ros2 · sloretz · Aug 22, 2022 · May 19, 2022 · Jul 15, 2022 · Jul 16, 2022
diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
@@ -6,7 +6,6 @@ find_package(ament_cmake REQUIRED)
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_cmake)
 
 ament_index_register_resource("rosidl_generator_packages")
 

diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
@@ -21,8 +21,8 @@
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>ament_index_python</buildtool_export_depend>
   <buildtool_export_depend>python_cmake_module</buildtool_export_depend>
-  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
   <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_pycommon</buildtool_export_depend>
   <buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>
 

diff --git a/rosidl_generator_py/resource/_action.py.em b/rosidl_generator_py/resource/_action.py.em
@@ -1,6 +1,6 @@
 @# Included from rosidl_generator_py/resource/_idl.py.em
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 
 action_name = '_' + convert_camel_case_to_lower_case_underscore(action.namespaced_type.name)
 module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem)

diff --git a/rosidl_generator_py/resource/_action_pkg_typesupport_entry_point.c.em b/rosidl_generator_py/resource/_action_pkg_typesupport_entry_point.c.em
@@ -55,7 +55,7 @@ TEMPLATE(
 }@
 
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 type_name = convert_camel_case_to_lower_case_underscore(action.namespaced_type.name)
 function_name = 'type_support'
 }@

diff --git a/rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em b/rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
@@ -14,7 +14,7 @@
 @# Handle messages
 @#######################################################################
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 from rosidl_parser.definition import Message
 
 include_directives = set()

diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
@@ -1,7 +1,7 @@
 @# Included from rosidl_generator_py/resource/_idl.py.em
 @{
 
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+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
 from rosidl_generator_py.generate_py_impl import SPECIAL_NESTED_BASIC_TYPES
@@ -36,9 +36,15 @@ if message.structure.members:
     imports.setdefault(
         'import rosidl_parser.definition', [])  # used for SLOT_TYPES
 for member in message.structure.members:
+    type_ = member.type
+    if isinstance(type_, AbstractNestedType):
+        type_ = type_.value_type
     if member.name != EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME:
         imports.setdefault(
             'import builtins', [])  # used for @builtins.property
+    if isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES:
+        imports.setdefault(
+            'import math', [])  # used for math.isinf
     if (
         isinstance(member.type, AbstractNestedType) and
         isinstance(member.type.value_type, BasicType) and
@@ -504,16 +510,16 @@ bound = 2**nbits
 @[      if type_.typename == "float"]@
 @{
 name = "float"
-bound = 3.402823e+38
+bound = 3.402823466e+38
 }@
-                 all(val >= -@(bound) and val <= @(bound) for val in value)), \
+                 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
 }@
-                 all(val >= -@(bound) and val <= @(bound) for val in value)), \
+                 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]@
@@ -561,15 +567,15 @@ bound = 2**nbits
 @[      if type_.typename == "float"]@
 @{
 name = "float"
-bound = 3.402823e+38
+bound = 3.402823466e+38
 }@
 @[      elif type_.typename == "double"]@
 @{
 name = "double"
 bound = 1.7976931348623157e+308
 }@
 @[      end if]@
-            assert value >= -@(bound) and value <= @(bound), \
+            assert not (value < -@(bound) or value > @(bound)) or math.isinf(value), \
                 "The '@(member.name)' field must be a @(name) in [@(-bound), @(bound)]"
 @[    end if]@
 @[  else]@

diff --git a/rosidl_generator_py/resource/_msg_pkg_typesupport_entry_point.c.em b/rosidl_generator_py/resource/_msg_pkg_typesupport_entry_point.c.em
@@ -1,6 +1,6 @@
 @# Included from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 
 include_parts = idl_type.namespaces + [
     'detail', convert_camel_case_to_lower_case_underscore(idl_type.name)]

diff --git a/rosidl_generator_py/resource/_msg_support.c.em b/rosidl_generator_py/resource/_msg_support.c.em
@@ -1,7 +1,7 @@
 @# Included from rosidl_generator_py/resource/_idl_support.c.em
 #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 from rosidl_generator_py.generate_py_impl import SPECIAL_NESTED_BASIC_TYPES
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
@@ -683,7 +683,7 @@ nested_type = '__'.join(type_.namespaced_name())
       (void)rc;
       assert(rc == 0);
 @[    elif isinstance(member.type.value_type, AbstractString)]@
-      PyObject * decoded_item = PyUnicode_DecodeUTF8(src[i].data, strlen(src[i].data), "strict");
+      PyObject * decoded_item = PyUnicode_DecodeUTF8(src[i].data, strlen(src[i].data), "replace");
       if (!decoded_item) {
         return NULL;
       }
@@ -749,7 +749,7 @@ nested_type = '__'.join(type_.namespaced_name())
     field = PyUnicode_DecodeUTF8(
       ros_message->@(member.name).data,
       strlen(ros_message->@(member.name).data),
-      "strict");
+      "replace");
     if (!field) {
       return NULL;
     }

