[23079] Generate swig code for interfaces

src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg

@@ -190,10 +190,12 @@ private:
 
 interface(ctx, parent, interface, export_list) ::= <<
 
+$if(interface.withOutputParameters)$
 namespace detail {
 
 $interface.operations : { op | $if(op.outputparam)$$operation_out_struct_fwd_decl(interface, op)$$endif$}$
-}
+}  // namespace detail
+$endif$
 
 /*!
  * @brief This class represents the interface $interface.name$ defined by the user in the IDL file.
@@ -207,10 +209,12 @@ public:
     $export_list$
 };
 
+$if(interface.withOutputParameters)$
 namespace detail {
 
 $interface.operations : { op | $if(op.outputparam)$$operation_out_struct(interface, op)$$"\n"$$endif$}$
-}
+}  // namespace detail
+$endif$
 >>
 
 operation(ctx, parent, operation, param_list, operation_type) ::= <<

src/main/java/com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg

@@ -15,11 +15,20 @@
 group TypesSwigInterface;
 
 import "com/eprosima/fastdds/idl/templates/eprosima.stg"
+import "FastCdrCommon.stg"
 
 main(ctx, definitions) ::= <<
 $fileHeader(ctx=ctx, file=[ctx.filename, ".i"], description=["This header file contains the SWIG interface of the described types in the IDL file."])$
 
-%module(moduleimport="if __import__('os').name == 'nt': import win32api; win32api.LoadLibrary('$ctx.filename$.dll')\nif __package__ or '.' in __name__:\n    from . import _$ctx.filename$Wrapper\nelse:\n    import _$ctx.filename$Wrapper") $ctx.filename$
+%module($if(ctx.thereIsInterface)$threads="1",directors="1",$endif$moduleimport="if __import__('os').name == 'nt': import win32api; win32api.LoadLibrary('$ctx.filename$.dll')\nif __package__ or '.' in __name__:\n    from . import _$ctx.filename$Wrapper\nelse:\n    import _$ctx.filename$Wrapper") $ctx.filename$
+
+$if(ctx.thereIsInterface)$
+// We have enabled threads because the RPC server directors will call the target language environment
+// from the C++ server threads, but we don't want the calls from the target language to release their
+// locks (e.g. Python GIL) when calling the C++ methods.
+// See a very nice explanation at https://github.com/swig/swig/issues/927#issuecomment-289279243
+%feature("nothreadallow");
+$endif$
 
 // If using windows in debug, it would try to use python_d, which would not be found.
 %begin %{
@@ -30,9 +39,16 @@ $fileHeader(ctx=ctx, file=[ctx.filename, ".i"], description=["This header file c
 %}
 
 // SWIG helper modules
+$if(ctx.thereIsInterface)$
+%include "exception.i"
+$endif$
 %include "stdint.i"
 %include "std_array.i"
 %include "std_map.i"
+$if(ctx.thereIsInterface)$
+%include "std_pair.i"
+%include "std_shared_ptr.i"
+$endif$
 %include "std_string.i"
 %include "std_vector.i"
 %include "typemaps.i"
@@ -47,6 +63,11 @@ $ctx.directIncludeDependencies : {include | %include "$include$.i"}; separator="
 
 %{
 #include "$ctx.filename$.hpp"
+$if(ctx.thereIsInterface)$
+#include "$ctx.filename$Client.hpp"
+#include "$ctx.filename$Server.hpp"
+#include "$ctx.filename$ServerImpl.hpp"
+$endif$
 
 #include <fastdds/dds/core/LoanableSequence.hpp>
 %}
@@ -62,6 +83,118 @@ $endif$
 %import(module="fastdds") "fastdds/dds/core/LoanableTypedCollection.hpp"
 %import(module="fastdds") "fastdds/dds/core/LoanableSequence.hpp"
 
