From 427eab6dceef645a92a7860fe6bfaa2c91cf4449 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Mon, 18 Jun 2018 18:38:54 -0700
Subject: [PATCH] print service pairs as well (#124)

* print service pairs as well

* add variable to template header
---
 include/ros1_bridge/bridge.hpp |  5 ++++-
 resource/get_mappings.cpp.em   | 18 +++++++++++++++++-
 ros1_bridge/__init__.py        |  5 +++--
 src/dynamic_bridge.cpp         | 11 ++++++++++-
 4 files changed, 34 insertions(+), 5 deletions(-)

diff --git a/include/ros1_bridge/bridge.hpp b/include/ros1_bridge/bridge.hpp
index d38e55a8..21f4bdd4 100755
--- a/include/ros1_bridge/bridge.hpp
+++ b/include/ros1_bridge/bridge.hpp
@@ -59,7 +59,10 @@ get_2to1_mapping(
   std::string & ros1_type_name);
 
 std::map<std::string, std::string>
-get_all_mappings_2to1();
+get_all_message_mappings_2to1();
+
+std::map<std::string, std::string>
+get_all_service_mappings_2to1();
 
 std::shared_ptr<FactoryInterface>
 get_factory(
diff --git a/resource/get_mappings.cpp.em b/resource/get_mappings.cpp.em
index 94b8826c..90bbfef8 100644
--- a/resource/get_mappings.cpp.em
+++ b/resource/get_mappings.cpp.em
@@ -13,6 +13,8 @@
 @# Context:
 @#  - mappings (list of ros1_bridge.Mapping)
 @#    Mapping between messages as well as their fields
+@#  - services (list of dictionaries)
+@#    Mapping between services as well as their fields
 @###############################################
 @
 #include <map>
@@ -60,7 +62,7 @@ get_2to1_mapping(const std::string & ros2_type_name, std::string & ros1_type_nam
 }
 
 std::map<std::string, std::string>
-get_all_mappings_2to1()
+get_all_message_mappings_2to1()
 {
   static std::map<std::string, std::string> mappings = {
 @[for m in mappings]@
@@ -73,4 +75,18 @@ get_all_mappings_2to1()
   return mappings;
 }
 
+std::map<std::string, std::string>
+get_all_service_mappings_2to1()
+{
+  static std::map<std::string, std::string> mappings = {
+@[for s in services]@
+    {
+      "@(s['ros2_package'])/@(s['ros2_name'])",  // ROS 2
+      "@(s['ros1_package'])/@(s['ros1_name'])"   // ROS 1
+    },
+@[end for]@
+  };
+  return mappings;
+}
+
 }  // namespace ros1_bridge
diff --git a/ros1_bridge/__init__.py b/ros1_bridge/__init__.py
index 74f4d811..727efa1f 100644
--- a/ros1_bridge/__init__.py
+++ b/ros1_bridge/__init__.py
@@ -66,13 +66,14 @@
 
 def generate_cpp(output_path, template_dir):
     data = generate_messages()
+    data.update(generate_services())
 
     template_file = os.path.join(template_dir, 'get_mappings.cpp.em')
     output_file = os.path.join(output_path, 'get_mappings.cpp')
-    data_for_template = {'mappings': data['mappings']}
+    data_for_template = {
+        'mappings': data['mappings'], 'services': data['services']}
     expand_template(template_file, data_for_template, output_file)
 
-    data.update(generate_services())
     unique_package_names = set(data['ros2_package_names_msg'] + data['ros2_package_names_srv'])
     # skip builtin_interfaces since there is a custom implementation
     unique_package_names -= {'builtin_interfaces'}
diff --git a/src/dynamic_bridge.cpp b/src/dynamic_bridge.cpp
index c36bb75e..4ee4abf6 100644
--- a/src/dynamic_bridge.cpp
+++ b/src/dynamic_bridge.cpp
@@ -97,7 +97,7 @@ bool parse_command_options(
   }
 
   if (get_flag_option(args, "--print-pairs")) {
-    auto mappings_2to1 = ros1_bridge::get_all_mappings_2to1();
+    auto mappings_2to1 = ros1_bridge::get_all_message_mappings_2to1();
     if (mappings_2to1.size() > 0) {
       printf("Supported ROS 2 <=> ROS 1 message type conversion pairs:\n");
       for (auto & pair : mappings_2to1) {
@@ -106,6 +106,15 @@ bool parse_command_options(
     } else {
       printf("No message type conversion pairs supported.\n");
     }
+    mappings_2to1 = ros1_bridge::get_all_service_mappings_2to1();
+    if (mappings_2to1.size() > 0) {
+      printf("Supported ROS 2 <=> ROS 1 service type conversion pairs:\n");
+      for (auto & pair : mappings_2to1) {
+        printf("  - '%s' (ROS 2) <=> '%s' (ROS 1)\n", pair.first.c_str(), pair.second.c_str());
+      }
+    } else {
+      printf("No service type conversion pairs supported.\n");
+    }
     return false;
   }