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add SLOT_TYPES to each message #54

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add SLOT_TYPES to each message #54

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37 changes: 37 additions & 0 deletions rosidl_generator_py/resource/_msg.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ from rosidl_parser.definition import FLOATING_POINT_TYPES
from rosidl_parser.definition import INTEGER_TYPES
from rosidl_parser.definition import NamespacedType
from rosidl_parser.definition import SIGNED_INTEGER_TYPES
from rosidl_parser.definition import UnboundedSequence
from rosidl_parser.definition import UNSIGNED_INTEGER_TYPES
}@
@#<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
Expand All @@ -30,6 +31,9 @@ from rosidl_parser.definition import UNSIGNED_INTEGER_TYPES
from collections import OrderedDict
import numpy
imports = OrderedDict()
if message.structure.members:
imports.setdefault(
'import rosidl_parser.definition', []) # used for SLOT_TYPES
for member in message.structure.members:
if (
isinstance(member.type, AbstractNestedType) and
Expand Down Expand Up @@ -227,6 +231,39 @@ string@
@[end for]@
}

SLOT_TYPES = (
@[for member in message.structure.members]@
@{
type_ = member.type
if isinstance(type_, AbstractNestedType):
type_ = type_.value_type
}@
@
@[ if isinstance(member.type, AbstractNestedType)]@
@(member.type.__class__.__module__).@(member.type.__class__.__name__)(@
@[ end if]@
@# the typename of the non-nested type or the nested value_type
@(type_.__class__.__module__).@(type_.__class__.__name__)(@
@[ if isinstance(type_, BasicType)]@
'@(type_.typename)'@
@[ elif isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
@(type_.maximum_size)@
@[ elif isinstance(type_, NamespacedType)]@
[@(', '.join("'%s'" % n for n in type_.namespaces))], '@(type_.name)'@
@[ end if]@
)@
@[ if isinstance(member.type, Array)]@
, @(member.type.size)@
@[ elif isinstance(member.type, BoundedSequence)]@
, @(member.type.maximum_size)@
@[ end if]@
@[ if isinstance(member.type, AbstractNestedType)]@
)@
@[ end if]@
, # noqa: E501
@[end for]@
)

def __init__(self, **kwargs):
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
'Invalid arguments passed to constructor: %s' % \
Expand Down