Cast Sequence to list on assignment (with templates)

rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake

@@ -114,6 +114,7 @@ set(target_dependencies
   "${rosidl_generator_py_TEMPLATE_DIR}/_msg.py.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_srv_pkg_typesupport_entry_point.c.em"
   "${rosidl_generator_py_TEMPLATE_DIR}/_srv.py.em"
+  "${rosidl_generator_py_TEMPLATE_DIR}/abstract_nested_type_check.py.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
   ${_dependency_files})
 foreach(dep ${target_dependencies})

rosidl_generator_py/resource/_msg.py.em

@@ -1,6 +1,5 @@
 @# Included from rosidl_generator_py/resource/_idl.py.em
 @{
-
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 from rosidl_generator_py.generate_py_impl import constant_value_to_py
 from rosidl_generator_py.generate_py_impl import get_python_type
@@ -494,118 +493,73 @@ if isinstance(member.type, (Array, AbstractSequence)):
 
     @@@(member.name).setter@(noqa_string)
     def @(member.name)(self, value: @(type_annotations_setter[member.name])) -> None:@(noqa_string)
-
 @[  if isinstance(member.type, AbstractNestedType)]@
-        from collections.abc import Set
-        if isinstance(value, Set):
+        if isinstance(value, collections.abc.Set):
             import warnings
             warnings.warn(
                 'Using set or subclass of set is deprecated,'
                 ' please use a subclass of collections.abc.Sequence like list',
                 DeprecationWarning)
-@[  end if]@
-        if self._check_fields:
-@[  if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
-@[    if isinstance(member.type, Array)]@
-            if isinstance(value, numpy.ndarray):
-                assert value.dtype == @(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype']), \
-                    "The '@(member.name)' numpy.ndarray() must have the dtype of '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype'])'"
-                assert value.size == @(member.type.size), \
-                    "The '@(member.name)' numpy.ndarray() must have a size of @(member.type.size)"
-                self._@(member.name) = value
-                return
-@[    elif isinstance(member.type, AbstractSequence)]@
-            if isinstance(value, array.array):
-                assert value.typecode == '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])', \
-                    "The '@(member.name)' array.array() must have the type code of '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])'"
-@[      if isinstance(member.type, BoundedSequence)]@
-                assert len(value) <= @(member.type.maximum_size), \
-                    "The '@(member.name)' array.array() must have a size <= @(member.type.maximum_size)"
-@[      end if]@
-                self._@(member.name) = value
-                return
-@[    end if]@
 @[  end if]@
 @[  if isinstance(type_, NamespacedType)]@
 @[      if (
             type_.name.endswith(ACTION_GOAL_SUFFIX) or
             type_.name.endswith(ACTION_RESULT_SUFFIX) or
             type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
         )]@
-            from @('.'.join(type_.namespaces))._@(convert_camel_case_to_lower_case_underscore(type_.name.rsplit('_', 1)[0])) import @(type_.name)
+        from @('.'.join(type_.namespaces))._@(convert_camel_case_to_lower_case_underscore(type_.name.rsplit('_', 1)[0])) import @(type_.name)
 @[      else]@
-            from @('.'.join(type_.namespaces)) import @(type_.name)
+        from @('.'.join(type_.namespaces)) import @(type_.name)
 @[      end if]@
 @[  end if]@
 @[  if isinstance(member.type, AbstractNestedType)]@
-            from collections.abc import Sequence
-            from collections import UserString
-@[  elif isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
-            from collections import UserString
-@[  elif isinstance(type_, BasicType) and type_.typename in CHARACTER_TYPES]@
-            from collections import UserString
-@[  end if]@
-            assert \
-@[  if isinstance(member.type, AbstractNestedType)]@
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-@{assert_msg_suffixes = ['sequence']}@
-@[    if isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
-                 all(len(val) <= @(type_.maximum_size) for val in value) and
-@{assert_msg_suffixes.append('and each string value not longer than %d' % type_.maximum_size)}@
-@[    end if]@
-@[    if isinstance(member.type, (Array, BoundedSequence))]@
-@[      if isinstance(member.type, BoundedSequence)]@
-                 len(value) <= @(member.type.maximum_size) and
-@{assert_msg_suffixes.insert(1, 'with length <= %d' % member.type.maximum_size)}@
-@[      else]@
-                 len(value) == @(member.type.size) and
-@{assert_msg_suffixes.insert(1, 'with length %d' % member.type.size)}@
+@[    if isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
+@[      if isinstance(member.type, Array)]@
+        if isinstance(value, numpy.ndarray):
+            if self._check_fields:
+                assert value.dtype == @(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype']), \
+                    "The '@(member.name)' numpy.ndarray() must have the dtype of '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype'])'"
+                assert value.size == @(member.type.size), \
