Add const fields to type representations
This commit is contained in:
Marko Durkovic
committed by
Florian Friesdorf
Florian Friesdorf
parent
fa57b16765
commit
03b4d7e5c7
+10
-8
@@ -161,12 +161,13 @@ def deserialize_message(rawdata: bytes, bmap: BasetypeMap, pos: int, msgdef: Msg
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values.append(num)
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elif desc.valtype == Valtype.ARRAY:
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arr, pos = deserialize_array(rawdata, bmap, pos, *desc.args)
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subdesc, length = desc.args
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arr, pos = deserialize_array(rawdata, bmap, pos, length, subdesc)
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values.append(arr)
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elif desc.valtype == Valtype.SEQUENCE:
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size, pos = deserialize_number(rawdata, bmap, pos, 'int32')
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arr, pos = deserialize_array(rawdata, bmap, pos, int(size), desc.args)
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arr, pos = deserialize_array(rawdata, bmap, pos, int(size), desc.args[0])
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values.append(arr)
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return msgdef.cls(*values), pos
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@@ -323,12 +324,12 @@ def serialize_message(
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pos = serialize_number(rawdata, bmap, pos, desc.args, val)
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elif desc.valtype == Valtype.ARRAY:
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pos = serialize_array(rawdata, bmap, pos, desc.args[1], val)
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pos = serialize_array(rawdata, bmap, pos, desc.args[0], val)
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elif desc.valtype == Valtype.SEQUENCE:
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size = len(val)
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pos = serialize_number(rawdata, bmap, pos, 'int32', size)
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pos = serialize_array(rawdata, bmap, pos, desc.args, val)
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pos = serialize_array(rawdata, bmap, pos, desc.args[0], val)
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return pos
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@@ -397,14 +398,15 @@ def get_size(message: Any, msgdef: Msgdef, size: int = 0) -> int:
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size += isize
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elif desc.valtype == Valtype.ARRAY:
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if len(val) != desc.args[0]:
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raise SerdeError(f'Unexpected array length: {len(val)} != {desc.args[0]}.')
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size = get_array_size(desc.args[1], val, size)
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subdesc, length = desc.args
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if len(val) != length:
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raise SerdeError(f'Unexpected array length: {len(val)} != {length}.')
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size = get_array_size(subdesc, val, size)
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elif desc.valtype == Valtype.SEQUENCE:
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size = (size + 4 - 1) & -4
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size += 4
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size = get_array_size(desc.args, val, size)
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size = get_array_size(desc.args[0], val, size)
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return size
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+44
-33
@@ -35,6 +35,7 @@ time time
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================================================================================
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MSG: test_msgs/Other
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uint64[3] Header
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uint32 static = 42
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"""
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RELSIBLING_MSG = """
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@@ -81,6 +82,11 @@ module test_msgs {
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typedef test_msgs::msg::Bar Bar;
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typedef double d4[4];
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module Foo_Constants {
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const int32 FOO = 32;
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const int64 BAR = 64;
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};
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@comment(type="text", text="ignore")
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struct Foo {
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std_msgs::msg::Header header;
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@@ -102,17 +108,18 @@ def test_parse_msg():
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get_types_from_msg('', 'test_msgs/msg/Foo')
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ret = get_types_from_msg(MSG, 'test_msgs/msg/Foo')
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assert 'test_msgs/msg/Foo' in ret
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fields = ret['test_msgs/msg/Foo']
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assert fields[0][0][1] == 'std_msgs/msg/Header'
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assert fields[0][1][1] == 'header'
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assert fields[1][0][1] == 'std_msgs/msg/Bool'
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assert fields[1][1][1] == 'bool'
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assert fields[2][0][1] == 'test_msgs/msg/Bar'
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assert fields[2][1][1] == 'sibling'
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assert fields[3][0][0] == Nodetype.BASE
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assert fields[4][0][0] == Nodetype.SEQUENCE
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assert fields[5][0][0] == Nodetype.SEQUENCE
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assert fields[6][0][0] == Nodetype.ARRAY
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consts, fields = ret['test_msgs/msg/Foo']
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assert consts == [('global', 'int32', 42)]
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assert fields[0][0] == 'header'
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assert fields[0][1][1] == 'std_msgs/msg/Header'
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assert fields[1][0] == 'bool'
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assert fields[1][1][1] == 'std_msgs/msg/Bool'
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assert fields[2][0] == 'sibling'
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assert fields[2][1][1] == 'test_msgs/msg/Bar'
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assert fields[3][1][0] == Nodetype.BASE
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assert fields[4][1][0] == Nodetype.SEQUENCE
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assert fields[5][1][0] == Nodetype.SEQUENCE
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assert fields[6][1][0] == Nodetype.ARRAY
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def test_parse_multi_msg():
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@@ -122,20 +129,23 @@ def test_parse_multi_msg():
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assert 'test_msgs/msg/Foo' in ret
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assert 'std_msgs/msg/Header' in ret
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assert 'test_msgs/msg/Other' in ret
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assert ret['test_msgs/msg/Foo'][0][0][1] == 'std_msgs/msg/Header'
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assert ret['test_msgs/msg/Foo'][1][0][1] == 'uint8'
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assert ret['test_msgs/msg/Foo'][2][0][1] == 'uint8'
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fields = ret['test_msgs/msg/Foo'][1]
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assert fields[0][1][1] == 'std_msgs/msg/Header'
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assert fields[1][1][1] == 'uint8'
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assert fields[2][1][1] == 'uint8'
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consts = ret['test_msgs/msg/Other'][0]
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assert consts == [('static', 'uint32', 42)]
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def test_parse_relative_siblings_msg():
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"""Test relative siblings with msg parser."""
