Added sequences support on pyopendds [#18]

pyopendds/DataWriter.py

@@ -1,2 +1,29 @@
+from __future__ import annotations
+
+from .Topic import Topic
+from .constants import StatusKind
+from .util import TimeDurationType, normalize_time_duration
+
+from typing import TYPE_CHECKING
+if TYPE_CHECKING:
+    from .Publisher import Publisher
+
+
 class DataWriter:
-    pass
+
+    def __init__(self, publisher: Publisher, topic: Topic, qos=None, listener=None):
+        self.topic = topic
+        self.qos = qos
+        self.listener = listener
+        self.publisher = publisher
+        publisher.writers.append(self)
+
+        from _pyopendds import create_datawriter
+        create_datawriter(self, publisher, topic)
+
+    def wait_for(self, status: StatusKind, timeout: TimeDurationType):
+        from _pyopendds import datareader_wait_for
+        return datareader_wait_for(self, status, *normalize_time_duration(timeout))
+
+    def write(self, sample):
+        return self.topic._ts_package.write(self, sample)

pyopendds/Publisher.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+from .DataWriter import DataWriter
 from .Topic import Topic
 
 from typing import TYPE_CHECKING
@@ -18,5 +19,5 @@ def __init__(self, participant: DomainParticipant, qos=None, listener=None):
         from _pyopendds import create_publisher
         create_publisher(self, participant)
 
-    def create_datawriter(self, topic: Topic, qos=None, listener=None):
-        pass
+    def create_datawriter(self, topic: Topic, qos=None, listener=None) -> DataWriter:
+        return DataWriter(self, topic, qos, listener)

pyopendds/dev/include/pyopendds/user.hpp

@@ -30,7 +30,7 @@ class IntegerType {
 
   static PyObject* get_python_class()
   {
-    return PyLong_Type;
+    return PyLong_FromLong(0);
   }
 
   static void cpp_to_python(const T& cpp, PyObject*& py)
@@ -56,13 +56,17 @@ class IntegerType {
         "Integer Value is Out of Range for IDL Type", PyExc_ValueError);
     }
     if (value == -1 && PyErr_Occurred()) throw Exception();
-    cpp = value;
+    cpp = T(value);
   }
+
 };
 
 typedef ::CORBA::Long i32;
 template<> class Type<i32>: public IntegerType<i32> {};
 
+typedef ::CORBA::Short i16;
+template<> class Type<i16>: public IntegerType<i16> {};
+
 // TODO: Put Other Integer Types Here
 
 const char* string_data(const std::string& cpp)
@@ -90,7 +94,7 @@ class StringType {
 public:
   static PyObject* get_python_class()
   {
-    return PyUnicode_Type;
+    return PyUnicode_FromString("");
   }
 
   static void cpp_to_python(const T& cpp, PyObject*& py, const char* encoding)
@@ -101,9 +105,16 @@ class StringType {
     py = o;
   }
 
-  static void python_to_cpp(PyObject* py, T& cpp)
+  static void python_to_cpp(PyObject* py, T& cpp, const char* encoding)
   {
-    // TODO: Encode or Throw Unicode Error
+    PyObject* repr = PyObject_Str(py);
+    if (!repr) throw Exception();
+    PyObject* str = PyUnicode_AsEncodedString(repr, encoding, NULL);
+    if (!str) throw Exception();
+    const char *bytes = PyBytes_AS_STRING(str);
+    cpp = T(bytes);
+    Py_XDECREF(repr);
+    Py_XDECREF(str);
   }
 };
 
@@ -127,6 +138,7 @@ class TopicTypeBase {
   virtual const char* type_name() = 0;
   virtual void register_type(PyObject* pyparticipant) = 0;
   virtual PyObject* take_next_sample(PyObject* pyreader) = 0;
+  virtual PyObject* write(PyObject* pywriter, PyObject* pysample) = 0;
 
   typedef std::shared_ptr<TopicTypeBase> Ptr;
   typedef std::map<PyObject*, Ptr> TopicTypes;
@@ -215,15 +227,15 @@ class TopicType : public TopicTypeBase {
     DDS::WaitSet_var ws = new DDS::WaitSet;
     ws->attach_condition(read_condition);
     DDS::ConditionSeq active;
-    const DDS::Duration_t max_wait_time = {10, 0};
+    const DDS::Duration_t max_wait_time = {60, 0};
     if (Errors::check_rc(ws->wait(active, max_wait_time))) {
       throw Exception();
     }
     ws->detach_condition(read_condition);
     reader_impl->delete_readcondition(read_condition);
 
