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Revamp how we check for the correct class. #218

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merged 2 commits into from
Oct 8, 2024
Merged

Revamp how we check for the correct class. #218

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e184a80
Revamp how we check for the correct class.
clalancette Oct 2, 2024
594aced
Fix a warning when building in Release mode.
clalancette Oct 2, 2024
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52 changes: 24 additions & 28 deletions rosidl_generator_py/resource/_msg_support.c.em
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Original file line number Diff line number Diff line change
Expand Up @@ -158,41 +158,37 @@ PyObject * @('__'.join(type_.namespaces + [convert_camel_case_to_lower_case_unde

@{
module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem)
class_module = '%s.%s' % ('.'.join(message.structure.namespaced_type.namespaces), module_name)
namespaced_type = message.structure.namespaced_type.name
}@
ROSIDL_GENERATOR_C_EXPORT
bool @('__'.join(message.structure.namespaced_type.namespaces + [convert_camel_case_to_lower_case_underscore(message.structure.namespaced_type.name)]))__convert_from_py(PyObject * _pymsg, void * _ros_message)
{
@{
full_classname = '%s.%s.%s' % ('.'.join(message.structure.namespaced_type.namespaces), module_name, message.structure.namespaced_type.name)
}@
// check that the passed message is of the expected Python class
{
char full_classname_dest[@(len(full_classname) + 1)];
{
char * class_name = NULL;
char * module_name = NULL;
{
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
if (class_attr) {
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
if (name_attr) {
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
Py_DECREF(name_attr);
}
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
if (module_attr) {
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
Py_DECREF(module_attr);
}
Py_DECREF(class_attr);
}
}
if (!class_name || !module_name) {
return false;
}
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
if (class_attr == NULL) {
return false;
}
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
if (name_attr == NULL) {
Py_DECREF(class_attr);
return false;
}
assert(strncmp("@(full_classname)", full_classname_dest, @(len(full_classname))) == 0);
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
if (module_attr == NULL) {
Py_DECREF(name_attr);
Py_DECREF(class_attr);
return false;
}

// PyUnicode_1BYTE_DATA is just a cast
assert(strncmp("@(class_module)", (char *)PyUnicode_1BYTE_DATA(module_attr), @(len(class_module))) == 0);
assert(strncmp("@(namespaced_type)", (char *)PyUnicode_1BYTE_DATA(name_attr), @(len(namespaced_type))) == 0);

Py_DECREF(module_attr);
Py_DECREF(name_attr);
Py_DECREF(class_attr);
}
@(msg_typename) * ros_message = _ros_message;
@[for member in message.structure.members]@
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