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Refactor Check Fields into helper function #246

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Refactor Check Fields into helper function #246

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a141272
test
InvincibleRMC Feb 1, 2026
85ec905
move check fields generatoin into generate_py_impl
InvincibleRMC Feb 1, 2026
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157 changes: 2 additions & 155 deletions rosidl_generator_py/resource/_msg.py.em
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ from rosidl_generator_py.generate_py_impl import get_type_annotation_default
from rosidl_generator_py.generate_py_impl import get_setter_and_getter_type
from rosidl_generator_py.generate_py_impl import SPECIAL_NESTED_BASIC_TYPES
from rosidl_generator_py.generate_py_impl import value_to_py
from rosidl_generator_py.generate_py_impl import generate_check_fields
from rosidl_parser.definition import AbstractGenericString
from rosidl_parser.definition import AbstractNestedType
from rosidl_parser.definition import AbstractSequence
Expand Down Expand Up @@ -504,161 +505,7 @@ if isinstance(member.type, (Array, AbstractSequence)):
' please use a subclass of collections.abc.Sequence like list',
DeprecationWarning)
@[ end if]@
if self._check_fields:
@[ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
@[ if isinstance(member.type, Array)]@
if isinstance(value, numpy.ndarray):
assert value.dtype == @(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype']), \
"The '@(member.name)' numpy.ndarray() must have the dtype of '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype'])'"
assert value.size == @(member.type.size), \
"The '@(member.name)' numpy.ndarray() must have a size of @(member.type.size)"
self._@(member.name) = value
return
@[ elif isinstance(member.type, AbstractSequence)]@
if isinstance(value, array.array):
assert value.typecode == '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])', \
"The '@(member.name)' array.array() must have the type code of '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])'"
@[ if isinstance(member.type, BoundedSequence)]@
assert len(value) <= @(member.type.maximum_size), \
"The '@(member.name)' array.array() must have a size <= @(member.type.maximum_size)"
@[ end if]@
self._@(member.name) = value
return
@[ end if]@
@[ end if]@
@[ if isinstance(type_, NamespacedType)]@
@[ if (
type_.name.endswith(ACTION_GOAL_SUFFIX) or
type_.name.endswith(ACTION_RESULT_SUFFIX) or
type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
)]@
from @('.'.join(type_.namespaces))._@(convert_camel_case_to_lower_case_underscore(type_.name.rsplit('_', 1)[0])) import @(type_.name)
@[ else]@
from @('.'.join(type_.namespaces)) import @(type_.name)
@[ end if]@
@[ end if]@
@[ if isinstance(member.type, AbstractNestedType)]@
from collections.abc import Sequence
from collections import UserString
@[ elif isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
from collections import UserString
@[ elif isinstance(type_, BasicType) and type_.typename in CHARACTER_TYPES]@
from collections import UserString
@[ end if]@
assert \
@[ if isinstance(member.type, AbstractNestedType)]@
((isinstance(value, Sequence) or
isinstance(value, Set)) and
not isinstance(value, str) and
not isinstance(value, UserString) and
@{assert_msg_suffixes = ['sequence']}@
@[ if isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
all(len(val) <= @(type_.maximum_size) for val in value) and
@{assert_msg_suffixes.append('and each string value not longer than %d' % type_.maximum_size)}@
@[ end if]@
@[ if isinstance(member.type, (Array, BoundedSequence))]@
@[ if isinstance(member.type, BoundedSequence)]@
len(value) <= @(member.type.maximum_size) and
@{assert_msg_suffixes.insert(1, 'with length <= %d' % member.type.maximum_size)}@
@[ else]@
len(value) == @(member.type.size) and
@{assert_msg_suffixes.insert(1, 'with length %d' % member.type.size)}@
@[ end if]@
@[ end if]@
all(isinstance(v, @(get_python_type(type_))) for v in value) and
