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Fix byte behavior #693

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merged 4 commits into from
Dec 10, 2021
Merged

Fix byte behavior #693

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b91f147
Enable byte tests in test_message_conversion.py
Dec 10, 2021
2ac810f
Fix byte to octet
Sep 23, 2021
b960277
Convert to bytes if octet is given
Sep 23, 2021
609cede
Convert octet to int in _from_inst
Sep 24, 2021
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13 changes: 11 additions & 2 deletions rosbridge_library/src/rosbridge_library/internal/message_conversion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@
"bool": ["bool", "boolean"],
"int": [
"int8",
"byte",
"octet",
"uint8",
"char",
"int16",
Expand All @@ -74,7 +74,7 @@
ros_primitive_types = [
"bool",
"boolean",
"byte",
"octet",
"char",
"int8",
"uint8",
Expand Down Expand Up @@ -223,6 +223,11 @@ def _from_inst(inst, rostype):
if (not bson_only_mode) and (rostype in type_map.get("float")):
if math.isnan(inst) or math.isinf(inst):
return None

# JSON does not support byte array. They are converted to int
if (not bson_only_mode) and (rostype == "octet"):
return int.from_bytes(inst, "little")

return inst

# Check if it's a list or tuple
Expand Down Expand Up @@ -326,6 +331,10 @@ def _to_primitive_inst(msg, rostype, roottype, stack):
# fix that by casting the int to the expected float
msg = float(msg)

# Convert to byte
if rostype == "octet" and isinstance(msg, int):
return bytes([msg])

msgtype = type(msg)
if msgtype in primitive_types and rostype in type_map[msgtype.__name__]:
return msg
Expand Down
2 changes: 0 additions & 2 deletions rosbridge_library/test/internal/test_message_conversion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,6 @@ def test_int_primitives(self):
self.assertEqual(c._to_primitive_inst(msg, rostype, rostype, []), msg)
self.assertEqual(c._to_inst(msg, rostype, rostype), msg)

@unittest.skip
def test_byte_primitives(self):
# Test raw primitives
for msg in range(0, 200):
Expand Down Expand Up @@ -172,7 +171,6 @@ def test_unsigned_int_base_msgs(self):
self.assertRaises(Exception, self.do_primitive_test, int64, "std_msgs/UInt16")
self.assertRaises(Exception, self.do_primitive_test, int64, "std_msgs/UInt32")

@unittest.skip
def test_byte_base_msg(self):
int8s = range(0, 256)
for int8 in int8s:
Expand Down