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Modificado archivo cbor_conversions.py para corregir el error con _sl… #1

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Modificado archivo cbor_conversions.py para corregir el error con _sl… #1

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19c8be8
Modificado archivo cbor_conversions.py para corregir el error con _sl…
atobaruela-ibrobotics Jun 20, 2023
38013c7
Cambios para aceptar tipos básicos, arrays de numéricos y tipos propi…
atobaruela-ibrobotics Jun 26, 2023
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58 changes: 55 additions & 3 deletions rosbridge_library/src/rosbridge_library/internal/cbor_conversion.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
import struct

from numpy import float32, int16, int32, int64, int8
import rosidl_parser.definition

try:
from cbor import Tag
except ImportError:
Expand All @@ -18,6 +21,7 @@
"uint32",
"int64",
"uint64",
"int"
]
FLOAT_TYPES = ["float32", "float64"]
STRING_TYPES = ["string"]
Expand All @@ -42,6 +46,31 @@
}



basic_supported_types = [int8, int16, int32, int64, float32, bool]

basic_supported_types_transform = {
"double": "float64",
"float": "float32",
"int": "int32",
"array": " "
}

array_supported_types = {
'b': "int8[]",
'B': "uint8[]",
'h': "int16[]",
'H': "uint16[]",
'i': "int32[]",
'I': "uint32[]",
'l': "int32[]",
'L': "uint32[]",
'q': "int64[]",
'Q': "uint64[]",
'f': "float32[]",
'd': "float64[]",
}

def extract_cbor_values(msg):
"""Extract a dictionary of CBOR-friendly values from a ROS message.

Expand All @@ -50,9 +79,32 @@ def extract_cbor_values(msg):
Typed arrays will be tagged and packed into byte arrays.
"""
out = {}
for slot, slot_type in zip(msg.__slots__, msg._slot_types):
#for slot, slot_type in zip(msg.__slots__, msg._slot_types):
for slot, slot_type in zip(msg.__slots__, msg.SLOT_TYPES):
val = getattr(msg, slot)

try:
if type(val) is str:
slot_type = "string"
elif any ([type(val) is t for t in basic_supported_types]):
slot_type = type(val).__name__ #"string"
elif type(val).__name__ in basic_supported_types_transform:
if type(val).__name__ == "array":
slot_type = array_supported_types[val.typecode]
else:
slot_type = basic_supported_types_transform[type(val).__name__]
# elif(hasattr(slot_type, "value_type") and slot_type.value_type is rosidl_parser.definition.UnboundedSequence):
# slot_type = slot_type.value_type.name.lower()
else:
try:
slot_type = slot_type.value_type.name.lower()
except:
slot_type = slot_type.name.lower()
except Exception as e:
print(e)

slot = str(slot[1:])

# string
if slot_type in STRING_TYPES:
out[slot] = str(val)
Expand All @@ -72,8 +124,8 @@ def extract_cbor_values(msg):
# time/duration
elif slot_type in TIME_TYPES:
out[slot] = {
"secs": int(val.secs),
"nsecs": int(val.nsecs),
"secs": int(val.sec),
"nsecs": int(val.nanosec),
}

# byte array
Expand Down