     IdlType sample;
-    DDS::SampleInfo info;
+        DDS::SampleInfo info;
     if (Errors::check_rc(reader_impl->take_next_sample(sample, info))) {
       throw Exception();
     }
@@ -234,6 +246,34 @@ class TopicType : public TopicTypeBase {
     return rv;
   }
 
+  PyObject* write(PyObject* pywriter, PyObject* pysample)
+  {
+    DDS::DataWriter* writer = get_capsule<DDS::DataWriter>(pywriter);
+    if (!writer) throw Exception();
+
+    DataWriter* writer_impl = DataWriter::_narrow(writer);
+    if (!writer_impl) {
+      throw Exception(
+        "Could not narrow writer implementation", Errors::PyOpenDDS_Error());
+    }
+
+    IdlType rv;
+    Type<IdlType>::python_to_cpp(pysample, rv);
+
+    DDS::ReturnCode_t rc = writer_impl->write(rv, DDS::HANDLE_NIL);
+    if (Errors::check_rc(rc)) {
+      throw Exception();
+    }
+    // Wait for samples to be acknowledged
+    DDS::Duration_t timeout = { 30, 0 };
+    if (writer_impl->wait_for_acknowledgments(timeout) != DDS::RETCODE_OK) {
+      throw Exception(
+        "wait_for_acknowledgments error : ", Errors::PyOpenDDS_Error());
+    }
+
+    return pysample;
+  }
+
   PyObject* get_python_class()
   {
     return Type<IdlType>::get_python_class();

pyopendds/dev/itl2py/CppOutput.py

@@ -1,6 +1,6 @@
 from jinja2 import Environment
 
-from .ast import PrimitiveType, StructType, EnumType
+from .ast import PrimitiveType, StructType, EnumType, SequenceType
 from .Output import Output
 
 
@@ -13,6 +13,8 @@ def cpp_type_name(type_node):
         return type_node.kind.name
     elif isinstance(type_node, (StructType, EnumType)):
         return cpp_name(type_node.name.parts)
+    elif isinstance(type_node, (SequenceType)):
+        return cpp_name(type_node.name.parts);
     else:
         raise NotImplementedError
 
@@ -44,33 +46,85 @@ def visit_struct(self, struct_type):
         struct_to_lines = [
             'Ref field_value;',
         ]
-        struct_from_lines = []
+        struct_from_lines = [
+            'Ref field_value;',
+        ]
         for field_name, field_node in struct_type.fields.items():
             to_lines = []
             from_lines = []
             pyopendds_type = ''
             is_string = isinstance(field_node.type_node, PrimitiveType) and \
                 field_node.type_node.is_string()
+            is_sequence = isinstance(field_node.type_node, SequenceType)
+
+            if is_sequence:
+                to_lines = [
+                    'Ref field_elem;',
+                    'field_value = PyList_New(0);',
+                    'for (int i = 0; i < cpp.{field_name}.length(); i++) {{',
+                    '    {pyopendds_type} elem = cpp.{field_name}[i];',
+                    '    field_elem = nullptr;',
+                    '    Type<{pyopendds_type}>::cpp_to_python(elem',
+                    '    #ifdef CPP11_IDL',
+                    '        ()',
+                    '    #endif',
+                    '        , *field_elem' + (', "{default_encoding}"' if is_string else '') + ');',
+                    '    PyList_Append(*field_value, *field_elem);',
+                    '}}'
+                ]
+            else:
+                to_lines = [
+                    'Type<{pyopendds_type}>::cpp_to_python(cpp.{field_name}',
+                    '#ifdef CPP11_IDL',
+                    '    ()',
+                    '#endif',
+                    '    , *field_value'
+                        + (', "{default_encoding}"' if is_string else '') + ');',
+                ]
 
-            to_lines = [
-                'Type<{pyopendds_type}>::cpp_to_python(cpp.{field_name}',
-                '#ifdef CPP11_IDL',
-                '    ()',
-                '#endif',
-                '    , *field_value'
-                    + (', "{default_encoding}"' if is_string else '') + ');',
+            from_lines = [
+                'if (PyObject_HasAttrString(py, "{field_name}")) {{',
+                '    *field_value = PyObject_GetAttrString(py, "{field_name}");',
+                '}}',
+                'if (!field_value) {{',
+                '  throw Exception();',
+                '}}'
             ]
 
             pyopendds_type = cpp_type_name(field_node.type_node)
 
             if to_lines:
                 to_lines.extend([
-                    'if (!field_value || PyObject_SetAttrString('
+                    'if (!field_value || PyObject_SetAttrString(',
                     'py, "{field_name}", *field_value)) {{',
                     '  throw Exception();',
                     '}}'
                 ])
 
