandatory = True,
-        ),
         "cc_output": attr.output(mandatory = True),
         "hh_output": attr.output(mandatory = True),
         "gz_msgs_generate_factory_py": attr.label(

diff --git a/tools/gz_msgs_generate_factory.py b/tools/gz_msgs_generate_factory.py
@@ -72,10 +72,9 @@
  * Do not edit this directly
  */
 
-#include "MessageTypes.hh"
-
 #include "gz/msgs/Factory.hh"
 #include "gz/msgs/MessageFactory.hh"
+#include "{include_path}/MessageTypes.hh"
 
 #include <array>
 
@@ -118,10 +117,6 @@ def main(argv=sys.argv[1:]):
         '--hh-output',
         required=True,
         help='The path to the generated hh file')
-    parser.add_argument(
-        '--namespace',
-        required=True,
-        help='The namespace to use')
     parser.add_argument(
         '--proto-path',
         required=True,
@@ -143,13 +138,12 @@ def main(argv=sys.argv[1:]):
     package_re = re.compile('^package (.*);$')
     message_re = re.compile(r'message (\w*)\s?{?$')
 
-    registrations = []
+    registrations = dict()
     gz_msgs_headers = []
+    package = None
+    messages = []
 
     for proto in args.protos:
-        package = None
-        messages = []
-
         try:
             with open(proto, 'r') as f:
                 content = f.readlines()
@@ -166,28 +160,29 @@ def main(argv=sys.argv[1:]):
 
         if package and messages:
             for message in messages:
-                registrations.append(register_fn.format(
+                registrations['_'.join([*package, message])] = register_fn.format(
                     package_str='.'.join(package),
                     message_str=message,
                     message_cpp_type='::'.join([*package, message])
-                ))
-
+                )
 
             split = proto.replace(args.proto_include_path, '')
             split = [s for s in split.split("/") if s]
             split[-1] = split[-1].replace(".proto", ".pb.h")
-            print(split)
-
             gz_msgs_headers.append("#include <" + "/".join(split) + ">")
 
+    namespace = '::'.join(package)
+    include_path = '/'.join(package)
+
     with open(os.path.join(args.cc_output), 'w') as f:
-        f.write((cc_source.format(registrations='\n'.join(registrations),
-                                  nRegistrations=len(registrations),
-                                  namespace=args.namespace) +
-                 cc_factory.format(namespace=args.namespace)))
+        f.write((cc_source.format(registrations='\n'.join(registrations.values()),
+                                  nRegistrations=len(registrations.values()),
+                                  namespace=namespace,
+                                  include_path=include_path) +
+                 cc_factory.format(namespace=namespace)))
 
     with open(os.path.join(args.hh_output), 'w') as f:
-        f.write(cc_header.format(namespace=args.namespace,
+        f.write(cc_header.format(namespace=namespace,
                                  gz_msgs_headers='\n'.join(gz_msgs_headers)))
 
 if __name__ == '__main__':