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Adjust to proto2ros conversion code to mypy requests (#55)
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Signed-off-by: Michel Hidalgo <[email protected]>
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@mhidalgo-bdai
mhidalgo-bdai authored Jan 17, 2024
1 parent b38a6a0 commit 540822c
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Showing 2 changed files with 30 additions and 23 deletions.
12 changes: 10 additions & 2 deletions proto2ros/proto2ros/output/python.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,12 +25,19 @@ def to_python_module_name(module_path: os.PathLike) -> str:

def to_python_identifier(string: str) -> str:
"""Transforms an arbitrary string into a valid Python identifier."""
return inflection.underscore(string.replace("/", "_").replace(".", "_"))
denormalized_identifier = string.replace("/", "_").replace(".", "_")
denormalized_identifier = denormalized_identifier.replace("UInt", "uint")
return inflection.underscore(denormalized_identifier)


def unqualify_python_identifier(identifier: str) -> str:
"""Extracts a Python identifier basename."""
return identifier.rpartition(".")[-1]


def itemize_python_identifier(identifier: str, prefix: Optional[str] = None) -> str:
"""Derives a loop variable identifier for its iterable variable identifier."""
_, _, basename = identifier.rpartition(".")
basename = unqualify_python_identifier(identifier)
if prefix and not basename.startswith(prefix):
basename = prefix + basename
if not basename.endswith("item"):
Expand Down Expand Up @@ -130,6 +137,7 @@ def dump_conversions_python_module(
env.globals["to_ros_base_type"] = to_ros_base_type
env.globals["itemize_python_identifier"] = itemize_python_identifier
env.filters["as_python_identifier"] = to_python_identifier
env.filters["python_identifier_name"] = unqualify_python_identifier
env.filters["as_ros_python_type"] = to_ros_python_type
pb2_python_type_lut = build_pb2_python_type_lut(config.python_imports, config.inline_python_imports)

