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Parse msg bounded fields and default values

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Marko Durkovic
2021-11-09 10:40:25 +01:00
parent ae13edd221
commit aaa9969856
3 changed files with 149 additions and 8 deletions
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docs/topics/typesys.rst
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@@ -9,6 +9,10 @@ Message instances
-----------------
The type system generates a dataclass for each message type. These dataclasses give direct read write access to all mutable fields of a message. Fields should be mutated with care as no type checking is applied during runtime.
.. note::
Limitation: While the type system parses message definitions with array bounds and/or default values, neither bounds nor default values are enforced or assigned to message instances.
Extending the type system
-------------------------
Adding custom message types consists of two steps. First, message definitions are converted into parse trees using :py:func:`get_types_from_idl() <rosbags.typesys.get_types_from_idl>` or :py:func:`get_types_from_msg() <rosbags.typesys.get_types_from_msg>`, and second the types are registered in the type system via :py:func:`register_types() <rosbags.typesys.register_types>`. The following example shows how to add messages type definitions from ``.msg`` and ``.idl`` files: