Add __init__() method to generated modules to avoid double @rosimport when precompiling results of rostypegen

Author: schmrlng

docs/src/index.md

@@ -72,7 +72,7 @@ regenerated, the first version will remain.
 ### Compatibility with Package Precompilation
 As described above, by default `rostypegen` creates modules in `Main` -- however,
 this behavior is incompatible with Julia package precompilation. If you are using
-`RobotOS` in the context of a module, as opposed to a script, you may reduce
+`RobotOS` in your own module or package, as opposed to a script, you may reduce
 load-time latency (useful for real-life applications!) by generating the ROS type
 modules inside your package module using an approach similar to the example below:
 
@@ -87,20 +87,12 @@ modules inside your package module using an approach similar to the example belo
     import .geometry_msgs.msg: Pose
     # ...
 
-    function __init__()
-        @rosimport geometry_msgs.msg: Pose
-        # ...
-    end
-
     end
 
 In this case, we have provided `rostypegen` with a root module (`MyROSPackage`)
 for type generation. The Julia type corresponding to `geometry_msgs/Pose` now
 lives at `MyROSPackage.geometry_msgs.msg.Pose`; note the extra dot in
-`import .geometry_msgs.msg: Pose`. A precompiled package using `RobotOS` must
-also duplicate any `@rosimport` statements within the `__init__` function in
-its module so that necessary memory/objects in the Python runtime can be
-allocated each time the package is used.
+`import .geometry_msgs.msg: Pose`.
 
 ## Usage: ROS API
 

src/gentypes.jl

@@ -277,12 +277,13 @@ function _import_rospy_pkg(package::String)
 end
 
 #The function that creates and fills the generated top-level modules
-function buildpackage(pkg::ROSPackage, rosrootmod::Module=Main)
+function buildpackage(pkg::ROSPackage, rosrootmod::Module)
     @debug("Building package: ", _name(pkg))
 
     #Create the top-level module for the package in Main
     pkgsym = Symbol(_name(pkg))
     pkgcode = :(module ($pkgsym) end)
+    pkginitcode = :(function __init__() end)
 
     #Add msg and srv submodules if needed
     @debug_addindent
@@ -293,6 +294,9 @@ function buildpackage(pkg::ROSPackage, rosrootmod::Module=Main)
             push!(msgmod.args[3].args, expr)
         end
         push!(pkgcode.args[3].args, msgmod)
+        for typ in pkg.msg.members
+            push!(pkginitcode.args[2].args, :(@rosimport $(pkgsym).msg: $(Symbol(typ))))
+        end
     end
     if length(pkg.srv.members) > 0
         srvmod = :(module srv end)
@@ -301,14 +305,19 @@ function buildpackage(pkg::ROSPackage, rosrootmod::Module=Main)
             push!(srvmod.args[3].args, expr)
         end
         push!(pkgcode.args[3].args, srvmod)
+        for typ in pkg.srv.members
+            push!(pkginitcode.args[2].args, :(@rosimport $(pkgsym).srv: $(Symbol(typ))))
+        end
     end
+    push!(pkgcode.args[3].args, :(import RobotOS.@rosimport))
+    push!(pkgcode.args[3].args, pkginitcode)
     pkgcode = Expr(:toplevel, pkgcode)
     rosrootmod.eval(pkgcode)
     @debug_subindent
 end
 
 #Generate all code for a .msg or .srv module
-function modulecode(mod::ROSModule, rosrootmod::Module=Main)
+function modulecode(mod::ROSModule, rosrootmod::Module)
     @debug("submodule: ", _fullname(mod))
     modcode = Expr[]
 
@@ -340,13 +349,13 @@ function modulecode(mod::ROSModule, rosrootmod::Module=Main)
 end
 
 #The imports specific to each module, including dependant packages
-function _importexprs(mod::ROSMsgModule, rosrootmod::Module=Main)
+function _importexprs(mod::ROSMsgModule, rosrootmod::Module)
     imports = Expr[Expr(:import, :RobotOS, :AbstractMsg)]
     othermods = filter(d -> d != _name(mod), mod.deps)
     append!(imports, [Expr(:using,Symbol(rosrootmod),Symbol(m),:msg) for m in othermods])
     imports
 end
-function _importexprs(mod::ROSSrvModule, rosrootmod::Module=Main)
+function _importexprs(mod::ROSSrvModule, rosrootmod::Module)
     imports = Expr[
         Expr(:import, :RobotOS, :AbstractSrv),
         Expr(:import, :RobotOS, :AbstractService),