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Merge remote-tracking branch 'origin/main' into feat/move-map-hash-generator
2 parents fff7145 + ded3fcf commit 8724c41

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‎.github/PULL_REQUEST_TEMPLATE.md

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## PR Type
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<!-- Select one and remove others. If an appropriate one is not listed, please write by yourself. -->
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- New Feature
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- Improvement
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- Bug Fix
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## Related Links
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<!-- Please write related links to GitHub/Jira/Slack/etc. -->
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## Description
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<!-- Describe what this PR changes. -->
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## Review Procedure
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<!-- Explain how to review this PR. -->
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## Remarks
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<!-- Write remarks as you like if you need them. -->
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## Pre-Review Checklist for the PR Author
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**PR Author should check the checkboxes below when creating the PR.**
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- [ ] Code follows [coding guidelines][coding-guidelines]
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- [ ] Assign PR to reviewer
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## Checklist for the PR Reviewer
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**Reviewers should check the checkboxes below before approval.**
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- [ ] Commits are properly organized and messages are according to the guideline
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- [ ] Code follows [coding guidelines][coding-guidelines]
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- [ ] (Optional) Unit tests have been written for new behavior
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- [ ] PR title describes the changes
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## Post-Review Checklist for the PR Author
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**PR Author should check the checkboxes below before merging.**
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- [ ] All open points are addressed and tracked via issues or tickets
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- [ ] Write [release notes][release-notes]
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## CI Checks
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- **Build and test for PR / build-and-test-pr**: Required to pass before the merge.
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- **Build and test for PR / clang-tidy-pr**: NOT required to pass before the merge. It is up to the reviewer(s).
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- **Check spelling**: NOT required to pass before the merge. It is up to the reviewer(s). See [here][spell-check-dict] if you want to add some words to the spell check dictionary.
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[coding-guidelines]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/1194394777/T4
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[release-notes]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416
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[spell-check-dict]: https://github.com/tier4/autoware-spell-check-dict#how-to-contribute

‎.github/workflows/sync-main-for-develop.yml

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name: sync main for develop
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on:
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workflow_dispatch:
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schedule:
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- cron: "0 19 * * *" # run at 4 AM JST
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jobs:
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sync-main-for-develop:
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runs-on: ubuntu-20.04
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steps:
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- name: Generate Token
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uses: tibdex/github-app-token@v1
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id: generate-token
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with:
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app_id: ${{ secrets.APP_ID }}
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private_key: ${{ secrets.APP_PRIVATE_KEY }}
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- name: Create Pull Request
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uses: tier4/github-actions/create-sync-main-pull-request@main
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id: create-pull-request
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with:
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token: ${{ steps.generate-token.outputs.token }}
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base-branch: develop
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main-branch: main
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sync-branch: sync-main-for-develop
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- name: Enable Auto-merge
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if: steps.create-pull-request.outputs.pull-request-operation == 'created'
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uses: peter-evans/enable-pull-request-automerge@v1
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with:
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token: ${{ steps.generate-token.outputs.token }}
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pull-request-number: ${{ steps.create-pull-request.outputs.pull-request-number }}
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merge-method: merge

‎.github/workflows/sync-public-develop.yaml

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name: sync public
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on:
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schedule:
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- cron: "0 19 * * *" # run at 4 AM JST
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workflow_dispatch:
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env:
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BASE_BRANCH: develop
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SYNC_TARGET_BRANCH: develop
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SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_api_adaptor.git
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jobs:
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sync-public:
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runs-on: ubuntu-20.04
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steps:
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- name: Checkout repository
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uses: actions/checkout@v2
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with:
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ref: ${{ env.BASE_BRANCH }}
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fetch-depth: 0
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- name: Generate token
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uses: tibdex/github-app-token@v1
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id: generate-token
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with:
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app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }}
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private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }}
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- name: Set git config for private repositories
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run: |
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git config --local --unset-all http.https://github.com/.extraheader || true
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git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
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- name: Push to public repository
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run: |
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git remote add public ${{ env.SYNC_TARGET_REPOSITORY }}
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git fetch public
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git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }}

‎.github/workflows/sync-public.yaml

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name: sync public
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on:
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schedule:
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- cron: "0 19 * * *" # run at 4 AM JST
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workflow_dispatch:
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env:
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BASE_BRANCH: main
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SYNC_TARGET_BRANCH: main
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SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_api_adaptor.git
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jobs:
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sync-public:
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runs-on: ubuntu-20.04
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steps:
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- name: Checkout repository
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uses: actions/checkout@v2
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with:
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ref: ${{ env.BASE_BRANCH }}
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fetch-depth: 0
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- name: Generate token
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uses: tibdex/github-app-token@v1
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id: generate-token
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with:
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app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }}
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private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }}
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- name: Set git config for private repositories
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run: |
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git config --local --unset-all http.https://github.com/.extraheader || true
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git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
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- name: Push to public repository
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run: |
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git remote add public ${{ env.SYNC_TARGET_REPOSITORY }}
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git fetch public
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git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }}

‎README.md

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# Autoware High Level API

‎autoware_api_generator/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(autoware_api_generator)
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find_package(ament_cmake REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(
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DIRECTORY cmake config resource script template
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package(CONFIG_EXTRAS "autoware_api_generator-extras.cmake")

‎autoware_api_generator/autoware_api_generator-extras.cmake

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# Copyright 2021 Tier IV, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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include("${autoware_api_generator_DIR}/autoware_api_generate_library.cmake")

