idl2srv.py

Go to the documentation of this file.

#!/usr/bin/env python

from __future__ import print_function

from optparse import OptionParser
import os, os.path, sys, string, re

if sys.version_info[0] >= 3:
    from functools import reduce # python3

# resolve library path, copied from omniidl (ubuntu 11.10)
# Try a path based on the installation prefix, customised for Debian
sppath = "/usr/lib/omniidl"
if os.path.isdir(sppath):
    sys.path.append(sppath)

from omniidl import idlast, idlvisitor, idlutil, idltype
from omniidl_be import cxx
import _omniidl

# TODO
# not generate unused msgs
# how to manipulate namespace -> under score concat

TypeNameMap = { # for ROS msg/srv
    idltype.tk_boolean:   'bool',
    idltype.tk_char:      'int8',
    idltype.tk_octet:     'uint8',
    idltype.tk_wchar:     'int16',
    idltype.tk_short:     'int16',
    idltype.tk_ushort:    'uint16',
    idltype.tk_long:      'int32',
    idltype.tk_ulong:     'uint32',
    idltype.tk_longlong:  'int64',
    idltype.tk_ulonglong: 'uint64',
    idltype.tk_float:     'float32',
    idltype.tk_double:    'float64',
    idltype.tk_string:    'string',
    idltype.tk_wstring:   'string',
    idltype.tk_any:       'string', # ??
    idltype.tk_TypeCode:  'uint64', # ??
    idltype.tk_enum:      'uint64'}

MultiArrayTypeNameMap = { # for ROS msg/srv
    idltype.tk_char:     'std_msgs/Int8MultiArray',
    idltype.tk_octet:    'std_msgs/Uint8MultiArray',
    idltype.tk_wchar:    'std_msgs/Int16MultiArray',
    idltype.tk_short:    'std_msgs/Int16MultiArray',
    idltype.tk_ushort:   'std_msgs/Uint16MultiArray',
    idltype.tk_long:     'std_msgs/Int32MultiArray',
    idltype.tk_ulong:    'std_msgs/Uint32MultiArray',
    idltype.tk_longlong: 'std_msgs/Int64MultiArray',
    idltype.tk_ulonglong:'std_msgs/Uint64MultiArray',
    idltype.tk_float:    'std_msgs/Float32MultiArray',
    idltype.tk_double:   'std_msgs/Float64MultiArray',
    idltype.tk_string:   'openrtm_ros_bridge/StringMultiArray'}

# convert functions for IDL/ROS
# _CORBA_String_element type is env depend ??
convert_functions = """\n
template<typename T,typename S>
void genseq(S& s, int size, _CORBA_Unbounded_Sequence<T>* p){
  s = S(size,size,S::allocbuf(size), 1);}
template<typename T,typename S,int n>
void genseq(S& s, int size, _CORBA_Bounded_Sequence<T,n>* p){
  s = S(size,S::allocbuf(size), 1);}
template<class T1, class T2> inline
void convert(T1& in, T2& out){ out = static_cast<T2>(in); }
template<typename T>
void convert(T& in, std::string& out){ out = std::string(in); }
template<typename T>
void convert(std::string& in, T& out){ out = static_cast<T>(in.c_str()); }
void convert(_CORBA_String_element in, std::string& out){ out = std::string(in); }
void convert(std::string& in, _CORBA_String_element out){ out = (const char*)in.c_str(); }
template<class S,class T>
void convert(S& s, std::vector<T>& v){
  int size = s.length();
  v = std::vector<T>(s.length());
  for(int i=0; i<size; i++) convert(s[i],v[i]);}
template<class S,class T>
void convert(std::vector<T>& v, S& s){
  int size = v.size();
  s = S(size, size, S::allocbuf(size), 1);
  for(int i=0; i<size; i++) convert(v[i],s[i]);}
template<class S,class T,std::size_t n>
void convert(S& s, boost::array<T,n>& v){
  for(std::size_t i=0; i<n; i++) convert(s[i],v[i]);}
template<class S,class T,std::size_t n>
void convert(boost::array<T,n>& v, S& s){
  s = S(n, S::allocbuf(n), 1);
  for(std::size_t i=0; i<n; i++) convert(v[i],s[i]);}
template<typename S,class T,std::size_t n>
void convert(boost::array<T,n>& v, S (&s)[n]){
  for(std::size_t i=0; i<n; i++) convert(v[i],s[i]);}

