Adding interfaces to support @key annotation (#796)

Signed-off-by: Mario Dominguez <[email protected]>
Signed-off-by: Miguel Company <[email protected]>
Co-authored-by: Mario Dominguez <[email protected]>

rosidl_parser/rosidl_parser/definition.py

@@ -508,6 +508,16 @@ def __init__(self, namespaced_type: NamespacedType, members=None):
         self.namespaced_type = namespaced_type
         self.members = members or []
 
+    def has_any_member_with_annotation(self, name: str):
+        """
+        Check whether any member has a particular annotation.
+
+        :param str name: the name of the annotation
+        :returns: True if there is at least one member with the annotation, False otherwise
+        """
+        has_any = [member.name for member in self.members if member.has_annotation(name)]
+        return bool(has_any)
+
 
 class Include:
     """An include statement."""

rosidl_parser/test/test_parser.py

@@ -203,23 +203,27 @@ def test_message_parser_annotations(message_idl_file):
     assert structure.annotations[1].value == 'SHMEM_REF'
 
     assert len(structure.members[2].annotations) == 1
+    assert structure.has_any_member_with_annotation('autoid') is False
 
     assert structure.members[2].annotations[0].name == 'default'
     assert len(structure.members[2].annotations[0].value) == 1
     assert 'value' in structure.members[2].annotations[0].value
     assert structure.members[2].annotations[0].value['value'] == 123
+    assert structure.has_any_member_with_annotation('default')
 
     assert len(structure.members[3].annotations) == 2
 
     assert structure.members[3].annotations[0].name == 'key'
     assert structure.members[3].annotations[0].value is None
+    assert structure.has_any_member_with_annotation('key')
 
     assert structure.members[3].annotations[1].name == 'range'
     assert len(structure.members[3].annotations[1].value) == 2
     assert 'min' in structure.members[3].annotations[1].value
     assert structure.members[3].annotations[1].value['min'] == -10
     assert 'max' in structure.members[3].annotations[1].value
     assert structure.members[3].annotations[1].value['max'] == 10
+    assert structure.has_any_member_with_annotation('range')
 
     assert isinstance(structure.members[32].type, BasicType)
     assert structure.members[32].type.typename == 'float'

rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h

@@ -39,6 +39,8 @@ typedef struct rosidl_typesupport_introspection_c__MessageMember_s
   /// If the type_id_ value is rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,
   /// this points to an array describing the fields of the sub-interface.
   const rosidl_message_type_support_t * members_;
+  /// True if this field is annotated as `@key`, false otherwise.
+  bool is_key_;
   /// True if this field is an array type, false if it is any other type. An
   /// array has the same value for / type_id_.
   bool is_array_;
@@ -90,6 +92,8 @@ typedef struct rosidl_typesupport_introspection_c__MessageMembers_s
   uint32_t member_count_;
   /// The size of the interface structure in memory
   size_t size_of_;
+  /// A boolean value indicating if there are any members annotated as `@key` in the structure.
+  bool has_any_key_member_;
   /// A pointer to the array that describes each field of the interface
   const rosidl_typesupport_introspection_c__MessageMember * members_;
   /// The function used to initialise the interface's in-memory representation

rosidl_typesupport_introspection_c/resource/msg__type_support.c.em

@@ -238,6 +238,8 @@ for index, member in enumerate(message.structure.members):
         print('    0,  // upper bound of string')
         # const rosidl_message_type_support_t * members_
         print('    NULL,  // members of sub message (initialized later)')
+    # bool is_key_
+    print('    %s,  // is key' % ('true' if member.has_annotation('key') else 'false'))
     # bool is_array_
     print('    %s,  // is array' % ('true' if isinstance(member.type, AbstractNestedType) else 'false'))
     # size_t array_size_
@@ -276,6 +278,11 @@ static const rosidl_typesupport_introspection_c__MessageMembers @(function_prefi
   "@(message.structure.namespaced_type.name)",  // message name
   @(len(message.structure.members)),  // number of fields
   sizeof(@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))),
+@[  if message.structure.has_any_member_with_annotation('key') ]@
+  true,  // has_any_key_member_
+@[  else]@
+  false,  // has_any_key_member_
+@[  end if]@
   @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array,  // message members
   @(function_prefix)__@(message.structure.namespaced_type.name)_init_function,  // function to initialize message memory (memory has to be allocated)
   @(function_prefix)__@(message.structure.namespaced_type.name)_fini_function  // function to terminate message instance (will not free memory)

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp

@@ -41,6 +41,8 @@ typedef struct ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC MessageMember_s
   /// If the type_id_ value is rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE
   /// this points to an array describing the fields of the sub-interface.
   const rosidl_message_type_support_t * members_;
+  /// True if this field is annotated as `@key`, false otherwise.
+  bool is_key_;
   /// True if this field is an array, false if it is a unary type. An array has the same value for
   /// type_id_.
   bool is_array_;
@@ -97,6 +99,8 @@ typedef struct ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC MessageMembers_s
   uint32_t member_count_;
   /// The size of the interface structure in memory
   size_t size_of_;
+  /// A boolean value indicating if there are any members annotated as `@key` in the structure.
+  bool has_any_key_member_;
   /// A pointer to the array that describes each field of the interface
   const MessageMember * members_;
   /// The function used to initialise the interface's in-memory representation

rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em

@@ -204,6 +204,8 @@ for index, member in enumerate(message.structure.members):
         print('    0,  // upper bound of string')
         # const rosidl_message_type_support_t * members_
         print('    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<%s>(),  // members of sub message' % '::'.join(type_.namespaced_name()))
+    # bool is_key_
+    print('    %s,  // is key' % ('true' if member.has_annotation('key') else 'false'))
     # bool is_array_
     print('    %s,  // is array' % ('true' if isinstance(member.type, AbstractNestedType) else 'false'))
     # size_t array_size_
@@ -242,6 +244,11 @@ static const ::rosidl_typesupport_introspection_cpp::MessageMembers @(message.st
   "@(message.structure.namespaced_type.name)",  // message name
   @(len(message.structure.members)),  // number of fields
   sizeof(@('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))),
+@[  if message.structure.has_any_member_with_annotation('key') ]@
+  true,  // has_any_key_member_
+@[  else]@
+  false,  // has_any_key_member_
+@[  end if]@
   @(message.structure.namespaced_type.name)_message_member_array,  // message members
   @(message.structure.namespaced_type.name)_init_function,  // function to initialize message memory (memory has to be allocated)
   @(message.structure.namespaced_type.name)_fini_function  // function to terminate message instance (will not free memory)