From 7b5c20907375400cf4db6993a13238e86b38acf3 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Thu, 20 Jan 2022 08:53:40 +0100
Subject: [PATCH] Fix resolving of properties declared and used in/from a
 namespace (#306)

This is a follow-up of #297, which resolved a corresponding issue for macro names only.
As we have separate dicts for macros and symbols, we need to resolve both of them.
---
 src/xacro/__init__.py | 15 ++++++++-------
 test/include3.xacro   |  8 ++++++++
 test/inner.xacro      |  5 +++++
 test/test_xacro.py    | 18 ++++++++++++------
 4 files changed, 33 insertions(+), 13 deletions(-)
 create mode 100644 test/include3.xacro
 create mode 100644 test/inner.xacro

diff --git a/src/xacro/__init__.py b/src/xacro/__init__.py
index 28a139e..666f7d4 100644
--- a/src/xacro/__init__.py
+++ b/src/xacro/__init__.py
@@ -848,23 +848,24 @@ def handle_dynamic_macro_call(node, macros, symbols):
         raise XacroException("unknown macro name '%s' in xacro:call" % name)
 
 
-def resolve_macro(fullname, macros):
+def resolve_macro(fullname, macros, symbols):
     # split name into namespaces and real name
     namespaces = fullname.split('.')
     name = namespaces.pop(-1)
 
-    def _resolve(namespaces, name, macros):
-        # traverse namespaces to actual macros dict
+    def _resolve(namespaces, name, macros, symbols):
+        # traverse namespaces to actual macros+symbols dicts
         for ns in namespaces:
             macros = macros[ns]
-        return macros, macros[name]
+            symbols = symbols[ns]
+        return macros, symbols, macros[name]
 
     # try fullname and (namespaces, name) in this order
     try:
-        return _resolve([], fullname, macros)
+        return _resolve([], fullname, macros, symbols)
     except KeyError:
         if namespaces:
-            return _resolve(namespaces, name, macros)
+            return _resolve(namespaces, name, macros, symbols)
         else:
             raise
 
@@ -878,7 +879,7 @@ def handle_macro_call(node, macros, symbols):
         return False
 
     try:
-        macros, m = resolve_macro(name, macros)
+        macros, symbols, m = resolve_macro(name, macros, symbols)
         if name is node.tagName:  # no xacro prefix provided?
             deprecated_tag(name)
         body = m.body.cloneNode(deep=True)
diff --git a/test/include3.xacro b/test/include3.xacro
new file mode 100644
index 0000000..bb4f92e
--- /dev/null
+++ b/test/include3.xacro
@@ -0,0 +1,8 @@
+<a xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<xacro:include filename="./inner.xacro" />
+	<xacro:property name="var" value="3"/>
+	<xacro:macro name="foo">
+		<xacro:element xacro:name="inc${var}" included="${included}"/>
+		<xacro:included/>
+	</xacro:macro>
+</a>
diff --git a/test/inner.xacro b/test/inner.xacro
new file mode 100644
index 0000000..fef4e2a
--- /dev/null
+++ b/test/inner.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<defs xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<xacro:property name="included" value="inner" />
+	<xacro:macro name="included"><inner/></xacro:macro>
+</defs>
diff --git a/test/test_xacro.py b/test/test_xacro.py
index 17d617f..baa7f49 100644
--- a/test/test_xacro.py
+++ b/test/test_xacro.py
@@ -260,17 +260,17 @@ def test_is_valid_name(self):
         self.assertFalse(xacro.is_valid_name('invalid.too'))  # dot separates fields
 
     def test_resolve_macro(self):
-        # define three nested macro dicts with the same macro names (keys)
+        # define three nested dicts with the same names (keys)
         content = {'simple': 'simple'}
         ns2 = dict({k: v + '2' for k, v in content.items()})
         ns1 = dict({k: v + '1' for k, v in content.items()})
         ns1.update(ns2=ns2)
-        macros = dict(content)
-        macros.update(ns1=ns1)
+        ns = dict(content)
+        ns.update(ns1=ns1)
 
-        self.assertEqual(xacro.resolve_macro('simple', macros), (macros, 'simple'))
-        self.assertEqual(xacro.resolve_macro('ns1.simple', macros), (ns1, 'simple1'))
-        self.assertEqual(xacro.resolve_macro('ns1.ns2.simple', macros), (ns2, 'simple2'))
+        self.assertEqual(xacro.resolve_macro('simple', ns, ns), (ns, ns, 'simple'))
+        self.assertEqual(xacro.resolve_macro('ns1.simple', ns, ns), (ns1, ns1, 'simple1'))
+        self.assertEqual(xacro.resolve_macro('ns1.ns2.simple', ns, ns), (ns2, ns2, 'simple2'))
 
     def check_macro_arg(self, s, param, forward, default, rest):
         p, v, r = xacro.parse_macro_arg(s)
@@ -1285,6 +1285,12 @@ def test_include_from_macro(self):
         res = '''<a><inc1/><inc1/><subdir_inc1/><subdir_inc1/></a>'''
         self.assert_matches(self.quick_xacro(src), res)
 
+    def test_namespace_propagation(self):
+        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">
+          <xacro:include filename="include3.xacro" ns="C"/><xacro:C.foo/></a>'''
+        res = '''<a><inc3 included="inner"/><inner/></a>'''
+        self.assert_matches(self.quick_xacro(src), res)
+
     def test_dotify(self):
         src = '''
     <a xmlns:xacro="http://www.ros.org/xacro">