@{assert_msg_suffixes.append("and each value of type '%s'" % get_python_type(type_))}@
@[ if isinstance(type_, BasicType) and type_.typename in SIGNED_INTEGER_TYPES]@
@{
nbits = int(type_.typename[3:])
bound = 2**(nbits - 1)
}@
all(val >= -@(bound) and val < @(bound) for val in value)), \
@{assert_msg_suffixes.append('and each integer in [%d, %d]' % (-bound, bound - 1))}@
@[ elif isinstance(type_, BasicType) and type_.typename in UNSIGNED_INTEGER_TYPES]@
@{
nbits = int(type_.typename[4:])
bound = 2**nbits
}@
all(val >= 0 and val < @(bound) for val in value)), \
@{assert_msg_suffixes.append('and each unsigned integer in [0, %d]' % (bound - 1))}@
@[ elif isinstance(type_, BasicType) and type_.typename == 'char']@
all(ord(val) >= 0 and ord(val) < 256 for val in value)), \
@{assert_msg_suffixes.append('and each char in [0, 255]')}@
@[ elif isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES]@
@[ if type_.typename == "float"]@
@{
name = "float"
bound = 3.402823466e+38
}@
all(not (val < -@(bound) or val > @(bound)) or math.isinf(val) for val in value)), \
@{assert_msg_suffixes.append('and each float in [%f, %f]' % (-bound, bound))}@
@[ elif type_.typename == "double"]@
@{
name = "double"
bound = 1.7976931348623157e+308
}@
all(not (val < -@(bound) or val > @(bound)) or math.isinf(val) for val in value)), \
@{assert_msg_suffixes.append('and each double in [%f, %f]' % (-bound, bound))}@
@[ end if]@
@[ else]@
True), \
@[ end if]@
"The '@(member.name)' field must be @(' '.join(assert_msg_suffixes))"
@[ elif isinstance(member.type, AbstractGenericString) and member.type.has_maximum_size()]@
(isinstance(value, (str, UserString)) and
len(value) <= @(member.type.maximum_size)), \
"The '@(member.name)' field must be string value " \
'not longer than @(type_.maximum_size)'
@[ elif isinstance(type_, NamespacedType)]@
isinstance(value, @(type_.name)), \
"The '@(member.name)' field must be a sub message of type '@(type_.name)'"
@[ elif isinstance(type_, BasicType) and type_.typename == 'octet']@
(isinstance(value, (bytes, bytearray, memoryview)) and
len(value) == 1), \
"The '@(member.name)' field must be of type 'bytes' or 'ByteString' with length 1"
@[ elif isinstance(type_, BasicType) and type_.typename == 'char']@
(isinstance(value, (str, UserString)) and
len(value) == 1 and ord(value) >= -128 and ord(value) < 128), \
"The '@(member.name)' field must be of type 'str' or 'UserString' " \
'with length 1 and the character ord() in [-128, 127]'
@[ elif isinstance(type_, AbstractGenericString)]@
isinstance(value, str), \
"The '@(member.name)' field must be of type '@(get_python_type(type_))'"
@[ elif isinstance(type_, BasicType) and type_.typename in (BOOLEAN_TYPE, *FLOATING_POINT_TYPES, *INTEGER_TYPES)]@
isinstance(value, @(get_python_type(type_))), \
"The '@(member.name)' field must be of type '@(get_python_type(type_))'"
@[ if type_.typename in SIGNED_INTEGER_TYPES]@
@{
nbits = int(type_.typename[3:])
bound = 2**(nbits - 1)
}@
assert value >= -@(bound) and value < @(bound), \
"The '@(member.name)' field must be an integer in [@(-bound), @(bound - 1)]"
@[ elif type_.typename in UNSIGNED_INTEGER_TYPES]@
@{
nbits = int(type_.typename[4:])
bound = 2**nbits
}@
assert value >= 0 and value < @(bound), \
"The '@(member.name)' field must be an unsigned integer in [0, @(bound - 1)]"
@[ elif type_.typename in FLOATING_POINT_TYPES]@
@[ if type_.typename == "float"]@
@{
name = "float"
bound = 3.402823466e+38
}@
@[ elif type_.typename == "double"]@
@{
name = "double"
bound = 1.7976931348623157e+308
}@
@[ end if]@
assert not (value < -@(bound) or value > @(bound)) or math.isinf(value), \
"The '@(member.name)' field must be a @(name) in [@(-bound), @(bound)]"
@[ end if]@
@[ else]@
False
@[ end if]@
@(generate_check_fields(member))
@[ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
@[ if isinstance(member.type, Array)]@
self._@(member.name) = numpy.array(value, dtype=@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype']))
Expand Down
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