formatting

ros1_bridge/__init__.py

@@ -419,7 +419,10 @@ def is_field_mapping(self):
         return self.fields_1_to_2 is not None
 
     def __str__(self):
-        return 'MessageMappingRule(%s::%s <-> %s::%s)' % (self.ros1_package_name, self.ros1_message_name, self.ros2_package_name, self.ros2_message_name)
+        return 'MessageMappingRule(%s::%s <-> %s::%s)' % (self.ros1_package_name,
+                                                          self.ros1_message_name,
+                                                          self.ros2_package_name,
+                                                          self.ros2_message_name)
 
 
 class ServiceMappingRule(MappingRule):
@@ -458,7 +461,10 @@ def __init__(self, data, expected_package_name):
                 'Mapping for package %s contains unknown field(s)' % self.ros2_package_name)
 
     def __str__(self):
-        return 'ServiceMappingRule(%s::%s <-> %s::%s)' % (self.ros1_package_name, self.ros1_service_name, self.ros2_package_name, self.ros2_service_name)
+        return 'ServiceMappingRule(%s::%s <-> %s::%s)' % (self.ros1_package_name,
+                                                          self.ros1_service_name,
+                                                          self.ros2_package_name,
+                                                          self.ros2_service_name)
 
 
 def determine_package_pairs(ros1_msgs, ros2_msgs, mapping_rules):
@@ -536,21 +542,23 @@ def determine_message_pairs(ros1_msgs, ros2_msgs, package_pairs, mapping_rules):
 
     return pairs
 
+
 def srv_field_mapping(ros_type, ros1_name, ros2_name):
     return {
-            'basic': False if '/' in ros_type else True,
-            'array': True if '[]' in ros_type else False,
-            'ros1': {
-                'name': ros1_name,
-                'type': ros_type.rstrip('[]'),
-                'cpptype': ros_type.rstrip('[]').replace('/', '::')
-            },
-            'ros2': {
-                'name': ros2_name,
-                'type': ros_type.rstrip('[]'),
-                'cpptype': ros_type.rstrip('[]').replace('/', '::msg::')
-            }
+        'basic': False if '/' in ros_type else True,
+        'array': True if '[]' in ros_type else False,
+        'ros1': {
+            'name': ros1_name,
+            'type': ros_type.rstrip('[]'),
+            'cpptype': ros_type.rstrip('[]').replace('/', '::')
+        },
+        'ros2': {
+            'name': ros2_name,
+            'type': ros_type.rstrip('[]'),
+            'cpptype': ros_type.rstrip('[]').replace('/', '::msg::')
         }
+    }
+
 
 def determine_common_services(ros1_srvs, ros2_srvs, mapping_rules):
     services = []
@@ -574,7 +582,7 @@ def determine_common_services(ros1_srvs, ros2_srvs, mapping_rules):
             else:
                 print("No matching ros2 srv for %s" % str(ros1_srv), file=sys.stdout)
                 continue
-    
+
     # fill in missing fields if they match
     for rule in mapping_rules:
         ros1_srv = Message(rule.ros1_package_name, rule.ros1_service_name)
@@ -587,8 +595,8 @@ def determine_common_services(ros1_srvs, ros2_srvs, mapping_rules):
             'response': ros1_spec.response.fields()
         }
         ros2_fields = {
-            'request': [(str(field.type), field.name) for  field in ros2_spec.request.fields],
-            'response': [(str(field.type), field.name) for  field in ros2_spec.response.fields]
+            'request': [(str(field.type), field.name) for field in ros2_spec.request.fields],
+            'response': [(str(field.type), field.name) for field in ros2_spec.response.fields]
         }
         rule_fields = {
             'request': rule.request_fields_1_to_2,
@@ -599,29 +607,32 @@ def determine_common_services(ros1_srvs, ros2_srvs, mapping_rules):
             'response': []
         }
         for direction in ['request', 'response']:
-            if(len(ros1_fields[direction])!= len(ros2_fields[direction])):
-                match=False
-                print("ros1 and ros2 %s fields must have matching length %s" % (direction, rule), file=sys.stderr)
+            if(len(ros1_fields[direction]) != len(ros2_fields[direction])):
+                match = False
+                print("ros1 and ros2 %s fields must have matching length %s" %
+                      (direction, rule), file=sys.stderr)
                 continue
             for (ros_type, ros1_name) in ros1_fields[direction]:
                 # if a rule exists for this item, add in the mapping
-                if (ros1_name in rule_fields[direction]):
+                if (rule_fields[direction] and ros1_name in rule_fields[direction]):
                     ros2_name = rule_fields[direction][ros1_name]
 
                     if ((ros_type, ros2_name) in ros2_fields[direction]):
                         output[direction].append(srv_field_mapping(ros_type, ros1_name, ros2_name))
                     else:
-                        print("Invalid rule field pair for %s<-->%s in %s" % (ros1_name, ros2_name, rule), file=sys.stderr)
-                        match=False
+                        print("Invalid rule field pair for %s<-->%s in %s" %
+                              (ros1_name, ros2_name, rule), file=sys.stderr)
+                        match = False
                         continue
                 # A rule doesn't exist for this item, try to match by name
                 else:
                     ros2_name = ros1_name
                     if ((ros_type, ros2_name) in ros2_fields[direction]):
                         output[direction].append(srv_field_mapping(ros_type, ros1_name, ros2_name))
                     else:
-                        print("Invalid matching field pair for %s<-->%s in %s" % (ros1_name, ros2_name, rule), file=sys.stderr)
-                        match=False
+                        print("Invalid matching field pair for %s<-->%s in %s" %
+                              (ros1_name, ros2_name, rule), file=sys.stderr)
+                        match = False
                         continue
         if match:
             services.append({