// special case for RTC::LightweightRTObject_var
template<class T> void convert(T& in, RTC::LightweightRTObject_var out){ std::cerr << "convert from RTC::LightweightRTObject_var is not supported" << std::endl; }
"""

multiarray_conversion = """
template<class S> // convert multi-dimensional array
void convert(S& s, %s& v){
  if(v.layout.dim.size()==0 || v.layout.dim[v.layout.dim.size()-1].size==0) {
    int level = v.layout.dim.size();
    v.layout.dim.push_back(std_msgs::MultiArrayDimension());
    v.layout.dim[level].stride = 1;
    for(uint i=0; i<s.length(); i++){
      convert(s[i], v);
      if(i==0) v.layout.dim[level].size = s.length(); // initialized flag
    }
    for(uint i=level; i<v.layout.dim.size(); i++)
      v.layout.dim[level].stride *= v.layout.dim[level].size;
  } else {
    for(uint i=0; i<s.length(); i++){ convert(s[i], v); }
  }
}
template<>
void convert(%s& s, %s& v){ v.data.push_back(s); }
template<class S>
void convert(%s& v, S& s){
  int level, size;
  for(level=0; (size=v.layout.dim[level].size)==0; level++);
  genseq(s, size, &s);
  v.layout.dim[level].size = 0;
  for(uint i=0; i<s.length(); i++)
    convert(v, s[i]);
  v.layout.dim[level].size = size;
}
template<>
void convert(%s& v, %s& s){ convert(v.data[v.layout.data_offset++], s); }
""" # % (std_msgs::Float64MultiArray, double, std_msgs::Float64MultiArray) + (std_msgs::Float64MultiArray, std_msgs::Float64MultiArray, double)

# symbol type constant
NOT_FULL = 0
ROS_FULL = 1
CPP_FULL = 2

# visitor for generate msg/srv/cpp/h for bridge compornents
class ServiceVisitor (idlvisitor.AstVisitor):

    def __init__(self):
        self.generated_msgs = [] # type objects

    def visitAST(self, node):
        for n in node.declarations():
            n.accept(self)
    def visitModule(self, node):
        for n in node.definitions():
            n.accept(self)
    def visitInterface(self, node):
        self.outputMsg(node)
        for c in node.contents():
            c.accept(self)
        if node.mainFile():
            self.genBridgeComponent(node)

    def visitOperation(self, node):
        if node.mainFile():
            self.outputSrv(node)
            for n in node.parameters():
                self.outputMsg(n.paramType())
                n.accept(self)
            self.outputMsg(node.returnType())

    def getCppTypeText(self, typ, out=False, full=NOT_FULL):
        if isinstance(typ, idltype.Base):
            return cxx.types.basic_map[typ.kind()]
        if isinstance(typ, idltype.String):
            return ('char*' if out else 'const char*') # ??
        if isinstance(typ, idltype.Declared):
            postfix = ('*' if out and cxx.types.variableDecl(typ.decl()) else '')
            return self.getCppTypeText(typ.decl(), False, full) + postfix

        if isinstance(typ, idlast.Struct):
            if full == CPP_FULL:
                name = idlutil.ccolonName(typ.scopedName())
            elif full == ROS_FULL:
                return '_'.join(typ.scopedName()) # return
            else:
                name = typ.identifier()
            return name + ('*' if out and cxx.types.variableDecl(typ) else '')
        if isinstance(typ, idlast.Enum) or \
           isinstance(typ, idlast.Interface) or \
           isinstance(typ, idlast.Operation):
            if full == CPP_FULL:
                if ( idlutil.ccolonName(typ.scopedName()) == "RTC::LightweightRTObject") :
                    return idlutil.ccolonName(typ.scopedName())+"_var"
                else:
                    return idlutil.ccolonName(typ.scopedName())
            elif full == ROS_FULL:
                return '_'.join(typ.scopedName())
            else:
                return typ.identifier()
        if isinstance(typ, idlast.Typedef):
            if full == CPP_FULL:
                return idlutil.ccolonName(typ.declarators()[0].scopedName())
            elif full == ROS_FULL:
                return '_'.join(typ.declarators()[0].scopedName())
            else:
                return typ.declarators()[0].identifier()
        if isinstance(typ, idlast.Declarator):
            return self.getCppTypeText(typ.alias(), out, full)

