store types as constant and return ordered dict

Signed-off-by: Mikael Arguedas <[email protected]>

Author: mikaelarguedas

rosidl_generator_py/resource/_idl.py.em

@@ -16,8 +16,15 @@
 @#######################################################################
 @{
 from rosidl_parser.definition import Message
+msg_required_import_imported = False
 }@
 @[for message in content.get_elements_of_type(Message)]@
+@[  if not msg_required_import_imported]@
+@{msg_required_import_imported = True}@
+from collections import OrderedDict
+
+import rosidl_parser.definition
+@[  end if]@
 @{
 TEMPLATE(
     '_msg.py.em',
@@ -33,6 +40,12 @@ TEMPLATE(
 from rosidl_parser.definition import Service
 }@
 @[for service in content.get_elements_of_type(Service)]@
+@[  if not msg_required_import_imported]@
+@{msg_required_import_imported = True}@
+from collections import OrderedDict
+
+import rosidl_parser.definition
+@[  end if]@
 @{
 TEMPLATE(
     '_srv.py.em',
@@ -47,6 +60,12 @@ TEMPLATE(
 from rosidl_parser.definition import Action
 }@
 @[for action in content.get_elements_of_type(Action)]@
+@[  if not msg_required_import_imported]@
+@{msg_required_import_imported = True}@
+from collections import OrderedDict
+
+import rosidl_parser.definition
+@[  end if]@
 @{
 TEMPLATE(
     '_action.py.em',

rosidl_generator_py/resource/_msg.py.em

@@ -16,6 +16,7 @@ from rosidl_parser.definition import NamespacedType
 from rosidl_parser.definition import NestedType
 from rosidl_parser.definition import Sequence
 from rosidl_parser.definition import String
+from rosidl_parser.definition import UnboundedSequence
 from rosidl_parser.definition import WString
 }@
 
@@ -135,45 +136,44 @@ class @(message.structure.type.name)(metaclass=Metaclass_@(message.structure.typ
 @[end for]@
     ]
 
-    _fields_and_field_types = {
+    SLOT_TYPES = (
 @[for member in message.structure.members]@
 @{
 type_ = member.type
 if isinstance(type_, NestedType):
     type_ = type_.basetype
 }@
-        '@(member.name)': '@
-@# the prefix for nested types
-@[  if isinstance(member.type, Sequence)]@
-sequence<@
+        @
+@[  if isinstance(member.type, BoundedSequence)]@
+rosidl_parser.definition.BoundedSequence(@
+@[  elif isinstance(member.type, UnboundedSequence)]@
+rosidl_parser.definition.UnboundedSequence(@
+@[  elif isinstance(member.type, Array)]@
+rosidl_parser.definition.Array(@
 @[  end if]@
 @# the typename of the non-nested type or the nested basetype
 @[  if isinstance(type_, BasicType)]@
-@(type_.type)@
+rosidl_parser.definition.BasicType('@(type_.type)')@
 @[  elif isinstance(type_, BaseString)]@
-@
 @[    if isinstance(type_, WString)]@
-w@
-@[    end if]@
-string@
-@[    if type_.maximum_size is not None]@
-<@(type_.maximum_size)>@
+rosidl_parser.definition.WString('@
+@[    else]@
+rosidl_parser.definition.String('@
 @[    end if]@
+@(str(type_.maximum_size))')@
 @[  elif isinstance(type_, NamespacedType)]@
-@('/'.join([type_.namespaces[0], type_.name]))@
+rosidl_parser.definition.NamespacedType(['@("', '".join(type_.namespaces))'], '@(type_.name)')@
 @[  end if]@
-@# the suffix for nested types
-@[  if isinstance(member.type, Sequence)]@
-@[    if isinstance(member.type, BoundedSequence)]@
-, @(member.type.upper_bound)@
-@[    end if]@
->@
+@[  if isinstance(member.type, BoundedSequence)]@
+, @(member.type.upper_bound))@
 @[  elif isinstance(member.type, Array)]@
-[@(member.type.size)]@
+, @(member.type.size))@
+@[  elif isinstance(member.type, UnboundedSequence)]@
+)@
 @[  end if]@
-',
+,
 @[end for]@
-    }
+    )
 
     def __init__(self, **kwargs):
         assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
@@ -246,9 +246,8 @@ if isinstance(type_, NestedType):
         return True
 
     @@classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
+    def get_slot_types(cls):
+        return OrderedDict(zip([s[1:] for s in cls.__slots__], cls.SLOT_TYPES))
 @[for member in message.structure.members]@
 
 @{