Add GetTypeDescription.srv (rep2011)

type_description_interfaces/CMakeLists.txt

@@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 
 project(type_description_interfaces)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -19,7 +19,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Field.msg"
   "msg/FieldType.msg"
   "msg/IndividualTypeDescription.msg"
+  "msg/KeyValue.msg"
   "msg/TypeDescription.msg"
+  "msg/TypeSource.msg"
+  "srv/GetTypeDescription.srv"
   ADD_LINTER_TESTS
 )
 

type_description_interfaces/msg/KeyValue.msg

@@ -0,0 +1,4 @@
+# Represents an arbitrary key-value pair for application-specific information.
+
+string key
+string value

type_description_interfaces/msg/TypeSource.msg

@@ -0,0 +1,16 @@
+# Represents the original source of a ROS 2 interface definition.
+
+uint8 ENCODING_NOT_SET = 0
+uint8 ENCODING_MSG = 1
+uint8 ENCODING_SRV = 2
+uint8 ENCODING_ACTION = 3
+uint8 ENCODING_IDL = 4
+
+# ROS interface type name, in PACKAGE/NAMESPACE/TYPENAME format
+string type_name
+
+# The type of the original source file, from the above constants
+uint8 encoding
+
+# Dumped contents of the interface definition source file
+string raw_file_contents

type_description_interfaces/package.xml

@@ -13,6 +13,8 @@
 
   <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
+  <depend>service_msgs</depend>
+
   <exec_depend>rosidl_core_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

type_description_interfaces/srv/GetTypeDescription.srv

@@ -0,0 +1,36 @@
+# ROS interface type name, in PACKAGE/NAMESPACE/TYPENAME format
+string type_name
+
+# REP-2011 RIHS hash string, which looks like RIHSxx_hashvalue
+string type_hash
+
+# Whether to return the original idl or msg file(s) in the response, if available
+bool include_type_sources true
+---
+# sources requested, and provided successfully
+uint8 SOURCES_REQUESTED_PROVIDED = 0
+# sources disabled, so type_sources was left empty
+uint8 SOURCES_NOT_REQUESTED_NOT_PROVIDED = 1
+# sources requested, but no source available (perhaps for dynamically created types)
+uint8 SOURCES_REQUESTED_NOT_AVAILABLE = 2
+
+# True if the type description information is available and populated in the response
+# If false, all other fields except `reason` are considered undefined
+bool successful
+# If `successful` is false, contains a reason for failure.
+# On success, may contain a reason for missing sources.
+string reason
+
+# Contains a value from above constants, explaining whether the
+# `type_sources` fields contain valid data.
+uint8 type_sources_result
+
+# List of idl or msg/srv/action source files, including all comments and whitespace.
+# Sources can be matched with IndividualTypeDescriptions by their type_name
+TypeSource[] type_sources
+
+# The parsed type description which can be used programmatically
+TypeDescription type_description
+
+# Key-value pairs of extra information.
+KeyValue[] extra_information