        return 'undefined'


    def getROSTypeText(self, typ):
        if isinstance(typ, idltype.Base):
            return TypeNameMap[typ.kind()]
        if isinstance(typ, idltype.String) or isinstance(typ, idltype.WString):
            return 'string' # ??
        if isinstance(typ, idltype.Sequence):
            etype = typ.seqType() # n-dimensional array -> 1-dimensional
            size = typ.bound()
            dim = 1
            while not (isinstance(etype, idltype.Base) or isinstance(etype, idltype.String) or isinstance(etype, idltype.WString) or isinstance(etype, idlast.Struct) or isinstance(etype, idlast.Interface) or isinstance(etype, idlast.Enum) or isinstance(etype, idlast.Forward)):
                if isinstance(etype, idltype.Declared):
                    etype = etype.decl()
                elif isinstance(etype, idltype.Sequence):
                    dim += 1
                    size *= etype.bound()
                    etype = etype.seqType()
                elif isinstance(etype, idlast.Typedef):
                    arrsize = [size] + etype.declarators()[0].sizes()
                    if(len(arrsize) != 1): dim += 1
                    size = reduce(lambda a,b: a*b, arrsize)
                    etype = etype.aliasType()
                elif isinstance(etype, idlast.Declarator):
                    etype = etype.alias()
#                elif isinstance(etype, idlast.Forward):
#                    etype = etype.fullDecl()
                else:
                    return 'undefined'
            if( 1 < dim ):
                return MultiArrayTypeNameMap[etype.kind()]
            return self.getROSTypeText(etype) + ('[]' if size==0 else '[%d]' % size)
        if isinstance(typ, idltype.Declared):
            return self.getROSTypeText(typ.decl())

        if isinstance(typ, idlast.Interface):
            return '_'.join(typ.scopedName())
        if isinstance(typ, idlast.Struct):
            return '_'.join(typ.scopedName())
        if isinstance(typ, idlast.Const):
            return TypeNameMap[typ.constKind()]
        if isinstance(typ, idlast.Enum):
            return TypeNameMap[idltype.tk_longlong] # enum is int64 ??
        if isinstance(typ, idlast.Union):
            return TypeNameMap[idltype.tk_double] # union is not in ROS
        if isinstance(typ, idlast.Typedef):
            arraysize = typ.declarators()[0].sizes()
            if 0 < len(arraysize):
                return self.getROSTypeText(typ.aliasType()) + ('[%d]' % reduce(lambda a,b: a*b, arraysize))
            return self.getROSTypeText(typ.aliasType())
        if isinstance(typ, idlast.Declarator):
            return self.getROSTypeText(typ.alias())
        if isinstance(typ, idlast.Forward):
            return self.getROSTypeText(typ.fullDecl())

        return 'undefined'

    # output .msg file defined in .idl
    def outputMsg(self, typ):
        if typ in self.generated_msgs:
            return
        elif isinstance(typ, idlast.Struct):
            for mem in typ.members():
                self.outputMsg(mem.memberType())
            self.generated_msgs += [typ]
        elif isinstance(typ, idlast.Enum) or \
           isinstance(typ, idlast.Interface):
            self.generated_msgs += [typ]
        elif isinstance(typ, idltype.Sequence):
            return self.outputMsg(typ.seqType())
        elif isinstance(typ, idltype.Declared):
            return self.outputMsg(typ.decl())
        elif isinstance(typ, idlast.Typedef):
            return self.outputMsg(typ.aliasType())
        elif isinstance(typ, idlast.Declarator):
            return self.outputMsg(typ.alias())
        elif isinstance(typ, idlast.Forward):
            return self.outputMsg(typ.fullDecl())
        else:
            return

        msgfile = basedir + "/msg/" + self.getCppTypeText(typ,full=ROS_FULL) + ".msg"
        if not os.path.exists(basedir):
            return
        print(msgfile)
        if options.filenames:
            return

        if os.path.exists(msgfile) and (os.stat(msgfile).st_mtime > os.stat(idlfile).st_mtime) and not options.overwrite:
            return # do not overwrite