‎autoware_api_generator/cmake/autoware_api_generate_library.cmake

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# Copyright 2021 Tier IV, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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macro(autoware_api_generate_library target)
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# init path settings
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normalize_path(_build_path "${CMAKE_CURRENT_BINARY_DIR}/autoware_api_generator")
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normalize_path(_share_path "${autoware_api_generator_DIR}/..")
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# parse and check
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cmake_parse_arguments(_ARG "USE_GROUP_PATH" "REMAP;EXTRA" "SPECS" ${ARGN})
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if(NOT _ARG_REMAP)
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set(_remap_file "${_share_path}/config/remap.yaml")
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else()
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set(_remap_file "${CMAKE_CURRENT_SOURCE_DIR}/${_ARG_REMAP}")
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endif()
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if(NOT _ARG_EXTRA)
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set(_extra_file "${_share_path}/config/extra.yaml")
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else()
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set(_extra_file "${CMAKE_CURRENT_SOURCE_DIR}/${_ARG_EXTRA}")
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endif()
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# create specification file list
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set(_spec_files "")
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list(APPEND _spec_files "${_share_path}/resource/external.yaml")
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list(APPEND _spec_files "${_share_path}/resource/internal.yaml")
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# create generating file list
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set(_target_api_names "")
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set(_target_cpp_files "")
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set(_target_py_files "")
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set(_target_cmake_files "")
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foreach(_api ${_ARG_UNPARSED_ARGUMENTS})
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string(REGEX REPLACE "^/+" "" _api "${_api}")
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if(NOT ${_ARG_USE_GROUP_PATH})
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string(REGEX REPLACE "^[^/]+" "" _api "${_api}")
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string(REGEX REPLACE "^/+" "" _api "${_api}")
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endif()
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list(APPEND _target_api_names "${_api}")
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list(APPEND _target_cpp_files "${_build_path}/cpp/${_api}.hpp")
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list(APPEND _target_py_files "${_build_path}/py/${_api}.py")
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list(APPEND _target_cmake_files "${_build_path}/cmake/${_api}.cmake")
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endforeach()
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# set dependencies for main target
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set(autoware_api_generator_TARGET "${target}")
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add_custom_target(${autoware_api_generator_TARGET} ALL SOURCES ${_spec_files} ${_remap_file})
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add_custom_target(${autoware_api_generator_TARGET}__cmake SOURCES ${_target_cmake_files})
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# set dependencies for cpp target
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add_custom_target(${autoware_api_generator_TARGET}__cpp SOURCES ${_target_cpp_files})
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add_dependencies(${autoware_api_generator_TARGET} ${autoware_api_generator_TARGET}__cpp)
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# set dependencies for py target
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add_custom_target(${autoware_api_generator_TARGET}__py SOURCES ${_target_py_files})
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add_dependencies(${autoware_api_generator_TARGET} ${autoware_api_generator_TARGET}__py)
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# use a temporary file to avoid long command
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file(WRITE "${_build_path}/list.txt" "${_target_api_names}")
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# generate configure_file scripts
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add_custom_command(
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OUTPUT ${_target_cmake_files}
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COMMAND python3 ${_share_path}/script/configure.py
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"--package" ${PROJECT_NAME}
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"--build" ${_build_path}/cmake
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"--names" ${_build_path}/list.txt
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"--remap" ${_remap_file}
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"--extra" ${_extra_file}
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"--specs" ${_spec_files}
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DEPENDS
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${_share_path}/script/configure.py
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${_build_path}/list.txt
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${_remap_file}
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${_spec_files}
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)
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# generate cpp file from configure_file script
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foreach(_api ${_target_api_names})
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set(_api_output "${_build_path}/cpp/${_api}.hpp")
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set(_api_script "${_build_path}/cmake/${_api}.cmake")
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add_custom_command(
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OUTPUT ${_api_output}
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COMMAND ${CMAKE_COMMAND}
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-D INPUT=${_share_path}/template/cpp
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-D OUTPUT=${_api_output}
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-P ${_api_script}
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DEPENDS
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${_share_path}/template/cpp/service.in
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${_share_path}/template/cpp/topic.in
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${autoware_api_generator_TARGET}__cmake
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)
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endforeach()
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# generate py file from configure_file script
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foreach(_api ${_target_api_names})
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set(_api_output "${_build_path}/py/${_api}.py")
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set(_api_script "${_build_path}/cmake/${_api}.cmake")
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add_custom_command(
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OUTPUT ${_api_output}
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COMMAND ${CMAKE_COMMAND}
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-D INPUT=${_share_path}/template/py
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-D OUTPUT=${_api_output}
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-P ${_api_script}
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DEPENDS
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${_share_path}/template/py/service.in
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${_share_path}/template/py/topic.in
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${autoware_api_generator_TARGET}__cmake
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)
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endforeach()
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# install generated cpp files
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if(EXISTS ${_build_path})
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install(
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DIRECTORY ${_build_path}/cpp/
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DESTINATION include/${PROJECT_NAME}
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PATTERN *.hpp
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)
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ament_export_include_directories(include)
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endif()
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# install generated py files
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file(WRITE ${_build_path}/py/__init__.py "")
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ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR "${_build_path}/py")
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endmacro(autoware_api_generate_library)

‎autoware_api_generator/config/extra.yaml

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library-cpp:
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service:
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header: rclcpp/rclcpp.hpp
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service: rclcpp::Service
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client: rclcpp::Client
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topic:
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header: rclcpp/rclcpp.hpp
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subscription: rclcpp::Subscription
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publisher: rclcpp::Publisher

‎autoware_api_generator/config/remap.yaml

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{}

‎autoware_api_generator/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>autoware_api_generator</name>
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<version>0.0.0</version>
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<description>The autoware_api_generator package</description>
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<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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