add WString support

rosidl_adapter/test/test_base_type.py

@@ -33,22 +33,25 @@ def test_base_type_constructor():
         'uint32',
         'int64',
         'uint64',
-        'string']
+        'string',
+        'wstring',
+    ]
     for primitive_type in primitive_types:
         base_type = BaseType(primitive_type)
         assert base_type.pkg_name is None
         assert base_type.type == primitive_type
         assert base_type.string_upper_bound is None
 
-    base_type = BaseType('string<=23')
-    assert base_type.pkg_name is None
-    assert base_type.type == 'string'
-    assert base_type.string_upper_bound == 23
+    for string_type in ('string', 'wstring'):
+        base_type = BaseType('%s<=23' % string_type)
+        assert base_type.pkg_name is None
+        assert base_type.type == string_type
+        assert base_type.string_upper_bound == 23
 
-    with pytest.raises(TypeError):
-        BaseType('string<=upperbound')
-    with pytest.raises(TypeError):
-        BaseType('string<=0')
+        with pytest.raises(TypeError):
+            BaseType('%s<=upperbound' % string_type)
+        with pytest.raises(TypeError):
+            BaseType('%s<=0' % string_type)
 
     base_type = BaseType('pkg/Msg')
     assert base_type.pkg_name == 'pkg'
@@ -84,3 +87,4 @@ def test_base_type_methods():
     assert str(BaseType('pkg/Foo')) == 'pkg/Foo'
     assert str(BaseType('bool')) == 'bool'
     assert str(BaseType('string<=5')) == 'string<=5'
+    assert str(BaseType('wstring<=5')) == 'wstring<=5'

rosidl_adapter/test/test_constant.py

@@ -42,3 +42,4 @@ def test_constant_methods():
     assert str(Constant('bool', 'FOO', '1')) == 'bool FOO=True'
 
     assert str(Constant('string', 'FOO', 'foo')) == "string FOO='foo'"
+    assert str(Constant('wstring', 'FOO', 'foo')) == "wstring FOO='foo'"

rosidl_adapter/test/test_parse_primitive_value_string.py

@@ -172,6 +172,76 @@ def test_parse_primitive_value_string_string():
     assert value == '"foo"'
 
 
+def test_parse_primitive_value_wstring_string():
+    value = parse_primitive_value_string(
+        Type('wstring'), 'foo')
+    assert value == 'foo'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"foo"')
+    assert value == 'foo'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), "'foo'")
+    assert value == 'foo'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"\'foo\'"')
+    assert value == "'foo'"
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"foo ')
+    assert value == '"foo '
+
+    value = parse_primitive_value_string(
+        Type('wstring<=3'), 'foo')
+    assert value == 'foo'
+
+    with pytest.raises(InvalidValue):
+        parse_primitive_value_string(
+            Type('wstring<=3'), 'foobar')
+
+    with pytest.raises(InvalidValue):
+        parse_primitive_value_string(
+            Type('wstring'), r"""'foo''""")
+
+    with pytest.raises(InvalidValue):
+        parse_primitive_value_string(
+            Type('wstring'), r'''"foo"bar\"baz"''')  # noqa: Q001
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"foo')
+    assert value == '"foo'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"foo')
+    assert value == '"foo'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), "'foo")
+    assert value == "'foo"
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"foo')
+    assert value == '"foo'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), "'fo'o")
+    assert value == "'fo'o"
+
+    value = parse_primitive_value_string(
+        Type('wstring'), '"fo"o')
+    assert value == '"fo"o'
+
+    value = parse_primitive_value_string(
+        Type('wstring'), r'''"'foo'"''')  # noqa: Q001
+    assert value == "'foo'"
+
+    value = parse_primitive_value_string(
+        Type('wstring'), r"""'"foo"'""")
+    assert value == '"foo"'
+
+
 def test_parse_primitive_value_string_unknown():
     class CustomType(Type):
 

rosidl_generator_c/CMakeLists.txt

@@ -88,6 +88,7 @@ if(BUILD_TESTING)
     "msg/Uint8.msg"
     "msg/Various.msg"
     "msg/Wire.msg"
+    "msg/WStrings.msg"
     "srv/AddTwoInts.srv"
   )
 

rosidl_generator_c/msg/WStrings.msg

@@ -0,0 +1,8 @@
+wstring empty_wstring
+wstring def_wstring "Hello world!"
+wstring def_wstring2 "Hello'world!"
+wstring def_wstring3 'Hello"world!'
+wstring def_wstring4 'Hello\'world!'
+wstring def_wstring5 "Hello\"world!"
+wstring<=22 ub_wstring
+wstring<=22 ub_def_wstring "Upper bounded string."

rosidl_generator_c/test/test_interfaces.c

@@ -23,6 +23,7 @@
 
 #include "rosidl_generator_c/primitives_sequence_functions.h"
 #include "rosidl_generator_c/string_functions.h"
+#include "rosidl_generator_c/u16string_functions.h"
 
 #include "rosidl_generator_c/msg/bool.h"
 #include "rosidl_generator_c/msg/bounded_array_nested.h"
@@ -56,13 +57,16 @@
 #include "rosidl_generator_c/msg/uint8.h"
 #include "rosidl_generator_c/msg/various.h"
 #include "rosidl_generator_c/msg/wire.h"
+#include "rosidl_generator_c/msg/w_strings.h"
 
 #define TEST_STRING \
   "Deep into that darkness peering, long I stood there wondering, fearing"
 #define TEST_STRING2 \
   "The quick brown fox jumps over the lazy dog."
 #define TEST_STRING3 \
   "PACK MY BOX WITH FIVE DOZEN LIQUOR JUGS."
+#define TEST_WSTRING \
+  u"Deep into that darkness peering, long I stood there wondering, fearing \u2122"
 #define ARRAY_SIZE 7
 
 #define STRINGIFY(x) _STRINGIFY(x)
@@ -333,8 +337,39 @@ int test_strings(void)
   return 0;
 }
 
-
 /**
+ * Test message with different wstring types.
+ */
+int test_wstrings(void)
+{
+  bool res = false;
+  rosidl_generator_c__msg__WStrings * wstrings = NULL;
+
+  wstrings = rosidl_generator_c__msg__WStrings__create();
+  EXPECT_NE(wstrings, NULL);
+
+  res = rosidl_generator_c__U16String__assign(&wstrings->empty_wstring, TEST_WSTRING);
+  EXPECT_EQ(true, res);
+  // EXPECT_EQ(0, strcmp(wstrings->empty_wstring.data, TEST_WSTRING));
+  // EXPECT_EQ(0, strcmp(wstrings->def_wstring.data, "Hello world!"));
+  // EXPECT_EQ(0, strcmp(wstrings->def_wstring2.data, "Hello'world!"));
+  // EXPECT_EQ(0, strcmp(wstrings->def_wstring3.data, "Hello\"world!"));
+  // EXPECT_EQ(0, strcmp(wstrings->def_wstring4.data, "Hello'world!"));
+  // EXPECT_EQ(0, strcmp(wstrings->def_wstring5.data, "Hello\"world!"));
+  // since upper-bound checking is not implemented yet, we restrict the string copying
+  // TODO(mikaelarguedas) Test string length properly instead of cheating copy
+  // res = rosidl_generator_c__String__assign(&wstrings->ub_wstring, TEST_WSTRING);
+  res = rosidl_generator_c__U16String__assignn(&wstrings->ub_wstring, TEST_WSTRING, 24);
+  EXPECT_EQ(true, res);
+  // EXPECT_EQ(0, strcmp(wstrings->ub_wstring.data, "Deep into that darknes"));
+  // EXPECT_EQ(0, strcmp(wstrings->ub_def_wstring.data, "Upper bounded string."));
+
+  rosidl_generator_c__msg__WStrings__destroy(wstrings);
+
+  return 0;
+}
+
+ /**
  * Test message with different string array types.
  */
 int test_string_arrays(void)

rosidl_generator_cpp/CMakeLists.txt

@@ -50,7 +50,9 @@ if(BUILD_TESTING)
     "msg/UnboundedArrayUnbounded.msg"
 
     "msg/Various.msg"
-  )
+
+    "msg/WString.msg"
+    )
 
   set(srv_files
     "srv/ComplexTypeZeroFill.srv"

rosidl_generator_cpp/msg/WString.msg

@@ -0,0 +1 @@
+wstring wstring_value

rosidl_generator_cpp/test/test_interfaces.cpp

@@ -49,6 +49,8 @@
 #include "rosidl_generator_cpp/msg/unbounded_array_static.hpp"
 #include "rosidl_generator_cpp/msg/unbounded_array_unbounded.hpp"
 
+#include "rosidl_generator_cpp/msg/w_string.hpp"
+
 #define PRIMITIVES_ARRAY_SIZE 10
 #define BOUNDED_STRING_LENGTH 10
 #define SUBMESSAGE_ARRAY_SIZE 3
@@ -136,6 +138,10 @@ TEST(Test_rosidl_generator_traits, has_fixed_size) {
     !rosidl_generator_traits::has_fixed_size<
       rosidl_generator_cpp::msg::UnboundedArrayUnbounded>::value,
     "UnboundedArrayUnbounded::has_fixed_size is true");
+
+  static_assert(
+    !rosidl_generator_traits::has_fixed_size<rosidl_generator_cpp::msg::WString>::value,
+    "WString::has_fixed_size is true");
 }
 
 TEST(Test_rosidl_generator_traits, has_bounded_size) {
@@ -224,6 +230,10 @@ TEST(Test_rosidl_generator_traits, has_bounded_size) {
     !rosidl_generator_traits::has_bounded_size<
       rosidl_generator_cpp::msg::UnboundedArrayUnbounded>::value,
     "UnboundedArrayUnbounded::has_bounded_size is true");
+
+  static_assert(
+    !rosidl_generator_traits::has_bounded_size<rosidl_generator_cpp::msg::WString>::value,
+    "WString::has_bounded_size is true");
 }
 
 #define TEST_PRIMITIVE_FIELD_ASSIGNMENT(Message, FieldName, InitialValue, FinalValue) \
@@ -238,6 +248,10 @@ TEST(Test_rosidl_generator_traits, has_bounded_size) {
   Message.FieldName = FinalValue; \
   ASSERT_STREQ(FinalValue, Message.FieldName.c_str());
 
+#define TEST_WSTRING_FIELD_ASSIGNMENT(Message, FieldName, InitialValue, FinalValue) \
+  Message.FieldName = InitialValue; \
+  Message.FieldName = FinalValue;
+
 void test_message_primitives_static(rosidl_generator_cpp::msg::PrimitivesStatic message)
 {
 // workaround for https://github.com/google/googletest/issues/322
@@ -601,6 +615,11 @@ TEST(Test_messages, Test_string) {
   TEST_STRING_FIELD_ASSIGNMENT(message, string_value, "", "Deep into")
 }
 
+TEST(Test_messages, Test_wstring) {
+  rosidl_generator_cpp::msg::WString message;
+  TEST_WSTRING_FIELD_ASSIGNMENT(message, wstring_value, u"", u"wstring_value_\u2122")
+}
+
 #define TEST_STATIC_ARRAY_STRING( \
     Message, FieldName, PrimitiveType, ArraySize, MinVal, MaxVal, MinLength, MaxLength) \
   std::array<PrimitiveType, ArraySize> pattern_ ## FieldName; \

rosidl_parser/test/msg/MyMessage.idl

@@ -9,6 +9,7 @@ module rosidl_parser {
       const float FLOAT_CONSTANT = 1.25;
       const boolean BOOLEAN_CONSTANT = TRUE;
       const string STRING_CONSTANT = "string_value";
+      const wstring WSTRING_CONSTANT = "wstring_value_\u2122";
     };
 
     @verbatim ( language="comment", text="Documentation of MyMessage." )

rosidl_parser/test/test_parser.py

@@ -62,7 +62,7 @@ def test_message_parser_structure(message_idl_file):
     assert len(messages) == 1
 
     constants = messages[0].constants
-    assert len(constants) == 5
+    assert len(constants) == 6
 
     assert constants[0].name == 'SHORT_CONSTANT'
     assert isinstance(constants[0].type, BasicType)
@@ -88,6 +88,10 @@ def test_message_parser_structure(message_idl_file):
     assert isinstance(constants[4].type, BoundedString)
     assert constants[4].value == 'string_value'
 
+    assert constants[5].name == 'WSTRING_CONSTANT'
+    assert isinstance(constants[5].type, BoundedWString)
+    assert constants[5].value == 'wstring_value_\\u2122'
+
     structure = messages[0].structure
     assert structure.namespaced_type.namespaces == ['rosidl_parser', 'msg']
     assert structure.namespaced_type.name == 'MyMessage'