def _parse_action(element: etree._Element) -> Action:
"""Parse a NoDL action from an xml element."""
name = element.get('name')
action_type = element.get('type')
server = get_bool_attribute(element, 'server')
client = get_bool_attribute(element, 'client')
if not (server or client):
raise errors.AmbiguousActionInterfaceError(element)
policy = _parse_qos(element.find('qos'))
return Action(name=name,
action_type=action_type,
server=server,
client=client,
qos=policy)
def _parse_topic(element: etree._Element) -> Topic:
"""Parse a NoDL topic from an xml element."""
name = element.get('name')
message_type = element.get('type')
publisher = get_bool_attribute(element, 'publisher')
subscription = get_bool_attribute(element, 'subscription')
if not (publisher or subscription):
raise errors.AmbiguousTopicInterfaceError(element)
policy = _parse_qos(element.find('qos'))
return Topic(
name=name,
message_type=message_type,
publisher=publisher,
subscription=subscription,
qos=policy,
)
def _parse_service(element: etree._Element) -> Service:
"""Parse a NoDL service from an xml element."""
name = element.get('name')
service_type = element.get('type')
server = get_bool_attribute(element, 'server')
client = get_bool_attribute(element, 'client')
if not (server or client):
raise errors.AmbiguousServiceInterfaceError(element)
policy = _parse_qos(element.find('qos'))
return Service(
name=name,
service_type=service_type,
server=server,
client=client,
qos=policy,
)
def _parse_qos(element: etree._Element) -> qos.QoSProfile:
"""Populate a QoS Profile from a qos NoDL element."""
kwargs = {}
if element.get('history'):
try:
kwargs['history'] = qos.HistoryPolicy.get_from_short_key(
element.get('history'))
except KeyError:
raise errors.InvalidQOSAttributeValueError('history', element)
if element.get('reliability'):
try:
kwargs['reliability'] = qos.ReliabilityPolicy.get_from_short_key(
element.get('reliability'))
except KeyError:
raise errors.InvalidQOSAttributeValueError('reliability', element)
if element.get('durability'):
try:
kwargs['durability'] = qos.DurabilityPolicy.get_from_short_key(
element.get('durability', element))
except KeyError:
raise errors.InvalidQOSAttributeValueError('durability', element)
if element.get('depth'):
kwargs['depth'] = int(element.get('depth'))
if element.get('lifespan'):
kwargs['lifespan'] = Duration(
nanoseconds=float(element.get('lifespan')))
if element.get('deadline'):
kwargs['deadline'] = Duration(
nanoseconds=float(element.get('lifespan')))
if element.get('liveliness'):
try:
kwargs['liveliness'] = qos.LivelinessPolicy.get_from_short_key(
element.get('liveliness'))
except KeyError:
raise errors.InvalidQOSAttributeValueError('liveliness', element)
if element.get('liveliness_lease_duration'):
kwargs['liveliness_lease_duration'] = Duration(
nanoseconds=float(element.get('liveliness_lease_duration')))
if element.get('avoid_ros_namespace_conventions'):
kwargs['avoid_ros_namespace_conventions'] = get_bool_attribute(
element, 'avoid_ros_namespace_conventions')
try:
return qos.QoSProfile(**kwargs)
except qos.InvalidQoSProfileException as e:
raise errors.InvalidQosProfileError(e, element) from e
def test_get_bool_attribute_except(mocker):
foo = etree.Element('foo', {'bar': 'true'})
assert get_bool_attribute(foo, 'bar')
foo.set('bar', 'false')
assert not get_bool_attribute(foo, 'bar')