        os.system('mkdir -p %s/msg' % basedir)
        print("[idl2srv] writing "+msgfile+"....", file=sys.stderr)
        fd = open(msgfile, 'w')
        if isinstance(typ, idlast.Enum):
            for val in typ.enumerators():
                fd.write("%s %s=%d\n" % (self.getROSTypeText(typ), val.identifier(), val.value()))
        elif isinstance(typ, idlast.Struct):
            for mem in typ.members():
                fd.write(self.getROSTypeText(mem.memberType()) + " " + mem.declarators()[0].identifier() + "\n")
        elif isinstance(typ, idlast.Interface):
            for mem in typ.contents():
                if isinstance(mem, idlast.Const):
                    fd.write("%s %s=%s\n" % (self.getROSTypeText(mem), mem.identifier(), mem.value()))
        fd.close()

    # output .srv file defined in .idl
    def outputSrv(self, op):

        srvfile = basedir + "/srv/" + self.getCppTypeText(op,full=ROS_FULL) + ".srv"
        if not os.path.exists(basedir):
            return
        print(srvfile)
        if options.filenames:
            return

        if os.path.exists(srvfile) and (os.stat(srvfile).st_mtime > os.stat(idlfile).st_mtime) and not options.overwrite:
            return # do not overwrite
        os.system('mkdir -p %s/srv' % basedir)
        args = op.parameters()

        print("[idl2srv] writing "+srvfile+"....", file=sys.stderr)
        fd = open(srvfile, 'w')
        for arg in [arg for arg in args if arg.is_in()]:
            fd.write("%s %s\n" % (self.getROSTypeText(arg.paramType()), arg.identifier()))
        fd.write("---\n")
        if not op.oneway() and op.returnType().kind() != idltype.tk_void:
            fd.write("%s operation_return\n" % self.getROSTypeText(op.returnType()))
        for arg in [arg for arg in args if arg.is_out()]:
            fd.write("%s %s\n" % (self.getROSTypeText(arg.paramType()), arg.identifier()))
        fd.close()

    def convertFunctionCode(self, interface):
        visitor = DependencyVisitor()
        interface.accept(visitor)
        code = ''

        for typ in visitor.multiarray:
            msg = MultiArrayTypeNameMap[typ.kind()].replace('/','::')
            cpp = cxx.types.basic_map[typ.kind()]
            code += multiarray_conversion % (msg,cpp,msg,msg,msg,cpp)

        for typ in visitor.allmsg:
            if not isinstance(typ, idlast.Struct):
                continue

            code += 'template<> void convert(%s& in, %s::%s& out){\n' % (self.getCppTypeText(typ, full=CPP_FULL), pkgname, self.getCppTypeText(typ,full=ROS_FULL))
            for mem in typ.members():
                var = mem.declarators()[0].identifier()
                code += '  convert(in.%s, out.%s);\n' % (var, var)
            code += '}\n'

            code += 'template<> void convert(%s::%s& in, %s& out){\n' % (pkgname, self.getCppTypeText(typ,full=ROS_FULL), self.getCppTypeText(typ, full=CPP_FULL))
            for mem in typ.members():
                var = mem.declarators()[0].identifier()
                code += '  convert(in.%s, out.%s);\n' % (var, var)
            code += '}\n'

        return code

    def ServiceBridgeFunction(self, op, ifname, pkgname):
        code = req_code = res_code = ''
        params = []
        for par in op.parameters():
            is_out = par.is_out()
            ptype = par.paramType()
            var = par.identifier()
            # temporary variables
            if isinstance(ptype.unalias(), idltype.Base) or \
               isinstance(ptype.unalias(), idltype.String) or \
               isinstance(ptype.unalias(), idltype.Sequence) or \
               isinstance(ptype.unalias(), idltype.Declared):
                code += '  %s %s;\n' % (self.getCppTypeText(ptype, out=is_out, full=CPP_FULL), var)
                params += [var]
            if isinstance(ptype.unalias(), idltype.Base) or \
               isinstance(ptype.unalias(), idltype.String):
                if is_out:
                    res_code += '  convert(%s, res.%s);\n' % (var, var)
                else:
                    req_code += '  convert(req.%s, %s);\n' % (var, var)
            if isinstance(ptype.unalias(), idltype.Sequence):
                if is_out:
                    res_code += '  convert(*%s, res.%s);\n' % (var, var)
                else:
                    req_code += '  convert(req.%s, %s);\n' % (var, var)
            if isinstance(ptype.unalias(), idltype.Declared):
                if is_out:
                    ptr = ('*' if cxx.types.variableDecl(ptype.decl()) else '')
                    res_code += '  convert(%s%s, res.%s);\n' % (ptr, var, var)
                    if cxx.types.variableDecl(ptype.decl()):
                        res_code += '  delete %s;\n' % (var)

