diff --git a/.project b/.project
new file mode 100644
index 0000000..e88e447
--- /dev/null
+++ b/.project
@@ -0,0 +1,17 @@
+
+
+ genjava
+
+
+
+
+
+ org.python.pydev.PyDevBuilder
+
+
+
+
+
+ org.python.pydev.pythonNature
+
+
diff --git a/.pydevproject b/.pydevproject
new file mode 100644
index 0000000..0ebadbb
--- /dev/null
+++ b/.pydevproject
@@ -0,0 +1,8 @@
+
+
+
+/${PROJECT_DIR_NAME}/src
+
+python 2.7
+Default
+
diff --git a/cmake/genjava-extras.cmake.em b/cmake/genjava-extras.cmake.em
index 74e1020..8bcc5a7 100644
--- a/cmake/genjava-extras.cmake.em
+++ b/cmake/genjava-extras.cmake.em
@@ -9,8 +9,24 @@ set(GENJAVA_BIN_DIR "${GENJAVA_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)")
set(GENMSG_JAVA_BIN ${GENJAVA_BIN_DIR}/genmsg_java.py)
set(GENSRV_JAVA_BIN ${GENJAVA_BIN_DIR}/gensrv_java.py)
+# genmsg usually uses this variable to configure the install location. we typically pick
+# it up from the environment configured by rosjava_build_tools.
+#set(genjava_INSTALL_DIR "maven/org/ros/rosjava_messages")
+set(ROS_MAVEN_DEPLOYMENT_REPOSITORY $ENV{ROS_MAVEN_DEPLOYMENT_REPOSITORY})
+if(NOT ROS_MAVEN_DEPLOYMENT_REPOSITORY)
+ set(ROS_MAVEN_DEPLOYMENT_REPOSITORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}")
+endif()
+
# Generate .msg->.h for py
# The generated .h files should be added ALL_GEN_OUTPUT_FILES_py
+#
+# Example arguments:
+#
+# ARG_PKG : foo_msgs
+# ARG_MSG : /mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg/Foo.msg
+# ARG_IFLAGS : -Ifoo_msgs:/mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg;-Istd_msgs:/opt/ros/hydro/share/std_msgs/cmake/../msg
+# ARG_MSG_DEPS : ???
+# ARG_GEN_OUTPUT_DIR : /mnt/zaphod/ros/rosjava/hydro/devel/${genjava_INSTALL_DIR}/foo_msgs
macro(_generate_msg_java ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
message(STATUS "GEN_MSG_JAVA..........._generate_msg_java")
@@ -19,26 +35,32 @@ macro(_generate_msg_java ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_
message(STATUS " ARG_IFLAGS...........${ARG_IFLAGS}")
message(STATUS " ARG_MSG_DEPS.........${ARG_MSG_DEPS}")
message(STATUS " ARG_GEN_OUTPUT_DIR...${ARG_GEN_OUTPUT_DIR}")
+ message(STATUS "GEN_MSG_JAVA...........done")
+ message(STATUS "CMAKE_CURRENT_BINARY_DIR.......${CMAKE_CURRENT_BINARY_DIR}")
#Append msg to output dir
-# set(GEN_OUTPUT_DIR "${ARG_GEN_OUTPUT_DIR}/msg")
-# file(MAKE_DIRECTORY ${GEN_OUTPUT_DIR})
+ #set(GEN_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+ #file(MAKE_DIRECTORY ${GEN_OUTPUT_DIR})
#Create input and output filenames
-# get_filename_component(MSG_SHORT_NAME ${ARG_MSG} NAME_WE)
-#
-# set(MSG_GENERATED_NAME _${MSG_SHORT_NAME}.py)
-# set(GEN_OUTPUT_FILE ${GEN_OUTPUT_DIR}/${MSG_GENERATED_NAME})
-#
-# add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
-# DEPENDS ${GENMSG_PY_BIN} ${ARG_MSG} ${ARG_MSG_DEPS}
-# COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_PY_BIN} ${ARG_MSG}
-# ${ARG_IFLAGS}
-# -p ${ARG_PKG}
-# -o ${GEN_OUTPUT_DIR}
-# COMMENT "Generating Python from MSG ${ARG_PKG}/${MSG_SHORT_NAME}"
-# )
-#
-# list(APPEND ALL_GEN_OUTPUT_FILES_py ${GEN_OUTPUT_FILE})
+ get_filename_component(MSG_SHORT_NAME ${ARG_MSG} NAME_WE)
+
+ file(REMOVE_RECURSE ${CMAKE_CURRENT_BINARY_DIR}/gradle)
+
+ #set(MSG_GENERATED_NAME ${MSG_SHORT_NAME}.java)
+ #set(GEN_OUTPUT_FILE ${GEN_OUTPUT_DIR}/${MSG_GENERATED_NAME})
+ #message(STATUS "GEN_OUTPUT_FILE..........${GEN_OUTPUT_FILE}")
+ #add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
+ # DEPENDS ${GENMSG_JAVA_BIN} ${ARG_MSG} ${ARG_MSG_DEPS}
+ # COMMAND ${CATKIN_ENV} cmake
+ # -E remove_directory ${CMAKE_CURRENT_BINARY_DIR}
+ # -m ${ARG_MSG}
+ # ${ARG_IFLAGS}
+ # -p ${ARG_PKG}
+ # -o ${GEN_OUTPUT_DIR}
+ # COMMENT "Generating Java code from MSG ${ARG_PKG}/${MSG_SHORT_NAME}"
+ #)
+
+ #list(APPEND ALL_GEN_OUTPUT_FILES_java ${GEN_OUTPUT_FILE})
endmacro()
@@ -71,7 +93,7 @@ endmacro()
macro(_generate_module_java ARG_PKG ARG_GEN_OUTPUT_DIR ARG_GENERATED_FILES)
- message(STATUS "GEN_MODULE_PY..........._generate_module_py")
+ message(STATUS "GEN_MODULE_JAVA..........._generate_module_java")
# generate empty __init__ to make parent folder of msg/srv a python module
if(NOT EXISTS ${ARG_GEN_OUTPUT_DIR}/__init__.py)
file(WRITE ${ARG_GEN_OUTPUT_DIR}/__init__.py "")
diff --git a/scripts/CMakeLists.txt b/scripts/CMakeLists.txt
index 762da42..044a96f 100644
--- a/scripts/CMakeLists.txt
+++ b/scripts/CMakeLists.txt
@@ -1,3 +1,3 @@
catkin_install_python(
- PROGRAMS genmsg_java.py gensrv_java.py
+ PROGRAMS genjava.py gensrv_java.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/scripts/genjava.py b/scripts/genjava.py
new file mode 100755
index 0000000..769db0b
--- /dev/null
+++ b/scripts/genjava.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+
+"""
+ROS message source code generation for Java
+
+Converts ROS .msg files in a package into Java source code implementations.
