✨ readd Attribute.msg

ros_typedb/ros_typedb/ros_typedb_interface.py

@@ -17,7 +17,6 @@
 import ros_typedb_msgs
 
 from rcl_interfaces.msg import ParameterValue
-from rcl_interfaces.msg import Parameter
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.lifecycle import Node
@@ -26,6 +25,7 @@
 
 from ros_typedb.typedb_interface import MatchResultDict
 from ros_typedb.typedb_interface import TypeDBInterface
+from ros_typedb_msgs.msg import Attribute
 from ros_typedb_msgs.msg import QueryResult
 from ros_typedb_msgs.srv import Query
 
@@ -85,8 +85,9 @@ def fetch_query_result_to_ros_msg(
     for result in query_result:
         _result = QueryResult()
         for key, value_dict in result.items():
-            _attr = Parameter()
+            _attr = Attribute()
             _attr.name = key
+            _attr.label = value_dict.get('type').get('label')
             if 'value' in value_dict:
                 _attr.value = set_query_result_value(
                     value_dict.get('value'),
@@ -112,8 +113,9 @@ def get_query_result_to_ros_msg(
         for variable in _variables:
             if result.get(variable).is_attribute():
                 _typedb_attr = result.get(variable).as_attribute()
-                _attr = Parameter()
+                _attr = Attribute()
                 _attr.name = variable
+                _attr.label = _typedb_attr.get_type().get_label().name
                 _attr.value = set_query_result_value(
                     _typedb_attr.get_value(),
                     str(_typedb_attr.get_type().get_value_type()))
@@ -132,7 +134,7 @@ def get_aggregate_query_result_to_ros_msg(
     :return: converted query response.
     """
     response = Query.Response()
-    _attr = Parameter()
+    _attr = Attribute()
     _attr.value = set_query_result_value(
         query_result,
         type(query_result).__name__)

ros_typedb/test/test_ros_typedb_interface.py

@@ -243,16 +243,19 @@ def test_ros_typedb_fetch_query_attribute(insert_query):
         correct_date = False
         for result in query_res.results:
             for r in result.attributes:
-                if r.name == 'nick' and r.value.string_value == 'test':
+                if r.name == 'nick' and r.label == 'nickname' and \
+                   r.value.string_value == 'test':
                     correct_nick = True
-                if r.name == 'age' and r.value.integer_value == 33:
+                if r.name == 'age' and r.label == 'age' and \
+                   r.value.integer_value == 33:
                     correct_age = True
-                if r.name == 'height' and r.value.double_value == 1.75:
+                if r.name == 'height' and r.label == 'height' and \
+                   r.value.double_value == 1.75:
                     correct_height = True
-                if r.name == 'alive' and \
+                if r.name == 'alive' and r.label == 'alive' and \
                    r.value.bool_value is True:
                     correct_alive = True
-                if r.name == 'date' and \
+                if r.name == 'date' and r.label == 'birth-date' and \
                    r.value.string_value == '1990-06-01T00:00:00.000':
                     correct_date = True
 
@@ -285,9 +288,10 @@ def test_ros_typedb_get_query(insert_query):
         correct_name = False
         correct_email = False
         for r in query_res.results[0].attributes:
-            if r.name == 'name' and r.value.string_value == 'Ahmed Frazier':
+            if r.name == 'name' and r.label == 'full-name' \
+               and r.value.string_value == 'Ahmed Frazier':
                 correct_name = True
-            if r.name == 'email' and \
+            if r.name == 'email' and r.label == 'email' and \
                r.value.string_value == 'ahmed.frazier@gmail.com':
                 correct_email = True
 

ros_typedb_msgs/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(rcl_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Attribute.msg"
   "msg/QueryResult.msg"
   "srv/Query.srv"
   DEPENDENCIES std_msgs rcl_interfaces

ros_typedb_msgs/msg/QueryResult.msg

@@ -1 +1 @@
-rcl_interfaces/Parameter[] attributes
+ros_typedb_msgs/Attribute[] attributes