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ret = get_types_from_msg(RELSIBLING_MSG, 'test_msgs/msg/Foo')
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assert ret['test_msgs/msg/Foo'][0][0][1] == 'std_msgs/msg/Header'
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assert ret['test_msgs/msg/Foo'][1][0][1] == 'test_msgs/msg/Other'
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assert ret['test_msgs/msg/Foo'][1][0][1][1] == 'std_msgs/msg/Header'
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assert ret['test_msgs/msg/Foo'][1][1][1][1] == 'test_msgs/msg/Other'
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ret = get_types_from_msg(RELSIBLING_MSG, 'rel_msgs/msg/Foo')
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assert ret['rel_msgs/msg/Foo'][0][0][1] == 'std_msgs/msg/Header'
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assert ret['rel_msgs/msg/Foo'][1][0][1] == 'rel_msgs/msg/Other'
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assert ret['rel_msgs/msg/Foo'][1][0][1][1] == 'std_msgs/msg/Header'
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assert ret['rel_msgs/msg/Foo'][1][1][1][1] == 'rel_msgs/msg/Other'
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def test_parse_idl():
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@@ -145,28 +155,29 @@ def test_parse_idl():
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ret = get_types_from_idl(IDL)
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assert 'test_msgs/msg/Foo' in ret
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fields = ret['test_msgs/msg/Foo']
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assert fields[0][0][1] == 'std_msgs/msg/Header'
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assert fields[0][1][1] == 'header'
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assert fields[1][0][1] == 'std_msgs/msg/Bool'
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assert fields[1][1][1] == 'bool'
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assert fields[2][0][1] == 'test_msgs/msg/Bar'
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assert fields[2][1][1] == 'sibling'
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assert fields[3][0][0] == Nodetype.BASE
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assert fields[4][0][0] == Nodetype.SEQUENCE
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assert fields[5][0][0] == Nodetype.SEQUENCE
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assert fields[6][0][0] == Nodetype.ARRAY
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consts, fields = ret['test_msgs/msg/Foo']
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assert consts == [('FOO', 'int32', 32), ('BAR', 'int64', 64)]
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assert fields[0][0] == 'header'
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assert fields[0][1][1] == 'std_msgs/msg/Header'
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assert fields[1][0] == 'bool'
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assert fields[1][1][1] == 'std_msgs/msg/Bool'
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assert fields[2][0] == 'sibling'
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assert fields[2][1][1] == 'test_msgs/msg/Bar'
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assert fields[3][1][0] == Nodetype.BASE
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assert fields[4][1][0] == Nodetype.SEQUENCE
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assert fields[5][1][0] == Nodetype.SEQUENCE
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assert fields[6][1][0] == Nodetype.ARRAY
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def test_register_types():
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"""Test type registeration."""
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assert 'foo' not in FIELDDEFS
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register_types({})
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register_types({'foo': [[(1, 'bool'), (2, 'b')]]})
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register_types({'foo': [[], [('b', (1, 'bool'))]]})
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assert 'foo' in FIELDDEFS
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register_types({'std_msgs/msg/Header': []})
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assert len(FIELDDEFS['std_msgs/msg/Header']) == 2
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register_types({'std_msgs/msg/Header': [[], []]})
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assert len(FIELDDEFS['std_msgs/msg/Header'][1]) == 2
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with pytest.raises(TypesysError, match='different definition'):
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register_types({'foo': [[(1, 'bool'), (2, 'x')]]})
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register_types({'foo': [[], [('x', (1, 'bool'))]]})
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