+$if(ctx.thereIsInterface)$
+%import(module="fastdds") "fastdds/dds/rpc/exceptions/RpcException.hpp"
+%import(module="fastdds") "fastdds/dds/rpc/exceptions/RpcOperationError.hpp"
+
+%exception {
+    try
+    {
+        \$action
+    }
+    catch (const eprosima::fastdds::dds::rpc::RpcException& ex)
+    {
+        SWIG_exception(SWIG_RuntimeError, ex.what());
+    }
+    catch (const std::exception& ex)
+    {
+        SWIG_exception(SWIG_RuntimeError, ex.what());
+    }
+    catch (...)
+    {
+        SWIG_exception(SWIG_RuntimeError,"Unknown exception");
+    }
+}
+
+$if(ctx.thereIsOutputFeed)$
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcServerWriter.hpp"
+%ignore eprosima::fastdds::dds::rpc::RpcClientReader::read(T&);
+%ignore eprosima::fastdds::dds::rpc::RpcClientReader::read(T&,eprosima::fastdds::dds::Duration_t&);
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcClientReader.hpp"
+%extend eprosima::fastdds::dds::rpc::RpcClientReader {
+    std::pair<bool, T> read(
+        const eprosima::fastdds::dds::Duration_t& timeout = eprosima::fastdds::dds::c_TimeInfinite)
+    {
+        std::pair<bool, T> ret_val{};
+        if (eprosima::fastdds::dds::c_TimeInfinite == timeout)
+        {
+            ret_val.first = self->read(ret_val.second);
+        }
+        else
+        {
+            ret_val.first = self->read(ret_val.second, timeout);
+        }
+        return ret_val;
+    }
+}
+
+$ctx.outputFeedTypes : {feed_type | $output_feed(feed_type)$}; separator="\n\n"$
+$endif$
+
+$if(ctx.thereIsNonFeedOperation)$
+// Code for std::future taken from https://github.com/swig/swig/issues/1828#issuecomment-648449092
+namespace eprosima::fastdds::dds::rpc
+{
+template <class R>
+class RpcFuture {
+ public:
+    RpcFuture() noexcept;
+    RpcFuture(RpcFuture &&) noexcept;
+    RpcFuture(const RpcFuture& rhs) = delete;
+    ~RpcFuture();
+    RpcFuture& operator=(const RpcFuture& rhs) = delete;
+    RpcFuture& operator=(RpcFuture&&) noexcept;
+
+    // retrieving the value
+    R get();
+
+    // functions to check state
+    bool valid() const noexcept;
+    void wait() const;
+
+/*
+    template <class Rep, class Period>
+    future_status wait_for(const chrono::duration<Rep, Period>& rel_time) const;
+    template <class Clock, class Duration>
+    future_status wait_until(const chrono::time_point<Clock, Duration>& abs_time) const;
+*/
+};
+
+}
+
+$ctx.outputNonFeedTypes : {non_feed_type | $output_non_feed(non_feed_type)$}; separator="\n\n"$
+$endif$
+
+$if(ctx.thereIsInputFeed)$
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcClientWriter.hpp"
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcStatusCode.hpp"
+
+%ignore eprosima::fastdds::dds::rpc::RpcServerReader::read(T&);
+%ignore eprosima::fastdds::dds::rpc::RpcServerReader::read(T&,eprosima::fastdds::dds::Duration_t&);
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcServerReader.hpp"
+%extend eprosima::fastdds::dds::rpc::RpcServerReader {
+    std::pair<bool, T> read(
+        const eprosima::fastdds::dds::Duration_t& timeout = eprosima::fastdds::dds::c_TimeInfinite)
+    {
+        std::pair<bool, T> ret_val{};
+        if (eprosima::fastdds::dds::c_TimeInfinite == timeout)
+        {
+            ret_val.first = self->read(ret_val.second);
+        }
+        else
+        {
+            ret_val.first = self->read(ret_val.second, timeout);
+        }
+        return ret_val;
+    }
+}
+
+$ctx.inputFeedTypes : {feed_type | $input_feed(feed_type)$}; separator="\n\n"$
+$endif$
+
+%exception;
+$endif$
+
 %define %traits_penumn(Type...)
   %fragment(SWIG_Traits_frag(Type),"header",
         fragment="StdTraits") {
@@ -78,6 +211,11 @@ $definitions; separator="\n"$
 