+                    "The '@(member.name)' numpy.ndarray() must have a size of @(member.type.size)"
+@[      elif isinstance(member.type, AbstractSequence)]@
+        if isinstance(value, array.array):
+            if self._check_fields:
+                assert value.typecode == '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])', \
+                    "The '@(member.name)' array.array() must have the type code of '@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])'"
+@[        if isinstance(member.type, BoundedSequence)]@
+                assert len(value) <= @(member.type.maximum_size), \
+                    "The '@(member.name)' array.array() must have a size <= @(member.type.maximum_size)"
+@[        end if]@
 @[      end if]@
-@[    end if]@
-                 all(isinstance(v, @(get_python_type(type_))) for v in value) and
-@{assert_msg_suffixes.append("and each value of type '%s'" % get_python_type(type_))}@
-@[    if isinstance(type_, BasicType) and type_.typename in SIGNED_INTEGER_TYPES]@
-@{
-nbits = int(type_.typename[3:])
-bound = 2**(nbits - 1)
-}@
-                 all(val >= -@(bound) and val < @(bound) for val in value)), \
-@{assert_msg_suffixes.append('and each integer in [%d, %d]' % (-bound, bound - 1))}@
-@[    elif isinstance(type_, BasicType) and type_.typename in UNSIGNED_INTEGER_TYPES]@
-@{
-nbits = int(type_.typename[4:])
-bound = 2**nbits
-}@
-                 all(val >= 0 and val < @(bound) for val in value)), \
-@{assert_msg_suffixes.append('and each unsigned integer in [0, %d]' % (bound - 1))}@
-@[    elif isinstance(type_, BasicType) and type_.typename == 'char']@
-                 all(ord(val) >= 0 and ord(val) < 256 for val in value)), \
-@{assert_msg_suffixes.append('and each char in [0, 255]')}@
-@[    elif isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES]@
-@[      if type_.typename == "float"]@
+@[    else]@
+        if isinstance(value, list):
+            if self._check_fields:
+                assert \
 @{
-name = "float"
-bound = 3.402823466e+38
+TEMPLATE(
+    'abstract_nested_type_check.py.em',
+    member=member,
+    type_=type_,
+    indent=('    ' * 5)
+)
 }@
-                 all(not (val < -@(bound) or val > @(bound)) or math.isinf(val) for val in value)), \
-@{assert_msg_suffixes.append('and each float in [%f, %f]' % (-bound, bound))}@
-@[      elif type_.typename == "double"]@
+@[    end if]@
+            self._@(member.name) = value
+            return
+@[  end if]@
+        if self._check_fields:
+            assert \
+@[  if isinstance(member.type, AbstractNestedType)]@
 @{
-name = "double"
-bound = 1.7976931348623157e+308
+TEMPLATE(
+    'abstract_nested_type_check.py.em',
+    member=member,
+    type_=type_,
+    indent=('    ' * 4)
+)
 }@
-                 all(not (val < -@(bound) or val > @(bound)) or math.isinf(val) for val in value)), \
-@{assert_msg_suffixes.append('and each double in [%f, %f]' % (-bound, bound))}@
-@[      end if]@
-@[    else]@
-                 True), \
-@[    end if]@
-                "The '@(member.name)' field must be @(' '.join(assert_msg_suffixes))"
 @[  elif isinstance(member.type, AbstractGenericString) and member.type.has_maximum_size()]@
-                (isinstance(value, (str, UserString)) and
+                (isinstance(value, (str, collections.UserString)) and
                  len(value) <= @(member.type.maximum_size)), \
                 "The '@(member.name)' field must be string value " \
                 'not longer than @(type_.maximum_size)'
@@ -617,9 +571,9 @@ bound = 1.7976931348623157e+308
                  len(value) == 1), \
                 "The '@(member.name)' field must be of type 'bytes' or 'ByteString' with length 1"
 @[  elif isinstance(type_, BasicType) and type_.typename == 'char']@
-                (isinstance(value, (str, UserString)) and
+                (isinstance(value, (str, collections.UserString)) and
                  len(value) == 1 and ord(value) >= -128 and ord(value) < 128), \
-                "The '@(member.name)' field must be of type 'str' or 'UserString' " \
+                "The '@(member.name)' field must be of type 'str' or 'collections.UserString' " \
                 'with length 1 and the character ord() in [-128, 127]'
 @[  elif isinstance(type_, AbstractGenericString)]@
                 isinstance(value, str), \
@@ -659,12 +613,16 @@ bound = 1.7976931348623157e+308
 @[  else]@
                 False
 @[  end if]@
-@[  if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
-@[    if isinstance(member.type, Array)]@
+@[  if isinstance(member.type, AbstractNestedType)]@
+@[    if isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
+@[      if isinstance(member.type, Array)]@
         self._@(member.name) = numpy.array(value, dtype=@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['dtype']))
-@[    elif isinstance(member.type, AbstractSequence)]@
+@[      elif isinstance(member.type, AbstractSequence)]@
         # type ignore below fixed in mypy 1.17+ see mypy#19421
         self._@(member.name) = array.array('@(SPECIAL_NESTED_BASIC_TYPES[member.type.value_type.typename]['type_code'])', value)  # type: ignore[assignment]
+@[      end if]@
+@[    else]@
+        self._@(member.name) = list(value)
 @[    end if]@
 @[  else]@
         self._@(member.name) = value