+"""
+import os
+import sys
+
+#import genjava.generator
+import genjava.genjava_main
+
+if __name__ == "__main__":
+ genjava.genjava_main.genmain(sys.argv, 'genmsg_java.py') #, genpy.generator.MsgGenerator())
+
diff --git a/scripts/genmsg_java.py b/scripts/genmsg_java.py
deleted file mode 100755
index e69de29..0000000
diff --git a/src/genjava/genjava_main.py b/src/genjava/genjava_main.py
new file mode 100644
index 0000000..e75a67c
--- /dev/null
+++ b/src/genjava/genjava_main.py
@@ -0,0 +1,110 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014, Daniel Stonier.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of Willow Garage, Inc. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+##############################################################################
+# Imports
+##############################################################################
+
+from __future__ import print_function
+import argparse
+import os
+#import sys
+#import traceback
+#import genmsg
+import genmsg.command_line
+
+#from genmsg import MsgGenerationException
+#from . generate_initpy import write_modules
+
+##############################################################################
+# Methods
+##############################################################################
+
+
+def parse_arguments():
+ '''
+ The include path has a special format, e.g.
+ -Ifoo_msgs:/mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg;-Istd_msgs:/opt/ros/hydro/share/std_msgs/cmake/../msg
+ '''
+ parser = argparse.ArgumentParser(description='Generate java code for a single ros message.')
+ parser.add_argument('-m', '--message', action='store', help='the message file')
+ parser.add_argument('-p', '--package', action='store', help='package to find the message file')
+ parser.add_argument('-o', '--output-dir', action='store', help='output directory for the java code (e.g. build/foo_msgs)')
+ parser.add_argument('-I', '--include-path', action='append', help="include paths to the package and deps msg files")
+ #myargs = rospy.myargv(argv=sys.argv)
+ #return parser.parse_args(args=myargs[1:])
+ return parser.parse_args()
+
+##############################################################################
+# Main
+##############################################################################
+
+def genmain(argv, progname): # , gen):
+ args = parse_arguments()
+ print("genjava %s/%s" % (args.package, args.message))
+ print(" output dir..........%s" % args.output_dir)
+ search_path = genmsg.command_line.includepath_to_dict(args.include_path)
+ print(" search path.......%s" % search_path)
+ gradle_project_dir = os.path.join(args.output_dir, 'gradle')
+ os.mkdir(gradle_project_dir)
+
+# try:
+# if options.initpy:
+# if options.outdir:
+# retcode = write_modules(options.outdir)
+# else:
+# parser.error("Missing args")
+# else:
+# if len(args) < 2:
+# parser.error("please specify args")
+# if not os.path.exists(options.outdir):
+# # This script can be run multiple times in parallel. We
+# # don't mind if the makedirs call fails because somebody
+# # else snuck in and created the directory before us.
+# try:
+# os.makedirs(options.outdir)
+# except OSError as e:
+# if not os.path.exists(options.outdir):
+# raise
+# search_path = genmsg.command_line.includepath_to_dict(options.includepath)
+# retcode = gen.generate_messages(options.package, args[1:], options.outdir, search_path)
+# except genmsg.InvalidMsgSpec as e:
+# print("ERROR: ", e, file=sys.stderr)
+# retcode = 1
+# except MsgGenerationException as e:
+# print("ERROR: ", e, file=sys.stderr)
+# retcode = 2
+# except Exception as e:
+# traceback.print_exc()
+# print("ERROR: ",e)
+# retcode = 3
+# sys.exit(retcode or 0)
diff --git a/src/genjava/genjava_main.pyc b/src/genjava/genjava_main.pyc
new file mode 100644
index 0000000..149ebb8
Binary files /dev/null and b/src/genjava/genjava_main.pyc differ