From 396eccd410ed0f7285ae457e14b1b7c01574d592 Mon Sep 17 00:00:00 2001
From: Hans-Joachim Krauch <achim-k@users.noreply.github.com>
Date: Mon, 13 Nov 2023 15:47:46 -0300
Subject: [PATCH] Fix `Header` not being resolved to `std_msgs/Header` (#42)

This is only the case for ROS1 where `Header` is treated as a special case. See see http://wiki.ros.org/msg#Fields.
---
 src/parse.ros1.test.ts | 67 ++++++++++++++++++++++++++++++++++++++++++
 src/parse.ts           |  3 ++
 2 files changed, 70 insertions(+)

diff --git a/src/parse.ros1.test.ts b/src/parse.ros1.test.ts
index 36050a4..5229b0b 100644
--- a/src/parse.ros1.test.ts
+++ b/src/parse.ros1.test.ts
@@ -556,4 +556,71 @@ describe("fixupTypes", () => {
       },
     ]);
   });
+
+  it("correctly resolves Header to std_msgs/Header", () => {
+    const messageDefinition = `
+      StampedBool stamped_bool
+      ================================================================================
+      MSG: custom_msg/StampedBool
+      Header header
+      bool data
+      ================================================================================
+      MSG: std_msgs/Header
+      uint32 seq
+      time stamp
+      string frame_id`;
+    const types = parse(messageDefinition);
+    expect(types).toEqual([
+      {
+        definitions: [
+          {
+            type: "custom_msg/StampedBool",
+            isArray: false,
+            name: "stamped_bool",
+            isComplex: true,
+          },
+        ],
+      },
+      {
+        name: "custom_msg/StampedBool",
+        definitions: [
+          {
+            type: "std_msgs/Header",
+            isArray: false,
+            name: "header",
+            isComplex: true,
+          },
+          {
+            type: "bool",
+            isArray: false,
+            name: "data",
+            isComplex: false,
+          },
+        ],
+      },
+      {
+        name: "std_msgs/Header",
+        definitions: [
+          {
+            type: "uint32",
+            isArray: false,
+            name: "seq",
+            isComplex: false,
+          },
+          {
+            type: "time",
+            isArray: false,
+            name: "stamp",
+            isComplex: false,
+          },
+          {
+            type: "string",
+            isArray: false,
+            name: "frame_id",
+            isComplex: false,
+          },
+        ],
+      },
+    ]);
+  });
 });
diff --git a/src/parse.ts b/src/parse.ts
index ebf632b..408c421 100644
--- a/src/parse.ts
+++ b/src/parse.ts
@@ -154,6 +154,9 @@ function findTypeByName(
     if (name.includes("/")) {
       // Fully-qualified name, match exact
       return typeName === name;
+    } else if (name === "Header") {
+      // Header is a special case, see http://wiki.ros.org/msg#Fields
+      return typeName === `std_msgs/Header`;
     } else if (typeNamespace) {
       // Type namespace is given, create fully-qualified name and match exact
       return typeName === `${typeNamespace}/${name}`;