diff --git a/rosidl_generator_py/resource/_srv.py.em b/rosidl_generator_py/resource/_srv.py.em
@@ -1,6 +1,6 @@
 @# Included from rosidl_generator_py/resource/_idl.py.em
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 
 service_name = '_' + convert_camel_case_to_lower_case_underscore(service.namespaced_type.name)
 module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem)

diff --git a/rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em b/rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em
@@ -18,7 +18,7 @@ TEMPLATE(
 }@
 @
 @{
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
 type_name = convert_camel_case_to_lower_case_underscore(service.namespaced_type.name)
 function_name = 'type_support'
 }@

diff --git a/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py b/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
@@ -18,11 +18,6 @@
 import pathlib
 import sys
 
-from rosidl_cmake import convert_camel_case_to_lower_case_underscore
-from rosidl_cmake import expand_template
-from rosidl_cmake import generate_files
-from rosidl_cmake import get_newest_modification_time
-from rosidl_cmake import read_generator_arguments
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
@@ -38,6 +33,11 @@
 from rosidl_parser.definition import NamespacedType
 from rosidl_parser.definition import Service
 from rosidl_parser.parser import parse_idl_file
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+from rosidl_pycommon import expand_template
+from rosidl_pycommon import generate_files
+from rosidl_pycommon import get_newest_modification_time
+from rosidl_pycommon import read_generator_arguments
 
 SPECIAL_NESTED_BASIC_TYPES = {
     'float': {'dtype': 'numpy.float32', 'type_code': 'f'},

diff --git a/rosidl_generator_py/test/test_interfaces.py b/rosidl_generator_py/test/test_interfaces.py
@@ -13,6 +13,8 @@
 # limitations under the License.
 
 import array
+import math
+import sys
 
 import numpy
 import pytest
@@ -112,14 +114,38 @@ def test_basic_types():
             setattr(msg, 'uint%d_value' % i, -1)
         with pytest.raises(AssertionError):
             setattr(msg, 'int%d_value' % i, 2**i)
+    float32_ieee_max_next = numpy.nextafter(3.402823466e+38, math.inf)
     with pytest.raises(AssertionError):
-        setattr(msg, 'float32_value', -3.5e+38)
+        setattr(msg, 'float32_value', -float32_ieee_max_next)
     with pytest.raises(AssertionError):
-        setattr(msg, 'float32_value', 3.5e+38)
-    with pytest.raises(AssertionError):
-        setattr(msg, 'float64_value', 1.8e+308)
-    with pytest.raises(AssertionError):
-        setattr(msg, 'float64_value', -1.8e+308)
+        setattr(msg, 'float32_value', float32_ieee_max_next)
+
+    # Only run bounds test on system with non-compliant IEEE 754 float64.
+    # Otherwise the number is implicitly converted to inf.
+    if sys.float_info.max > 1.7976931348623157e+308:
+        float64_ieee_max_next = numpy.nextafter(1.7976931348623157e+308, math.inf)
+        with pytest.raises(AssertionError):
+            setattr(msg, 'float64_value', -float64_ieee_max_next)
+        with pytest.raises(AssertionError):
+            setattr(msg, 'float64_value', float64_ieee_max_next)
+
+    # NaN
+    setattr(msg, 'float32_value', math.nan)
+    assert math.isnan(msg.float32_value)
+    setattr(msg, 'float64_value', math.nan)
+    assert math.isnan(msg.float64_value)
+
+    # -Inf
+    setattr(msg, 'float32_value', -math.inf)
+    assert math.isinf(msg.float32_value)
+    setattr(msg, 'float64_value', -math.inf)
+    assert math.isinf(msg.float64_value)
+
+    # +Inf
+    setattr(msg, 'float32_value', math.inf)
+    assert math.isinf(msg.float32_value)
+    setattr(msg, 'float64_value', math.inf)
+    assert math.isinf(msg.float64_value)
 