rosidl_generator_py/resource/abstract_nested_type_check.py.em

@@ -0,0 +1,67 @@
+@{
+from rosidl_parser.definition import AbstractGenericString
+from rosidl_parser.definition import Array
+from rosidl_parser.definition import BasicType
+from rosidl_parser.definition import BoundedSequence
+from rosidl_parser.definition import FLOATING_POINT_TYPES
+from rosidl_parser.definition import SIGNED_INTEGER_TYPES
+from rosidl_parser.definition import UNSIGNED_INTEGER_TYPES
+from rosidl_generator_py.generate_py_impl import get_python_type
+}@
+@(indent)((isinstance(value, collections.abc.Sequence) or
+@(indent)  isinstance(value, collections.abc.Set)) and
+@(indent) not isinstance(value, str) and
+@(indent) not isinstance(value, collections.UserString) and
+@{assert_msg_suffixes = ['sequence']}@
+@[    if isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
+@(indent) all(len(val) <= @(type_.maximum_size) for val in value) and
+@{assert_msg_suffixes.append('and each string value not longer than %d' % type_.maximum_size)}@
+@[    end if]@
+@[    if isinstance(member.type, (Array, BoundedSequence))]@
+@[      if isinstance(member.type, BoundedSequence)]@
+@(indent) len(value) <= @(member.type.maximum_size) and
+@{assert_msg_suffixes.insert(1, 'with length <= %d' % member.type.maximum_size)}@
+@[      else]@
+@(indent) len(value) == @(member.type.size) and
+@{assert_msg_suffixes.insert(1, 'with length %d' % member.type.size)}@
+@[      end if]@
+@[    end if]@
+@(indent) all(isinstance(v, @(get_python_type(type_))) for v in value) and
+@{assert_msg_suffixes.append("and each value of type '%s'" % get_python_type(type_))}@
+@[    if isinstance(type_, BasicType) and type_.typename in SIGNED_INTEGER_TYPES]@
+@{
+nbits = int(type_.typename[3:])
+bound = 2**(nbits - 1)
+}@
+@(indent) all(val >= -@(bound) and val < @(bound) for val in value)), \
+@{assert_msg_suffixes.append('and each integer in [%d, %d]' % (-bound, bound - 1))}@
+@[    elif isinstance(type_, BasicType) and type_.typename in UNSIGNED_INTEGER_TYPES]@
+@{
+nbits = int(type_.typename[4:])
+bound = 2**nbits
+}@
+@(indent) all(val >= 0 and val < @(bound) for val in value)), \
+@{assert_msg_suffixes.append('and each unsigned integer in [0, %d]' % (bound - 1))}@
+@[    elif isinstance(type_, BasicType) and type_.typename == 'char']@
+@(indent) all(ord(val) >= 0 and ord(val) < 256 for val in value)), \
+@{assert_msg_suffixes.append('and each char in [0, 255]')}@
+@[    elif isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES]@
+@[      if type_.typename == "float"]@
+@{
+name = "float"
+bound = 3.402823466e+38
+}@
+@(indent) all(not (val < -@(bound) or val > @(bound)) or math.isinf(val) for val in value)), \
+@{assert_msg_suffixes.append('and each float in [%f, %f]' % (-bound, bound))}@
+@[      elif type_.typename == "double"]@
+@{
+name = "double"
+bound = 1.7976931348623157e+308
+}@
+@(indent) all(not (val < -@(bound) or val > @(bound)) or math.isinf(val) for val in value)), \
+@{assert_msg_suffixes.append('and each double in [%f, %f]' % (-bound, bound))}@
+@[      end if]@
+@[    else]@
+@(indent) True), \
+@[    end if]@
+@(indent)"The '@(member.name)' field must be @(' '.join(assert_msg_suffixes))"

