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Fix ComposableNode ignoring PushRosNamespace actions (#162)
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| # Copyright 2020 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| """Module with utility functions for handling namespaces.""" | ||
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| from typing import Optional | ||
| from typing import Text | ||
| from typing import Type | ||
| from typing import TypeVar | ||
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| def is_root_namespace(ns: Text) -> bool: | ||
| """Return `True` if `ns` is `'/'`.""" | ||
| return ns == '/' | ||
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| def is_namespace_absolute(ns: Text) -> bool: | ||
| """Return `True` if `ns` is absolute.""" | ||
| return ns.startswith('/') | ||
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| def prefix_namespace( | ||
| base_ns: Optional[Text], | ||
| ns: Optional[Text], | ||
| ) -> Optional[Text]: | ||
| """ | ||
| Return `ns` prefixed with `base_ns` if `ns` is relative, return `ns` if not. | ||
| :param `base_ns`: Prefix to be added to `ns`. | ||
| :param `ns`: Namespace to be prefixed. | ||
| :return: `None` if both `base_ns` and `ns` are `None`, or | ||
| `base_ns` if `ns` is `None`, or | ||
| `ns` if `base_ns` is `None`, or | ||
| `ns` if `ns` is absolute, or | ||
| `ns` prefixed with `base_ns`. | ||
| In all cases, trailing `/` are stripped from the result. | ||
| ## Examples: | ||
| ```python3 | ||
| combined_ns = prefix_namespace('my_ns', 'original_ns') | ||
| assert combined_ns == 'my_ns/original_ns' | ||
| combined_ns = prefix_namespace('/my_ns', 'original_ns') | ||
| assert combined_ns == '/my_ns/original_ns' | ||
| combined_ns = prefix_namespace('my_ns', '/original_ns') | ||
| assert combined_ns == '/original_ns' | ||
| combined_ns = prefix_namespace(None, 'original_ns') | ||
| assert combined_ns == 'original_ns' | ||
| combined_ns = prefix_namespace('my_ns', None) | ||
| assert combined_ns == 'my_ns' | ||
| ``` | ||
| """ | ||
| combined_ns: Optional[Text] = None | ||
| if base_ns is not None or ns is not None: | ||
| if ns is None: | ||
| combined_ns = base_ns | ||
| elif not base_ns or is_namespace_absolute(ns): | ||
| combined_ns = ns | ||
| else: | ||
| if is_root_namespace(base_ns): | ||
| base_ns = '' | ||
| combined_ns = ( | ||
| base_ns + '/' + ns | ||
| ) | ||
| if not is_root_namespace(combined_ns): | ||
| combined_ns = combined_ns.rstrip('/') | ||
| return combined_ns | ||
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| OptionalText = TypeVar('OptionalText', Text, Type[None]) | ||
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| def make_namespace_absolute(ns: OptionalText) -> OptionalText: | ||
| """Make a relative namespace absolute.""" | ||
| if ns is None: | ||
| return None | ||
| if not is_namespace_absolute(ns): | ||
| return '/' + ns | ||
| return ns |
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