add WString support

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

rosidl_generator_py/CMakeLists.txt

@@ -43,6 +43,7 @@ if(BUILD_TESTING)
     #"msg/Uint64.msg"
     #"msg/Uint8.msg"
     "msg/Various.msg"
+    "msg/WStrings.msg"
   )
 
   include(cmake/register_py.cmake)

rosidl_generator_py/resource/_msg_support.c.em

@@ -15,9 +15,12 @@ from rosidl_parser.definition import NamespacedType
 def primitive_msg_type_to_c(type_):
     from rosidl_generator_c import BASIC_IDL_TYPES_TO_C
     from rosidl_parser.definition import AbstractString
+    from rosidl_parser.definition import AbstractWString
     from rosidl_parser.definition import BasicType
     if isinstance(type_, AbstractString):
         return 'rosidl_generator_c__String'
+    if isinstance(type_, AbstractWString):
+        return 'rosidl_generator_c__U16String'
     assert isinstance(type_, BasicType)
     return BASIC_IDL_TYPES_TO_C[type_.typename]
 
@@ -262,6 +265,13 @@ nested_type = '__'.join(type_.namespaced_name())
       Py_DECREF(field);
       return false;
     }
+@[      elif isinstance(member.type.value_type, AbstractWString)]@
+    if (!rosidl_generator_c__U16String__Sequence__init(&(ros_message->@(member.name)), size)) {
+      PyErr_SetString(PyExc_RuntimeError, "unable to create U16String__Sequence ros_message");
+      Py_DECREF(seq_field);
+      Py_DECREF(field);
+      return false;
+    }
 @[      else]@
     if (!rosidl_generator_c__@(member.type.value_type.typename)__Sequence__init(&(ros_message->@(member.name)), size)) {
       PyErr_SetString(PyExc_RuntimeError, "unable to create @(member.type.value_type.typename)__Sequence ros_message");
@@ -309,6 +319,31 @@ nested_type = '__'.join(type_.namespaced_name())
       }
       rosidl_generator_c__String__assign(&dest[i], PyBytes_AS_STRING(encoded_item));
       Py_DECREF(encoded_item);
+@[    elif isinstance(member.type.value_type, AbstractWString)]@
+      assert(PyUnicode_Check(item));
+      // the returned string starts with a BOM mark
+      PyObject * encoded_item = PyUnicode_AsUTF16String(item);
+      if (!encoded_item) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      char * buffer;
+      Py_ssize_t length;
+      int rc = PyBytes_AsStringAndSize(encoded_item, &buffer, &length);
+      if (rc) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      // use offset of 2 to skip BOM mark
+      bool succeeded = rosidl_generator_c__U16String__assignn_from_char(&dest[i], buffer + 2, length - 2);
+      if (!succeeded) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      Py_DECREF(encoded_item);
 @[    elif isinstance(member.type.value_type, BasicType) and member.type.value_type.typename == 'boolean']@
       assert(PyBool_Check(item));
       @primitive_msg_type_to_c(member.type.value_type) tmp = (item == Py_True);
@@ -370,6 +405,28 @@ nested_type = '__'.join(type_.namespaced_name())
     }
     rosidl_generator_c__String__assign(&ros_message->@(member.name), PyBytes_AS_STRING(encoded_field));
     Py_DECREF(encoded_field);
+@[  elif isinstance(member.type, AbstractWString)]@
+    assert(PyUnicode_Check(field));
+    // the returned string starts with a BOM mark
+    PyObject * encoded_field = PyUnicode_AsUTF16String(field);
+    if (!encoded_field) {
+      Py_DECREF(field);
+      return false;
+    }
+    char * buffer;
+    Py_ssize_t length;
+    int rc = PyBytes_AsStringAndSize(encoded_field, &buffer, &length);
+    if (rc) {
+      Py_DECREF(field);
+      return false;
+    }
+    // use offset of 2 to skip BOM mark
+    bool succeeded = rosidl_generator_c__U16String__assignn_from_char(&ros_message->@(member.name), buffer + 2, length - 2);
+    if (!succeeded) {
+      Py_DECREF(field);
+      return false;
+    }
+    Py_DECREF(encoded_field);
 @[  elif isinstance(member.type, BasicType) and member.type.typename == 'boolean']@
     assert(PyBool_Check(field));
     ros_message->@(member.name) = (Py_True == field);
@@ -560,6 +617,15 @@ nested_type = '__'.join(type_.namespaced_name())
       int rc = PyList_SetItem(field, i, decoded_item);
       (void)rc;
       assert(rc == 0);
+@[    elif isinstance(member.type.value_type, AbstractWString)]@
+      int byteorder = 0;
+      PyObject * decoded_item = PyUnicode_DecodeUTF16((const char *)src[i].data, src[i].size * sizeof(uint16_t), NULL, &byteorder);
+      if (!decoded_item) {
+        return NULL;
+      }
+      int rc = PyList_SetItem(field, i, decoded_item);
+      (void)rc;
+      assert(rc == 0);
 @[    elif isinstance(member.type.value_type, BasicType) and member.type.value_type.typename == 'boolean']@
 @# using PyBool_FromLong because PyList_SetItem will steal ownership of the passed item
       int rc = PyList_SetItem(field, i, PyBool_FromLong(src[i] ? 1 : 0));
@@ -614,6 +680,15 @@ nested_type = '__'.join(type_.namespaced_name())
     if (!field) {
       return NULL;
     }
+@[  elif isinstance(member.type, AbstractWString)]@
+    int byteorder = 0;
+    field = PyUnicode_DecodeUTF16(
+      (const char *)ros_message->@(member.name).data,
+      ros_message->@(member.name).size * sizeof(uint16_t),
+      NULL, &byteorder);
+    if (!field) {
+      return NULL;
+    }
 @[  elif isinstance(member.type, BasicType) and member.type.typename == 'boolean']@
 @# using PyBool_FromLong allows treating the variable uniformly by calling Py_DECREF on it later
     field = PyBool_FromLong(ros_message->@(member.name) ? 1 : 0);