rosidl_generator_py/rosidl_generator_py/generate_py_impl.py

@@ -400,23 +400,32 @@ def get_setter_and_getter_type(member: Member, type_imports: set[str]) -> tuple[
     type_annotations_getter = ''
 
     if (
-        isinstance(member.type, AbstractNestedType) and isinstance(type_, BasicType) and
-        type_.typename in SPECIAL_NESTED_BASIC_TYPES
+        isinstance(member.type, AbstractNestedType)
     ):
-        if isinstance(member.type, Array):
-            type_imports.add('import numpy.typing')
-            dtype = SPECIAL_NESTED_BASIC_TYPES[type_.typename]['dtype']
-            type_annotation = f'numpy.typing.NDArray[{dtype}]'
-        elif isinstance(member.type, AbstractSequence):
-            type_annotation = f'array.array[{python_type}]'
+        if (
+            isinstance(type_, BasicType) and
+            type_.typename in SPECIAL_NESTED_BASIC_TYPES
+        ):
+            if isinstance(member.type, Array):
+                type_imports.add('import numpy.typing')
+                dtype = SPECIAL_NESTED_BASIC_TYPES[type_.typename]['dtype']
+                type_annotation = f'numpy.typing.NDArray[{dtype}]'
+            elif isinstance(member.type, AbstractSequence):
+                type_annotation = f'array.array[{python_type}]'
+        else:
+            type_annotation = f'list[{python_type}]'
 
         # Using Annotated because of mypy#3004
         type_annotations_getter = f'typing.Annotated[typing.Any, {type_annotation}]'
 
     if isinstance(member.type, AbstractNestedType):
         sequence_type = f'collections.abc.Sequence[{python_type}]'
 
-        if type_annotation != '':
+        if (
+            isinstance(type_, BasicType) and
+            type_.typename in SPECIAL_NESTED_BASIC_TYPES and
+            isinstance(member.type, Array)
+        ):
             type_annotation = f'typing.Union[{type_annotation}, {sequence_type}]'
         else:
             type_annotation = sequence_type

rosidl_generator_py/test/test_interfaces.py

@@ -532,6 +532,10 @@ def test_arrays() -> None:
     with pytest.warns(DeprecationWarning):
         Arrays(string_values={'bar', 'baz', 'foo'})
 
+    msg.bool_values = (False, False, False)
+    assert isinstance(msg.bool_values, list)
+    assert msg.bool_values == [False, False, False]
+
 
 def test_bounded_sequences() -> None:
     msg = BoundedSequences(check_fields=True)
@@ -756,6 +760,10 @@ def test_bounded_sequences() -> None:
             float64_ieee_max_next = numpy.nextafter(1.7976931348623157e+308, math.inf)
             setattr(msg, 'float64_values', [-float64_ieee_max_next, 0.0, float64_ieee_max_next])
 
+    msg.bool_values = (True, False)
+    assert isinstance(msg.bool_values, list)
+    assert msg.bool_values == [True, False]
+
 
 def test_unbounded_sequences() -> None:
     msg = UnboundedSequences(check_fields=True)
@@ -905,6 +913,10 @@ def test_unbounded_sequences() -> None:
             float64_ieee_max_next = numpy.nextafter(1.7976931348623157e+308, math.inf)
             setattr(msg, 'float64_values', [-float64_ieee_max_next, 0.0, float64_ieee_max_next])
 
+    msg.bool_values = (True, False, True, False)
+    assert isinstance(msg.bool_values, list)
+    assert msg.bool_values == [True, False, True, False]
+
 
 def test_slot_attributes() -> None:
     msg = Nested(check_fields=True)