 
 def test_strings():
@@ -460,9 +486,37 @@ def test_arrays():
     with pytest.raises(AssertionError):
         setattr(msg, 'uint64_values', [-1, 1, 2])
     with pytest.raises(AssertionError):
-        setattr(msg, 'float32_values', [-3.5e+38, 0.0, 3.5e+38])
+        float32_ieee_max_next = numpy.nextafter(3.402823466e+38, math.inf)
+        setattr(msg, 'float32_values', [-float32_ieee_max_next, 0.0])
     with pytest.raises(AssertionError):
-        setattr(msg, 'float64_values', [-1.8e+308, 0.0, 1.8e+308])
+        float32_ieee_max_next = numpy.nextafter(3.402823466e+38, math.inf)
+        setattr(msg, 'float32_values', [0.0, float32_ieee_max_next])
+
+    # If target system is IEEE 754 compliant, the next number is rounded to inf.
+    # Only perform this check on non-compliant systems.
+    if sys.float_info.max > 1.7976931348623157e+308:
+        with pytest.raises(AssertionError):
+            float64_ieee_max_next = numpy.nextafter(1.7976931348623157e+308, math.inf)
+            setattr(msg, 'float64_values', [-float64_ieee_max_next, 0.0])
+        with pytest.raises(AssertionError):
+            float64_ieee_max_next = numpy.nextafter(1.7976931348623157e+308, math.inf)
+            setattr(msg, 'float64_values', [-float64_ieee_max_next, 0.0])
+
+    # NaN
+    arr_of_float32_with_nan = numpy.array([-1.33, math.nan, 1.33], dtype=numpy.float32)
+    setattr(msg, 'float32_values', arr_of_float32_with_nan)
+    assert numpy.array_equal(arr_of_float32_with_nan, msg.float32_values, equal_nan=True)
+    arr_of_float64_with_nan = numpy.array([-1.66, math.nan, 1.66], dtype=numpy.float64)
+    setattr(msg, 'float64_values', arr_of_float64_with_nan)
+    assert numpy.array_equal(arr_of_float64_with_nan, msg.float64_values, equal_nan=True)
+
+    # Inf
+    arr_of_float32_with_inf = numpy.array([-math.inf, 5.5, math.inf], dtype=numpy.float32)
+    setattr(msg, 'float32_values', arr_of_float32_with_inf)
+    assert numpy.array_equal(arr_of_float32_with_inf, msg.float32_values)
+    arr_of_float64_with_inf = numpy.array([-math.inf, 5.5, math.inf], dtype=numpy.float64)
+    setattr(msg, 'float64_values', arr_of_float64_with_inf)
+    assert numpy.array_equal(arr_of_float64_with_inf, msg.float64_values)
 
 
 def test_bounded_sequences():
@@ -675,9 +729,18 @@ def test_bounded_sequences():
     with pytest.raises(AssertionError):
         setattr(msg, 'uint64_values', [-1, 1, 2])
     with pytest.raises(AssertionError):
-        setattr(msg, 'float32_values', [-3.5e+38, 0.0, 3.5e+38])
+        float32_ieee_max_next = numpy.nextafter(3.402823466e+38, math.inf)
+        setattr(msg, 'float32_values', [-float32_ieee_max_next, 0.0])
     with pytest.raises(AssertionError):
-        setattr(msg, 'float64_values', [-1.8e+308, 0.0, 1.8e+308])
+        float32_ieee_max_next = numpy.nextafter(3.402823466e+38, math.inf)
+        setattr(msg, 'float32_values', [0.0, float32_ieee_max_next])
+
+    # If target system is IEEE 754 compliant, the next number is rounded to inf.
+    # Only perform this check on non-compliant systems.
+    if sys.float_info.max > 1.7976931348623157e+308:
+        with pytest.raises(AssertionError):
+            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])
 
 
 def test_unbounded_sequences():
@@ -818,9 +881,15 @@ def test_unbounded_sequences():
     with pytest.raises(AssertionError):
         setattr(msg, 'uint64_values', [-1, 1, 2])
     with pytest.raises(AssertionError):
-        setattr(msg, 'float32_values', [-3.5e+38, 0.0, 3.5e+38])
-    with pytest.raises(AssertionError):
-        setattr(msg, 'float64_values', [-1.8e+308, 0.0, 1.8e+308])
+        float32_ieee_max_next = numpy.nextafter(3.402823466e+38, math.inf)
+        setattr(msg, 'float32_values', [-float32_ieee_max_next, 0.0, float32_ieee_max_next])
+
+    # If target system is IEEE 754 compliant, the next number is rounded to inf.
+    # Only perform this check on non-compliant systems.
+    if sys.float_info.max > 1.7976931348623157e+308:
+        with pytest.raises(AssertionError):
+            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])
 
 
 def test_slot_attributes():