+            if from_lines:
+                if is_sequence:
+                    from_lines.extend([
+                        'cpp.{field_name}.length(PyList_Size(*field_value));',
+                        'for (int i = 0; i < PyList_Size(*field_value); i++) {{',
+                        '    ::ContTrajSegment elem = cpp.{field_name}[i];',
+                        '    Type<{pyopendds_type}>::python_to_cpp(PyList_GetItem(*field_value, i), elem',
+                        '#ifdef CPP11_IDL',
+                        '    ()',
+                        '#endif',
+                        '    ' + (', "{default_encoding}"' if is_string else '') + ');',
+                        '    cpp.{field_name}[i] = elem;',
+                        '}}'
+                    ])
+                else:
+                    from_lines.extend([
+                        'Type<{pyopendds_type}>::python_to_cpp(*field_value, cpp.{field_name}',
+                        '#ifdef CPP11_IDL',
+                        '    ()',
+                        '#endif',
+                        '    '
+                        + (', "{default_encoding}"' if is_string else '') + ');'
+                    ])
+
             def line_process(lines):
                 return [''] + [
                     s.format(
@@ -107,9 +161,6 @@ def visit_enum(self, enum_type):
                 'args = PyTuple_Pack(1, PyLong_FromLong(static_cast<long>(cpp)));',
             ]),
             'to_lines': '',
-            'from_lines': '\n'.join([
-                '',
-                '// left unimplemented'
-            ]),
+            'from_lines': '',
             'is_topic_type': False,
         })

pyopendds/dev/itl2py/PythonOutput.py

@@ -1,4 +1,4 @@
-from .ast import PrimitiveType, StructType, EnumType
+from .ast import PrimitiveType, StructType, EnumType, SequenceType
 from .Output import Output
 
 
@@ -72,6 +72,8 @@ def get_python_default_value_string(self, field_type):
                 return type_name + '()'
             elif isinstance(field_type, EnumType):
                 return type_name + '.' + field_type.default_member
+            elif isinstance(field_type, SequenceType):
+                return 'field(default_factory=list)'
             else:
                 raise NotImplementedError(repr(field_type) + " is not supported")
 
@@ -98,4 +100,4 @@ def visit_enum(self, enum_type):
                     dict(name=name, value=value) for name, value in enum_type.members.items()
                 ],
             ),
-        ))
+        ))

pyopendds/dev/itl2py/ast.py

@@ -215,6 +215,9 @@ def __repr__(self):
         return self.repr_template(repr(self.base_type)
             + ("max " + str(self.max_count) if self.max_count else "no max"))
 
+    def repr_name(self):
+        if self.name:
+            return '::' + self.name.join('::') + '::_tao_seq_' + self.base_type + '_'
 
 class NodeVisitor:
 

pyopendds/dev/itl2py/itl.py

@@ -74,7 +74,7 @@ def parse_string(details):
 
 
 def parse_sequence(types, details):
-    base_type = parse_type(types, details["type"])
+    base_type = parse_type(types, list(types)[0])
     sequence_max_count = details.get("capacity", None)
     array_dimensions = details.get("size", None)
     if array_dimensions is not None:
@@ -86,9 +86,16 @@ def parse_sequence(types, details):
 def parse_record(types, details):
     struct_type = StructType()
     for field_dict in details['fields']:
-        struct_type.add_field(
-            field_dict['name'], parse_type(types, field_dict['type']),
-            field_dict.get('optional', False))
+        if 'sequence' in field_dict['type']:
+            sequence = parse_sequence(types, {'type': field_dict['type'], 'capacity': 1, 'size': None})
+            sequence.set_name(itl_name=sequence.base_type.name.itl_name)
+            struct_type.add_field(
+                field_dict['name'], sequence,
+                field_dict.get('optional', False))
+        else:
+            struct_type.add_field(
+                field_dict['name'], parse_type(types, field_dict['type']),
+                field_dict.get('optional', False))
     return struct_type
 
 
@@ -132,6 +139,8 @@ def parse_type(types, details):
     if details_type is str:
         if details in types:
             return types[details]
+        elif 'sequence' in details :
+            return parse_sequence(types, {'type':types, 'capacity': 1, 'size': None})
         else:
             raise ValueError("Invalid Type: " + details)
     elif details_type is dict: