store types as tuple of abstract types (ros2/rosidl_python#33)

* store types as constant and return ordered dict

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

update tests

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

simplify logic by printing member type directly

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

move dict construction to rosidl_runtime_py

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

add utility to import complex message and add support for nested array in set_message

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

update tests and remove coverage for dict to avoid circular dependency

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

more descriptive variable name

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

refactor import logic according to ros2/rosidl_python#35

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

move imports to top of file

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

string maximum size doesn't need quoting or str conversion

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

update docblock

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

slot_types_dict_from_message -> get_message_slot_types

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

check Abstrct type instead of 'list'

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

use NestedType

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

add conditional is namespaces is an empty list

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

one liner

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

extend test suite to cover NesteTypes of NamespacedTypes

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

single message fixture to use

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

use NestedType

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

add coverage for static array of nested messages

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

restore old API

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

SLOT_TYPES improvement from dirk-thomas

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

resolve conflicts

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

* add back I100 ignore

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

* use new rosidl_parser.definition types and new test interfaces

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

* restore original test, add test for SLOT_TYPES

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

Author: mikaelarguedas

package.xml

@@ -11,6 +11,7 @@
 
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
+  <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

rosidl_runtime_py/__init__.py

@@ -12,13 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from .convert import get_message_slot_types
 from .convert import message_to_csv
 from .convert import message_to_ordereddict
 from .convert import message_to_yaml
+from .import_message import import_message_from_namespaced_type
 from .set_message import set_message_fields
 
 
 __all__ = [
+    'get_message_slot_types',
+    'import_message_from_namespaced_type',
     'message_to_csv',
     'message_to_ordereddict',
     'message_to_yaml',

rosidl_runtime_py/convert.py

@@ -154,3 +154,13 @@ def _convert_value(value, truncate_length=None):
         # Assuming value is a message since it is neither a collection nor a primitive type
         value = message_to_ordereddict(value, truncate_length=truncate_length)
     return value
+
+
+def get_message_slot_types(msg: Any) -> OrderedDict:
+    """
+    Return an OrderedDict of the slot types of a message.
+
+    :param msg: The ROS message to get members types from.
+    :returns: An OrderedDict with message member names as keys and slot types as values.
+    """
+    return OrderedDict(zip([s[1:] for s in msg.__slots__], msg.SLOT_TYPES))

rosidl_runtime_py/import_message.py

@@ -0,0 +1,24 @@
+# Copyright 2019 Mikael Arguedas.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import importlib
+from typing import Any
+
+from rosidl_parser.definition import NamespacedType
+
+
+def import_message_from_namespaced_type(message_type: NamespacedType) -> Any:
+    module = importlib.import_module(
+        '.'.join(message_type.value_type.namespaces))
+    return getattr(module, message_type.value_type.name)

rosidl_runtime_py/set_message.py

@@ -15,6 +15,11 @@
 from typing import Any
 from typing import Dict
 
+from rosidl_parser.definition import AbstractNestedType
+from rosidl_parser.definition import NamespacedType
+from rosidl_runtime_py.convert import get_message_slot_types
+from rosidl_runtime_py.import_message import import_message_from_namespaced_type
+
 
 def set_message_fields(msg: Any, values: Dict[str, str]) -> None:
     """
@@ -33,4 +38,13 @@ def set_message_fields(msg: Any, values: Dict[str, str]) -> None:
         except TypeError:
             value = field_type()
             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, 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()
+                    set_message_fields(submsg, value[n])
+                    value[n] = submsg
         setattr(msg, field_name, value)

test/rosidl_runtime_py/test_set_message.py

@@ -91,3 +91,39 @@ def test_set_message_fields_invalid():
     invalid_type['int32_value'] = 'this is not an integer'
     with pytest.raises(ValueError):
         set_message_fields(msg, invalid_type)
+
+
+def test_set_nested_namespaced_fields():
+    unbounded_sequence_msg = message_fixtures.get_msg_unbounded_sequences()[1]
+    test_values = {
+        'basic_types_values': [
+            {'float64_value': 42.42, 'int8_value': 42},
+            {'float64_value': 11.11, 'int8_value': 11}
+        ]
+    }
+    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 = {
+        '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(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