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Add ROS2 array ("sequence<X>") support #39

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Add ROS2 array ("sequence<X>") support #39

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4194751
Remove pycache from gitignore
egordon Apr 11, 2023
8cd2bc5
Actually handle sequence<X> and other arrays
egordon Apr 11, 2023
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
__pycache__/
33 changes: 23 additions & 10 deletions src/rqt_publisher/publisher.py
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Expand Up @@ -229,13 +229,24 @@ def _change_publisher_expression(self, publisher_info, topic_name, new_value):
slot_path, slot_array_index = self._extract_array_info(slot_path)

# Get the property type from the message class
slot_type, is_array = \
get_slot_type(publisher_info['message_instance'].__class__, slot_path)
if slot_array_index is not None:
is_array = False

if is_array:
### Currently get_slot_type doesn't handle arrays
field_name = [f for f in slot_path.split('/') if f][0]
field_type = publisher_info['message_instance'].__class__\
.get_fields_and_field_types()[field_name]
if field_type == "sequence<string>":
slot_type = list
elif field_type.startswith("sequence"):
slot_type = array.array
else:
### Normal handling
slot_type, is_array = \
get_slot_type(publisher_info['message_instance'].__class__, slot_path)
if slot_array_index is not None:
is_array = False

if is_array:
slot_type = list

# strip possible trailing error message from expression
error_prefix = '# error'
error_prefix_pos = expression.find(error_prefix)
Expand Down Expand Up @@ -303,7 +314,8 @@ def _evaluate_expression(self, expression, slot_type):
successful_eval = True
try:
# try to evaluate expression
value = eval(expression, {}, self._eval_locals)
# make sure to allow definition of array types
value = eval(expression, {"array": array.array}, self._eval_locals)
except Exception as e:
qWarning('Python eval failed for expression "{}"'.format(expression) +
' with an exception "{}"'.format(e))
Expand All @@ -317,6 +329,10 @@ def _evaluate_expression(self, expression, slot_type):
value = str(expression)
successful_eval = True

## Return if value is correct type
if successful_eval and isinstance(value, slot_type):
return True, value
## If not, check if value is in correct type group
elif successful_eval:
type_set = set((slot_type, type(value)))
# check if value's type and slot_type belong to the same type group, i.e. array types,
Expand All @@ -325,9 +341,6 @@ def _evaluate_expression(self, expression, slot_type):
if type_set <= set(_list_types) or type_set <= set(_numeric_types):
# convert to the right type
value = slot_type(value)

if successful_eval and isinstance(value, slot_type):
return True, value
else:
qWarning('Publisher._evaluate_expression(): failed to evaluate ' +
'expression: "%s" as Python type "%s"' % (
Expand Down