 // Include the class interfaces
 %include "$ctx.filename$.hpp"
+$if(ctx.thereIsInterface)$
+%include "$ctx.filename$Client.hpp"
+%include "$ctx.filename$Server.hpp"
+%include "$ctx.filename$ServerImpl.hpp"
+$endif$
 
 // Include the corresponding TopicDataType
 %include "$ctx.filename$PubSubTypes.i"
@@ -241,3 +379,65 @@ bitset_type(ctx, parent, bitset, extensions) ::= <<
 enum_type(ctx, parent, enum) ::= <<
 %traits_penumn(enum $enum.cppTypename$);
 >>
+
+interface(ctx, parent, interface, export_list) ::= <<
+
+$export_list$
+
+%shared_ptr($interface.scopedname$);
+$if(!interface.annotatedAsNested)$
+%shared_ptr($interface.scopedname$Server);
+%extend $interface.scopedname$Server
+{
+    void run()
+    {
+        Py_BEGIN_ALLOW_THREADS
+        self->run();
+        Py_END_ALLOW_THREADS
+    }
+}
+
+%shared_ptr($interface.scopedname$Server_IServerImplementation);
+%shared_ptr($interface.scopedname$ServerImplementation);
+%feature("director") $interface.scopedname$ServerImplementation;
+$endif$
+>>
+
+output_non_feed(type) ::= <<
+%shared_ptr(eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$>);
+%template($type.formatedCppTypename$_rpc_future) eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$>;
+
+$! 
+// Combine the typemap from shared_ptr
+// https://github.com/swig/swig/blob/b96b955ca15a01f0425fb26c234528530923202a/Lib/python/boost_shared_ptr.i#L41-L44
+// with the use of the 'optimal' attribute to avoid the need for a copy constructor, inspired by
+// https://github.com/swig/swig/issues/1828#issuecomment-648449092
+!$
+%typemap(out, optimal="1") eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$> {
+  std::shared_ptr<\$1_ltype> *smartresult = new std::shared_ptr<\$1_ltype>(new \$1_ltype(\$1));
+  \$result = SWIG_NewPointerObj(SWIG_as_voidptr(smartresult), \$descriptor(std::shared_ptr< eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$\>> *), SWIG_POINTER_OWN);
+}
+>>
+
+output_feed(type) ::= <<
+%shared_ptr(eprosima::fastdds::dds::rpc::RpcClientReader<$type.cppTypename$>);
+%template($type.formatedCppTypename$_client_reader_result) std::pair<bool, $type.cppTypename$>;
+%template($type.formatedCppTypename$_client_reader) eprosima::fastdds::dds::rpc::RpcClientReader<$type.cppTypename$>;
+
+%template($type.formatedCppTypename$_server_writer) eprosima::fastdds::dds::rpc::RpcServerWriter<$type.cppTypename$>;
+>>
+
+input_feed(type) ::= <<
+%template($type.formatedCppTypename$_server_reader_result) std::pair<bool, $type.cppTypename$>;
+%template($type.formatedCppTypename$_server_reader) eprosima::fastdds::dds::rpc::RpcServerReader<$type.cppTypename$>;
+
+%shared_ptr(eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$>);
+%template($type.formatedCppTypename$_rpc_client_writer) eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$>;
+%typemap(in,numinputs=0) std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$\>>& %{
+    \$1 = new std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$\>>();
+%}
+%typemap(argout) std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$\>>& (PyObject* tmp) %{
+    tmp = SWIG_NewPointerObj(\$1, \$1_descriptor, SWIG_POINTER_OWN);
+    \$result = SWIG_Python_AppendOutput(\$result, tmp);
+%}
+>>