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41 changes: 20 additions & 21 deletions proto2ros/proto2ros/output/templates/conversions.py.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -82,23 +82,22 @@ for {{ input_item }} in {{ source }}:
{#- ROS message must be deserialized for conversion. -#}
if {{ source }}.type_name != "{{ spec.type | as_ros_base_type }}":
raise ValueError("expected {{ spec.type | as_ros_base_type }} message for {{ spec.name }} member, got %s" % {{ source }}.type)
typed_field_message = rclpy.serialization.deserialize_message({{ source }}.value.tobytes(), {{ spec.type | as_ros_base_type | as_ros_python_type }})
convert_{{ spec.type | as_ros_base_type | as_python_identifier }}_message_to_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto(typed_field_message, {{ destination }})
typed_{{ source | python_identifier_name }}_message = rclpy.serialization.deserialize_message({{ source }}.value.tobytes(), {{ spec.type | as_ros_base_type | as_ros_python_type }})
convert_{{ spec.type | as_ros_base_type | as_python_identifier }}_message_to_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto(typed_{{ source | python_identifier_name }}_message, {{ destination }})
{%- elif spec.annotations.get("type-casted") -%}
{#- ROS message must be converted and packed for assignment. -#}
typed_proto_message = {{ spec.annotations["proto-type"] | as_pb2_python_type }}()
convert_{{ spec.type | as_ros_base_type | as_python_identifier }}_message_to_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto({{ source }}, typed_proto_message)
{{ destination }}.Pack(typed_proto_message)
typed_{{ source | python_identifier_name }}_message = {{ spec.annotations["proto-type"] | as_pb2_python_type }}()
convert_{{ spec.type | as_ros_base_type | as_python_identifier }}_message_to_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto({{ source }}, typed_{{ source | python_identifier_name }}_message)
{{ destination }}.Pack(typed_{{ source | python_identifier_name }}_message)
{%- elif spec.annotations.get("type-casts") -%}
{#- ROS message must be deserialized according to type, then converted, then packed for assignment. -#}
match {{ source }}.type_name:
{% for proto_type_name, ros_type_name in spec.annotations["type-casts"] -%}
case "{{ ros_type_name }}":
typed_field_message = rclpy.serialization.deserialize_message(
{{ source }}.value.tobytes(), {{ ros_type_name | as_ros_python_type }})
typed_proto_message = {{ proto_type_name | as_pb2_python_type }}()
convert_{{ ros_type_name | as_python_identifier }}_message_to_{{ proto_type_name | as_python_identifier }}_proto(typed_field_message, typed_proto_message)
{{ destination }}.Pack(typed_proto_message)
typed_{{ ros_type_name | as_python_identifier | python_identifier_name }}_message = rclpy.serialization.deserialize_message({{ source }}.value.tobytes(), {{ ros_type_name | as_ros_python_type }})
typed_{{ proto_type_name | as_python_identifier | python_identifier_name }}_message = {{ proto_type_name | as_pb2_python_type }}()
convert_{{ ros_type_name | as_python_identifier }}_message_to_{{ proto_type_name | as_python_identifier }}_proto(typed_{{ ros_type_name | as_python_identifier | python_identifier_name }}_message, typed_{{ proto_type_name | as_python_identifier | python_identifier_name }}_message)
{{ destination }}.Pack(typed_{{ proto_type_name | as_python_identifier | python_identifier_name }}_message)
{% endfor -%}
case _:
raise ValueError("unexpected %s in {{ spec.name }} member:" % ros_msg.{{ spec.name }}.type)
Expand Down Expand Up @@ -186,15 +185,15 @@ for {{ input_item }} in {{ input_iterable }}:
{%- set type_spec = known_message_specifications.get(to_ros_base_type(spec.type)) -%}
{%- if spec.annotations.get("type-erased") -%}
{#- ROS message must be serialized for assignment. -#}
typed_field_message = {{ spec.type | as_ros_base_type | as_ros_python_type }}()
convert_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto_to_{{ spec.type | as_ros_base_type | as_python_identifier }}_message({{ source }}, typed_field_message)
{{ destination }}.value = rclpy.serialization.serialize_message(typed_field_message)
typed_{{ source | python_identifier_name }}_message = {{ spec.type | as_ros_base_type | as_ros_python_type }}()
convert_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto_to_{{ spec.type | as_ros_base_type | as_python_identifier }}_message({{ source }}, typed_{{ source | python_identifier_name }}_message)
{{ destination }}.value = rclpy.serialization.serialize_message(typed_{{ source | python_identifier_name }}_message)
{{ destination }}.type_name = "{{ spec.type | as_ros_base_type }}"
{%- elif spec.annotations.get("type-casted") -%}
{#- Protobuf message must be unpacked for conversion. -#}
typed_proto_message = {{ spec.annotations["proto-type"] | as_pb2_python_type }}()
{{ source }}.Unpack(typed_proto_message)
convert_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto_to_{{ spec.type | as_ros_base_type | as_python_identifier }}_message(typed_proto_message, {{ destination }})
typed_{{ source | python_identifier_name }}_message = {{ spec.annotations["proto-type"] | as_pb2_python_type }}()
{{ source }}.Unpack(typed_{{ source | python_identifier_name }}_message)
convert_{{ spec.annotations["proto-type"] | as_python_identifier }}_proto_to_{{ spec.type | as_ros_base_type | as_python_identifier }}_message(typed_{{ source | python_identifier_name }}_message, {{ destination }})
{%- elif spec.annotations.get("type-casts") -%}
{#- Protobuf message must be unpacked according to type, then converted, then serialized for assignment. -#}
{%- for proto_type_name, ros_type_name in spec.annotations["type-casts"] -%}
Expand All @@ -203,12 +202,12 @@ if {{ source }}.Is({{ proto_type_name | as_pb2_python_type }}.DESCRIPTOR):
{%- else %}
elif {{ source }}.Is({{ proto_type_name | as_pb2_python_type }}.DESCRIPTOR):
{%- endif %}
typed_proto_message = {{ proto_type_name | as_pb2_python_type }}()
ok = {{ source }}.Unpack(typed_proto_message)
typed_{{ proto_type_name | as_python_identifier | python_identifier_name }}_message = {{ proto_type_name | as_pb2_python_type }}()
ok = {{ source }}.Unpack(typed_{{ proto_type_name | as_python_identifier | python_identifier_name }}_message)
assert ok, "Failed to unpack any protobuf, internal error"
typed_field_message = {{ ros_type_name | as_ros_python_type }}()
convert_{{ proto_type_name | as_python_identifier }}_proto_to_{{ ros_type_name | as_python_identifier }}_message(typed_proto_message, typed_field_message)
{{ destination }}.value = rclpy.serialization.serialize_message(typed_field_message)
typed_{{ ros_type_name | as_python_identifier | python_identifier_name }}_message = {{ ros_type_name | as_ros_python_type }}()
convert_{{ proto_type_name | as_python_identifier }}_proto_to_{{ ros_type_name | as_python_identifier }}_message(typed_{{ proto_type_name | as_python_identifier | python_identifier_name }}_message, typed_{{ ros_type_name | as_python_identifier | python_identifier_name }}_message)
{{ destination }}.value = rclpy.serialization.serialize_message(typed_{{ ros_type_name | as_python_identifier | python_identifier_name }}_message)
{{ destination }}.type_name = "{{ ros_type_name }}"
{%- endfor %}
else:
Expand Down

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