                else:
                    req_code += '  convert(req.%s, %s);\n' % (var, var)

        code += '\n'
        code += '  ROS_INFO_STREAM("%s::%s() called");\n' % (ifname, op.identifier())

        code += '\n' + req_code + '\n'

        code += '  try {\n'

        params = ', '.join(params)

        if op.oneway() or op.returnType().kind() == idltype.tk_void:
            code += '    m_service0->%s(%s);\n' % (op.identifier(), params)
        elif isinstance(op.returnType().unalias(), idltype.Base):
            code += '    res.operation_return = m_service0->%s(%s);\n' % (op.identifier(), params)
        else:
            rtype = op.returnType()
            if isinstance(rtype.unalias(), idltype.String):
                ptr = ''
            elif isinstance(rtype.unalias(), idltype.Sequence):
                ptr = '*'
            elif isinstance(rtype.unalias(), idltype.Declared):
                ptr = ('*' if cxx.types.variableDecl(rtype.decl()) else '')
            else: ptr = ''
            code += '  %s operation_return;\n' % self.getCppTypeText(rtype, out=True, full=CPP_FULL)
            code += '    operation_return = m_service0->%s(%s);\n' % (op.identifier(), params)
            code += '    convert(%soperation_return, res.operation_return);\n' % ptr
        connected_RTC_name = ifname[0:ifname.rindex("ServiceROSBridge")]
        code += '  } catch(CORBA::COMM_FAILURE& ex) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught system exception COMM_FAILURE -- unable to contact the object [minor code = " << ex.minor() << "]. One possibility is IDL version mismatch between %s and %s. So please check IDL versions are consistent. Another possibility is that Service-Port function, %s of %s, called but %s died becase of it. So please check %s is still alive.");\n' % (ifname, op.identifier(), ifname, connected_RTC_name, op.identifier(), connected_RTC_name, connected_RTC_name, connected_RTC_name)
        code += '      return false;\n'
        code += '  } catch(CORBA::MARSHAL& ex) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught CORBA::SystemException::MARSHAL [minor code = " << ex.minor() << "]. One possibility is IDL version mismatch between %s and %s. So please check IDL versions are consistent.");\n' % (ifname, op.identifier(), ifname, connected_RTC_name)
        code += '      return false;\n'
        code += '  } catch(CORBA::BAD_PARAM& ex) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught CORBA::SystemException::BAD_PARAM [minor code = " << ex.minor() << "]. One possibility is that Service-Port function, %s of %s, called and some problem has occurred within it and %s keeps alive. So please check %s of %s is correctly finished.");\n' % (ifname, op.identifier(), op.identifier(), connected_RTC_name, connected_RTC_name, op.identifier(), connected_RTC_name)
        code += '      return false;\n'
        code += '  } catch(CORBA::OBJECT_NOT_EXIST& ex) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught CORBA::SystemException::OBJECT_NOT_EXIST [minor code = " << ex.minor() << "]. One possibility is that %s RTC is not found. So please check %s is still alive.");\n' % (ifname, op.identifier(), connected_RTC_name, connected_RTC_name)
        code += '      return false;\n'
        code += '  } catch(CORBA::SystemException& ex) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught CORBA::SystemException [minor code = " << ex.minor() << "].");\n' % (ifname, op.identifier())
        code += '      return false;\n'
        code += '  } catch(CORBA::Exception&) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught CORBA::Exception.");\n' % (ifname, op.identifier())
        code += '      return false;\n'
        code += '  } catch(omniORB::fatalException& fe) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught omniORB::fatalException:");\n' % (ifname, op.identifier())
        code += '      ROS_ERROR_STREAM("  file: " << fe.file());\n'
        code += '      ROS_ERROR_STREAM("  line: " << fe.line());\n'
        code += '      ROS_ERROR_STREAM("  mesg: " << fe.errmsg());\n'
        code += '      return false;\n'
        code += '  }\n'
        code += '  catch(...) {\n'
        code += '      ROS_ERROR_STREAM("%s::%s : Caught unknown exception.");\n' % (ifname, op.identifier())
        code += '      return false;\n'
        code += '  }\n'

        code += res_code

        code += '  ROS_INFO_STREAM("%s::%s() succeeded");\n' % (ifname, op.identifier())

        return """bool %s::%s(%s::%s::Request &req, %s::%s::Response &res){\n%s\n  return true;\n};\n\n""" % (ifname, op.identifier(), pkgname, self.getCppTypeText(op,full=ROS_FULL), pkgname, self.getCppTypeText(op,full=ROS_FULL), code)

    # generate cpp source to bridge RTM/ROS
    def genBridgeComponent(self, interface):
        idlfile = interface.file()
        module_name = '%sROSBridge' % interface.identifier()
        #service_name = idlutil.ccolonName(interface.scopedName())
        service_name = interface.identifier()
        idl_name = os.path.split(idlfile)[1]
        wd = basedir + '/src_gen'

        Comp_cpp = wd + '/' + module_name + 'Comp.cpp'
        mod_cpp = wd + '/' + module_name + '.cpp'
        mod_h = wd + '/' + module_name + '.h'
        print(Comp_cpp)
        print(mod_cpp)
        print(mod_h)
        if options.filenames:
            return

        if all([ os.path.exists(x) and os.stat(x).st_mtime > os.stat(idlfile).st_mtime for x in [Comp_cpp, mod_cpp, mod_h]]) and not options.overwrite:
            return # do not overwrite

        # check if rtc-template exists under `rospack find openrtm_aist`/bin, otherwise use openrtm_aist_PREFIX/lib/openrtm_aist/bin
        from subprocess import check_output, Popen, PIPE
        openrtm_path = Popen(['rospack','find','openrtm_aist'], stdout=PIPE).communicate()[0].rstrip() # use Popen, not check_output, since catkin_make can not found rospack find
        if not isinstance(openrtm_path, str):
            openrtm_path = openrtm_path.decode('ascii')
        if not os.path.exists(os.path.join(openrtm_path, "bin")) :
            openrtm_prefix = check_output(['pkg-config','openrtm-aist','--variable=prefix']).rstrip()
            if not isinstance(openrtm_prefix, str):
                openrtm_prefix = openrtm_prefix.decode('ascii')
            openrtm_path = os.path.join(openrtm_prefix,"lib/openrtm_aist")
        command = "PATH=%s/bin:$PATH rtc-template -bcxx --module-name=%s --consumer=%s:service0:'%s' --consumer-idl=%s --idl-include=%s" % (openrtm_path, module_name, service_name, service_name, idlfile, idldir)
        #command = "rosrun openrtm_aist rtc-template -bcxx --module-name=%s --consumer=%s:service0:'%s' --consumer-idl=%s --idl-include=%s" % (module_name, service_name, service_name, idlfile, idldir)
        os.system("mkdir -p %s" % tmpdir)
        os.system("mkdir -p %s" % wd)
        os.system("cd %s; yes 2> /dev/null | %s > /dev/null" % (tmpdir, command))

        # TODO: ignore attribute read/write operators
        operations = [o for o in interface.callables() if isinstance(o, idlast.Operation)]

        def addline(src, dest, ref):
            idx = dest.find(ref)
            idx = dest.find('\n',idx)
            return dest[0:idx] + '\n' + src + dest[idx:]

        def replaceline(src, dest, ref):
            idx1 = dest.find(ref)
            idx2 = dest.find('\n',idx1)
            return dest[0:idx1] + src + dest[idx2:]

        # Comp.cpp
        #  use ros node name as rtm component name
        #  call ros::init in Comp.cpp
        compsrc = open(tmpdir + '/' + module_name + 'Comp.cpp').read()
        compsrc = addline('  ros::init(argc, argv, "' + module_name + '", ros::init_options::NoSigintHandler);', compsrc, 'RTC::Manager::init(argc, argv);')
        compsrc = replaceline('  comp = manager->createComponent(std::string("'+module_name+'?instance_name="+ros::this_node::getName().substr(1)).c_str()); // skip root name space for OpenRTM instance name', compsrc, '  comp = manager->createComponent("'+module_name+'");')
        open(wd + '/' + module_name + 'Comp.cpp', 'w').write(compsrc)

