use new rosidl_parser.definition types and new test interfaces

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

Author: mikaelarguedas

rosidl_generator_py/test/test_interfaces.py

@@ -27,9 +27,10 @@
 
 from rosidl_parser.definition import Array
 from rosidl_parser.definition import BoundedSequence
+from rosidl_parser.definition import BoundedString
 from rosidl_parser.definition import NamespacedType
-from rosidl_parser.definition import String
 from rosidl_parser.definition import UnboundedSequence
+from rosidl_parser.definition import UnboundedString
 
 
 def test_strings():
@@ -313,22 +314,22 @@ def test_slot_attributes():
     assert nested_slot_types[0].name == 'Primitives'
 
     assert isinstance(nested_slot_types[1], Array)
-    assert isinstance(nested_slot_types[1].basetype, NamespacedType)
-    assert nested_slot_types[1].basetype.namespaces == \
+    assert isinstance(nested_slot_types[1].value_type, NamespacedType)
+    assert nested_slot_types[1].value_type.namespaces == \
         ['rosidl_generator_py', 'msg']
-    assert nested_slot_types[1].basetype.name == 'Primitives'
+    assert nested_slot_types[1].value_type.name == 'Primitives'
 
     assert isinstance(nested_slot_types[2], BoundedSequence)
-    assert isinstance(nested_slot_types[2].basetype, NamespacedType)
-    assert nested_slot_types[2].basetype.namespaces == \
+    assert isinstance(nested_slot_types[2].value_type, NamespacedType)
+    assert nested_slot_types[2].value_type.namespaces == \
         ['rosidl_generator_py', 'msg']
-    assert nested_slot_types[2].basetype.name == 'Primitives'
+    assert nested_slot_types[2].value_type.name == 'Primitives'
 
     assert isinstance(nested_slot_types[3], UnboundedSequence)
-    assert isinstance(nested_slot_types[3].basetype, NamespacedType)
-    assert nested_slot_types[3].basetype.namespaces == \
+    assert isinstance(nested_slot_types[3].value_type, NamespacedType)
+    assert nested_slot_types[3].value_type.namespaces == \
         ['rosidl_generator_py', 'msg']
-    assert nested_slot_types[3].basetype.name == 'Primitives'
+    assert nested_slot_types[3].value_type.name == 'Primitives'
 
 
 def test_string_slot_attributes():
@@ -340,24 +341,22 @@ def test_string_slot_attributes():
     assert len(string_slot_types) == len(string_slots)
 
     assert isinstance(string_slot_types[0], Array)
-    assert isinstance(string_slot_types[0].basetype, String)
+    assert isinstance(string_slot_types[0].value_type, BoundedString)
     assert string_slot_types[0].size == 3
-    assert string_slot_types[0].basetype.maximum_size == 5
+    assert string_slot_types[0].value_type.maximum_size == 5
 
     assert isinstance(string_slot_types[1], BoundedSequence)
-    assert isinstance(string_slot_types[1].basetype, String)
-    assert string_slot_types[1].upper_bound == 10
-    assert string_slot_types[1].basetype.maximum_size == 5
+    assert isinstance(string_slot_types[1].value_type, BoundedString)
+    assert string_slot_types[1].maximum_size == 10
+    assert string_slot_types[1].value_type.maximum_size == 5
 
     assert isinstance(string_slot_types[2], UnboundedSequence)
-    assert isinstance(string_slot_types[2].basetype, String)
-    assert string_slot_types[2].basetype.maximum_size == 5
+    assert isinstance(string_slot_types[2].value_type, BoundedString)
+    assert string_slot_types[2].value_type.maximum_size == 5
 
     assert isinstance(string_slot_types[3], UnboundedSequence)
-    assert isinstance(string_slot_types[3].basetype, String)
-    assert string_slot_types[3].basetype.maximum_size is None
+    assert isinstance(string_slot_types[3].value_type, UnboundedString)
 
     assert isinstance(string_slot_types[4], Array)
-    assert isinstance(string_slot_types[4].basetype, String)
+    assert isinstance(string_slot_types[4].value_type, UnboundedString)
     assert string_slot_types[4].size == 3
-    assert string_slot_types[4].basetype.maximum_size is None

rosidl_runtime_py/rosidl_runtime_py/import_message.py

@@ -20,5 +20,5 @@
 
 def import_message_from_namespaced_type(message_type: NamespacedType) -> Any:
     module = importlib.import_module(
-        '.'.join(message_type.basetype.namespaces))
-    return getattr(module, message_type.basetype.name)
+        '.'.join(message_type.value_type.namespaces))
+    return getattr(module, message_type.value_type.name)

rosidl_runtime_py/rosidl_runtime_py/set_message.py

@@ -15,8 +15,8 @@
 from typing import Any
 from typing import Dict
 
+from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import NamespacedType
-from rosidl_parser.definition import NestedType
 from rosidl_runtime_py.convert import get_message_slot_types
 from rosidl_runtime_py.import_message import import_message_from_namespaced_type
 
@@ -40,8 +40,8 @@ def set_message_fields(msg: Any, values: Dict[str, str]) -> None:
             set_message_fields(value, field_value)
         rosidl_type = get_message_slot_types(msg)[field_name]
         # Check if field is an array of ROS messages
-        if isinstance(rosidl_type, NestedType):
-            if isinstance(rosidl_type.basetype, NamespacedType):
+        if isinstance(rosidl_type, AbstractNestedType):
+            if isinstance(rosidl_type.value_type, NamespacedType):
                 field_elem_type = import_message_from_namespaced_type(rosidl_type)
                 for n in range(len(value)):
                     submsg = field_elem_type()

rosidl_runtime_py/test/rosidl_runtime_py/test_set_message.py

@@ -94,40 +94,36 @@ def test_set_message_fields_invalid():
 
 
 def test_set_nested_namespaced_fields():
-    msg = message_fixtures.get_msg_dynamic_array_nested()[0]
+    unbounded_sequence_msg = message_fixtures.get_msg_unbounded_sequences()[1]
     test_values = {
-        'primitive_values': [
-            {'string_value': 'foo', 'int8_value': 42},
-            {'string_value': 'bar', 'int8_value': 11}
+        'basic_types_values': [
+            {'float64_value': 42.42, 'int8_value': 42},
+            {'float64_value': 11.11, 'int8_value': 11}
         ]
     }
-    set_message_fields(msg, test_values)
-    assert msg.primitive_values[0].string_value == 'foo'
-    assert msg.primitive_values[0].int8_value == 42
-    assert msg.primitive_values[0].uint8_value == 0
-    assert msg.primitive_values[1].string_value == 'bar'
-    assert msg.primitive_values[1].int8_value == 11
-    assert msg.primitive_values[1].uint8_value == 0
-
-    static_array_msg = message_fixtures.get_msg_static_array_nested()[0]
+    set_message_fields(unbounded_sequence_msg, test_values)
+    assert unbounded_sequence_msg.basic_types_values[0].float64_value == 42.42
+    assert unbounded_sequence_msg.basic_types_values[0].int8_value == 42
+    assert unbounded_sequence_msg.basic_types_values[0].uint8_value == 0
+    assert unbounded_sequence_msg.basic_types_values[1].float64_value == 11.11
+    assert unbounded_sequence_msg.basic_types_values[1].int8_value == 11
+    assert unbounded_sequence_msg.basic_types_values[1].uint8_value == 0
+
+    arrays_msg = message_fixtures.get_msg_arrays()[0]
     test_values = {
-        'primitive_values': [
-            {'string_value': 'foo', 'int8_value': 42},
-            {'string_value': 'bar', 'int8_value': 11},
-            {'string_value': 'baz', 'int8_value': 22},
-            {'string_value': 'foobar', 'int8_value': 33}
+        'basic_types_values': [
+            {'float64_value': 42.42, 'int8_value': 42},
+            {'float64_value': 11.11, 'int8_value': 11},
+            {'float64_value': 22.22, 'int8_value': 22},
         ]
     }
-    set_message_fields(static_array_msg, test_values)
-    assert static_array_msg.primitive_values[0].string_value == 'foo'
-    assert static_array_msg.primitive_values[0].int8_value == 42
-    assert static_array_msg.primitive_values[0].uint8_value == 0
-    assert static_array_msg.primitive_values[1].string_value == 'bar'
-    assert static_array_msg.primitive_values[1].int8_value == 11
-    assert static_array_msg.primitive_values[1].uint8_value == 0
-    assert static_array_msg.primitive_values[2].string_value == 'baz'
-    assert static_array_msg.primitive_values[2].int8_value == 22
-    assert static_array_msg.primitive_values[2].uint8_value == 0
-    assert static_array_msg.primitive_values[3].string_value == 'foobar'
-    assert static_array_msg.primitive_values[3].int8_value == 33
-    assert static_array_msg.primitive_values[3].uint8_value == 0
+    set_message_fields(arrays_msg, test_values)
+    assert arrays_msg.basic_types_values[0].float64_value == 42.42
+    assert arrays_msg.basic_types_values[0].int8_value == 42
+    assert arrays_msg.basic_types_values[0].uint8_value == 0
+    assert arrays_msg.basic_types_values[1].float64_value == 11.11
+    assert arrays_msg.basic_types_values[1].int8_value == 11
+    assert arrays_msg.basic_types_values[1].uint8_value == 0
+    assert arrays_msg.basic_types_values[2].float64_value == 22.22
+    assert arrays_msg.basic_types_values[2].int8_value == 22
+    assert arrays_msg.basic_types_values[2].uint8_value == 0