added support for buffer / memoryview data

ros · Nov 25, 2022 · 15fff13 · 15fff13
1 parent d329672
commit 15fff13
Showing 1 changed file with 19 additions and 8 deletions.
diff --git a/src/genpy/generator.py b/src/genpy/generator.py
@@ -77,6 +77,7 @@
 from . generate_struct import pack
 from . generate_struct import pack2
 from . generate_struct import reduce_pattern
+from . generate_struct import serialize as serializeit
 from . generate_struct import unpack
 from . generate_struct import unpack2
 from . generate_struct import unpack3
@@ -471,15 +472,25 @@ def string_serializer_generator(package, type_, name, serialize):  # noqa: D401
         if base_type in ['uint8', 'char']:
             yield '# - if encoded as a list instead, serialize as bytes instead of string'
             if array_len is None:
-                yield 'if type(%s) in [list, tuple]:' % var
-                yield INDENT+pack2("'<I%sB'%length", 'length, *%s' % var)
-                yield 'else:'
-                yield INDENT+pack2("'<I%ss'%length", 'length, %s' % var)
+                yield 'try:'
+                yield INDENT+'tmp = memoryview(%s) if python3 else buffer(%s)' % (var, var)
+                yield INDENT+pack2("'<I'", "tmp.nbytes if python3 else len(tmp)")
+                yield INDENT+serializeit('tmp')
+                yield 'except Exception:'
+                yield INDENT+'if type(%s) in [list, tuple]:' % var
+                yield INDENT+INDENT+pack2("'<I%sB'%length", 'length, *%s' % var)
+                yield INDENT+'else:'
+                yield INDENT+INDENT+pack2("'<I%ss'%length", 'length, %s' % var)
             else:
-                yield 'if type(%s) in [list, tuple]:' % var
-                yield INDENT+pack('%sB' % array_len, '*%s' % var)
-                yield 'else:'
-                yield INDENT+pack('%ss' % array_len, var)
+                yield 'try:'
+                yield INDENT+'tmp = memoryview(%s)[:%s] if python3 else buffer(%s, 0, %s)' % (
+                    var, array_len, var, array_len)
+                yield INDENT+serializeit('tmp')
+                yield 'except Exception:'
+                yield INDENT+'if type(%s) in [list, tuple]:' % var
+                yield INDENT+INDENT+pack('%sB' % array_len, '*%s' % var)
+                yield INDENT+'else:'
+                yield INDENT+INDENT+pack('%ss' % array_len, var)
         else:
             # FIXME: for py3k, this needs to be w/ encode(), but this interferes with actual byte data
             yield 'if python3 or type(%s) == unicode:' % (var)