        #.cpp
        #  make ROS service in onInitialize
        #  make ROS bridge functions in .cpp
        compsrc = open(tmpdir + '/' + module_name + '.cpp').read()

        port_name_src = """  nh = ros::NodeHandle("~");
  std::string port_name = "service0";
  nh.getParam("service_port", port_name);"""
        compsrc = addline(port_name_src, compsrc, 'Set service consumers to Ports')
        compsrc = compsrc.replace('registerConsumer("service0"','registerConsumer(port_name.c_str()')

        compsrc += """
RTC::ReturnCode_t %s::onExecute(RTC::UniqueId ec_id) {
  ros::spinOnce();
  return RTC::RTC_OK;
}\n\n""" % module_name

        compsrc += "RTC::ReturnCode_t %s::onActivated(RTC::UniqueId ec_id) {\n" % module_name
        for i in range(len(operations)):
            name = operations[i].identifier()
            compsrc += '  _srv%d = nh.advertiseService("%s", &%s::%s, this);\n' % (i, name, module_name, name)
        compsrc +="  return RTC::RTC_OK;\n}\n\n"""

        compsrc += "RTC::ReturnCode_t %s::onDeactivated(RTC::UniqueId ec_id) {\n" % module_name
        for i in range(len(operations)):
            name = operations[i].identifier()
            srvinst = '  _srv%d.shutdown();' % i
            compsrc = addline(srvinst, compsrc, 'Unadvertise service')
        compsrc +="  return RTC::RTC_OK;\n}\n\n"""

        compsrc += convert_functions + self.convertFunctionCode(interface)

        for op in operations:
            compsrc += self.ServiceBridgeFunction(op, module_name, pkgname)
        open(wd + '/' + module_name + '.cpp', 'w').write(compsrc)

        #.h
        #  add ros headers, service server functions, uncomment onExecute
        compsrc = open(tmpdir + '/' + module_name + '.h').read()
        compsrc = re.sub(basedir+"/idl/(.+).h", pkgname+r'/idl/\1.h', compsrc)

        compsrc = compsrc.replace('<%s>'%service_name, '<%s>'%idlutil.ccolonName(interface.scopedName()))

        incs = ['', '// ROS', '#include <ros/ros.h>']
        incs += ['#include <%s/%s.h>' % (pkgname, self.getCppTypeText(op,full=ROS_FULL)) for op in operations]
        incs = '\n'.join(incs)
        compsrc = addline(incs, compsrc, '#define')

        compsrc = '\n'.join([ (a.replace('//','') if ('RTC::ReturnCode_t onExecute' in a) else a) for a in compsrc.split('\n')])
        compsrc = '\n'.join([ (a.replace('//','') if ('RTC::ReturnCode_t onActivated' in a) else a) for a in compsrc.split('\n')])
        compsrc = '\n'.join([ (a.replace('//','') if ('RTC::ReturnCode_t onDeactivated' in a) else a) for a in compsrc.split('\n')])

        srvfunc = ['  bool %s(%s::%s::Request &req, %s::%s::Response &res);' % (op.identifier(), pkgname, self.getCppTypeText(op,full=ROS_FULL), pkgname, self.getCppTypeText(op,full=ROS_FULL)) for op in operations]
        srvfunc = '\n'.join(srvfunc)
        compsrc = addline(srvfunc, compsrc, 'public:')

        defsrv = "  ros::NodeHandle nh;\n";
        defsrv += "  ros::ServiceServer " + ', '.join(['_srv%d' % i for i in range(len(operations))]) + ';'
        compsrc = addline(defsrv, compsrc, 'private:')

        open(wd + '/' + module_name + '.h', 'w').write(compsrc)

