def test_import_namespaced_type():
fixture_namespaced_type = NamespacedType(['test_msgs', 'msg'], 'Empty')
imported_message = import_message_from_namespaced_type(fixture_namespaced_type)
assert type(imported_message) == type(Empty)
not_namespaced_type = UnboundedSequence(fixture_namespaced_type)
assert not isinstance(not_namespaced_type, NamespacedType)
assert isinstance(not_namespaced_type, AbstractNestedType)
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always')
imported_message2 = import_message_from_namespaced_type(not_namespaced_type)
assert len(w) == 1
assert issubclass(w[0].category, DeprecationWarning)
assert type(imported_message2) == type(Empty)
def set_message_fields(msg: Any, values: Dict[str, str]) -> None:
"""
Set the fields of a ROS message.
:param msg: The ROS message to populate.
:param values: The values to set in the ROS message. The keys of the dictionary represent
fields of the message.
:raises AttributeError: If the message does not have a field provided in the input dictionary.
:raises ValueError: If a message value does not match its field type.
"""
for field_name, field_value in values.items():
field = getattr(msg, field_name)
field_type = type(field)
if field_type is array.array:
value = field_type(field.typecode, field_value)
elif type(field_value) is field_type:
value = field_value
else:
try:
value = field_type(field_value)
except TypeError:
value = field_type()
set_message_fields(value, field_value)
rosidl_type = get_message_slot_types(msg)[field_name]
# Check if field is an array of ROS messages
if isinstance(rosidl_type, AbstractNestedType):
if isinstance(rosidl_type.value_type, NamespacedType):
field_elem_type = import_message_from_namespaced_type(
rosidl_type)
for n in range(len(value)):
submsg = field_elem_type()
set_message_fields(submsg, value[n])
value[n] = submsg
setattr(msg, field_name, value)
def get_action(identifier: Text):
"""Get a message from its full name."""
interface = import_message_from_namespaced_type(
get_action_namespaced_type(identifier))
if not is_action(interface):
raise ValueError(
"Expected the full name of an action, got '{}'".format(identifier))
return interface
def get_interface(identifier: Text):
"""Get an interface from its full name."""
return import_message_from_namespaced_type(get_namespaced_type(identifier))
def test_import_namespaced_type_feedback_message():
feedback_namespaced_type = NamespacedType(['test_msgs', 'action'],
'Fibonacci_FeedbackMessage')
imported_message = import_message_from_namespaced_type(
feedback_namespaced_type)
assert type(imported_message) == type(Fibonacci_FeedbackMessage)
def test_get_namespaced_type_functions(config):
message = import_message_from_namespaced_type(
config.to_namespaced_type_function(config.path))
assert message is config.object_type
assert config.is_function(message)