rosidl_generator_py/rosidl_generator_py/generate_py_impl.py

@@ -21,9 +21,9 @@
 from rosidl_cmake import generate_files
 from rosidl_cmake import get_newest_modification_time
 from rosidl_cmake import read_generator_arguments
+from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
-from rosidl_parser.definition import AbstractString
 from rosidl_parser.definition import Array
 from rosidl_parser.definition import BasicType
 from rosidl_parser.definition import CHARACTER_TYPES
@@ -148,7 +148,7 @@ def value_to_py(type_, value, array_as_tuple=False):
 def primitive_value_to_py(type_, value):
     assert value is not None
 
-    if isinstance(type_, AbstractString):
+    if isinstance(type_, AbstractGenericString):
         return quoted_string(value)
 
     assert isinstance(type_, BasicType)
@@ -190,7 +190,7 @@ def constant_value_to_py(type_, value):
         if type_.typename in FLOATING_POINT_TYPES:
             return '%s' % value
 
-    if isinstance(type_, AbstractString):
+    if isinstance(type_, AbstractGenericString):
         return quoted_string(value)
 
     assert False, "unknown constant type '%s'" % type_
@@ -212,7 +212,7 @@ def get_python_type(type_):
     if isinstance(type_, NamespacedType):
         return type_.name
 
-    if isinstance(type_, AbstractString):
+    if isinstance(type_, AbstractGenericString):
         return 'str'
 
     if isinstance(type_, AbstractNestedType):

rosidl_generator_py/test/test_interfaces.py

@@ -22,6 +22,7 @@
 from rosidl_generator_py.msg import StringArrays
 from rosidl_generator_py.msg import Strings
 from rosidl_generator_py.msg import Various
+from rosidl_generator_py.msg import WStrings
 
 
 def test_strings():
@@ -31,6 +32,13 @@ def test_strings():
     assert 'Hello world!' == a.def_string
 
 
+def test_wstrings():
+    a = WStrings()
+
+    assert '' == a.empty_wstring
+    assert 'Hello world!' == a.def_wstring
+
+
 def test_arrays_of_bounded_strings():
     a = StringArrays()
     array_valid_string_length = ['a' * 2, 'b' * 3, 'c' * 4]
@@ -123,6 +131,22 @@ def test_default_values():
     with pytest.raises(AttributeError):
         setattr(Strings, 'DEF_STRING__DEFAULT', 'bar')
 
+    a = WStrings()
+
+    assert '' == a.empty_wstring
+    assert 'Hello world!' == a.def_wstring
+    a.def_wstring = 'Bye world'
+    assert 'Bye world' == a.def_wstring
+    assert 'Hello world!' == WStrings.DEF_WSTRING__DEFAULT
+    assert 'Hello world!' == a.DEF_WSTRING__DEFAULT
+
+    assert "Hello'world!" == a.DEF_WSTRING2__DEFAULT
+    assert 'Hello"world!' == a.DEF_WSTRING3__DEFAULT
+    assert "Hello'world!" == a.DEF_WSTRING4__DEFAULT
+    assert 'Hello"world!' == a.DEF_WSTRING5__DEFAULT
+    with pytest.raises(AttributeError):
+        setattr(WStrings, 'DEF_WSTRING__DEFAULT', 'bar')
+
     b = StringArrays()
     assert ['What', 'a', 'wonderful', 'world', '!'] == b.DEF_STRING_DYNAMIC_ARRAY_VALUE__DEFAULT
     assert ['Hello', 'World', '!'] == b.DEF_STRING_STATIC_ARRAY_VALUE__DEFAULT