        # finialize
        ## os.system("rm -f %s" % tmpdir) remove tmpdir in rtmbuild.cmake
        return

# all types depended by a interface
class DependencyVisitor (idlvisitor.AstVisitor):
    def __init__(self):
        self.allmsg = []
        self.multiarray = []
        self.checked = []

    def visitInterface(self, node):
        if node.mainFile():
            for n in node.callables():
                n.accept(self)

    def checkBasicType(self, node):
        classes = [idltype.Base, idltype.String, idltype.WString]
        classes += [idlast.Const, idlast.Enum, idlast.Union]
        if not (any([isinstance(node, cls) for cls in classes]) or node in self.checked):
            self.checked += [node]
            node.accept(self)

    def visitOperation(self, node):
        types = [p.paramType() for p in node.parameters()]
        types += [node.returnType()]
        for n in types:
            self.checkBasicType(n)

    def visitStruct(self, node):
        for mem in node.members():
            self.checkBasicType(mem.memberType())
        if not node in self.allmsg: # add self after all members
            self.allmsg += [node]

    def visitSequenceType(self, node):
        etype = node.seqType()
        dim = 1
        while not (isinstance(etype, idltype.Base) or isinstance(etype, idltype.String) or isinstance(etype, idltype.WString) or isinstance(etype, idlast.Struct) or isinstance(etype, idlast.Interface) or isinstance(etype, idlast.Enum) or isinstance(etype, idlast.Forward)):
            if isinstance(etype, idltype.Sequence):
                dim += 1
                etype = etype.seqType()
            elif isinstance(etype, idltype.Declared):
                etype = etype.decl()
            elif isinstance(etype, idlast.Typedef):
                if len(etype.declarators()[0].sizes()) != 0 : dim += 1
                etype = etype.aliasType()
            elif isinstance(etype, idlast.Declarator):
                etype = etype.alias()
#            elif isinstance(etype, idlast.Forward):
#                etype = etype.fullDecl()
        if 1 < dim and isinstance(etype, idltype.Base) and (not etype in self.multiarray) :
            self.multiarray += [etype]
        self.checkBasicType(etype)
    def visitDeclaredType(self, node):
        self.checkBasicType(node.decl())
    def visitTypedef(self, node):
        self.checkBasicType(node.aliasType())
    def visitDeclarator(self, node):
        self.checkBasicType(node.alias())
    def visitForward(self, node):
        self.checkBasicType(node.fullDecl())


# visitor only prints interface names
class InterfaceNameVisitor (idlvisitor.AstVisitor):
    def visitAST(self, node):
        for n in node.declarations():
            n.accept(self)
    def visitModule(self, node):
        for n in node.definitions():
            n.accept(self)
    def visitInterface(self, node):
        if node.mainFile():
            print(node.identifier())
            if options.interfaces:
                pass


if __name__ == '__main__':
    global options, basedir, pkgname, tmpdir

    parser = OptionParser()
    parser.add_option("-i", "--idl", dest="idlfile",
                      help="target idl file", metavar="FILE")
    parser.add_option("-I", "--include-dirs", dest="idlpath", metavar="PATHLIST",
                      help="list of directories to check idl include")
    parser.add_option("-o", "--overwrite", action="store_true",
                      dest="overwrite", default=False,
                      help="overwrite all generate files")
    parser.add_option("--filenames", action="store_true",
                      dest="filenames", default=False,
                      help="print filenames to generate")
    parser.add_option("--interfaces", action="store_true",
                      dest="interfaces", default=False,
                      help="print interface names")
    parser.add_option("--package-name", action="store", type="string",
                      dest="package_name", default=False,
                      help="overwrite package name")
    parser.add_option("--tmpdir", action="store", type="string",
                      dest="tmpdir", default="/tmp/idl2srv",
                      help="tmporary directory")
    (options, args) = parser.parse_args()

    idlfile = options.idlfile
    if not os.path.exists(idlfile):
        exit
    tmpdir = options.tmpdir
    idlfile = os.path.abspath(idlfile)
    idldir = os.path.split(idlfile)[0]
    basedir = os.path.split(idldir)[0]
    if options.package_name:
        pkgname = options.package_name
    else:
        pkgname = os.path.split(basedir)[1] # global var

    # preproccess and compile idl
    if options.idlpath:
        pathlist = options.idlpath.strip('"')
        option = ' '.join(['-I'+d for d in filter(None, pathlist.split(' '))])
    else:
        option = ''

    fd = os.popen('/usr/bin/omnicpp %s "%s"' % (option, idlfile), 'r')
    try:
        tree = _omniidl.compile(fd, idlfile) # newer version API
    except:
        tree = _omniidl.compile(fd)          # old version API

    # output msg/srv and bridge component src
    if options.interfaces:
        tree.accept(InterfaceNameVisitor())
    else:
        tree.accept(ServiceVisitor())
        tree.accept(InterfaceNameVisitor())