Sync Ros2-v1.1 branch

vda5050_serializer/package.xml

@@ -10,8 +10,6 @@
   <maintainer email="[email protected]">Jannik Abbenseth</maintainer>
   <license>Apache2.0</license>
 
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 

vda5050_serializer/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/vda5050_serializer
+script_dir=$base/lib/vda5050_serializer
 [install]
-install-scripts=$base/lib/vda5050_serializer
+install_scripts=$base/lib/vda5050_serializer

vda5050_serializer/vda5050_serializer/__init__.py

@@ -1,14 +1,14 @@
 #! /usr/bin/env python3
 # Copyright 2020 Fraunhofer IPA
 #
-# Licensed under the Apache License, Version 2.0 (the "License");
+# Licensed under the Apache License, Version 2.0 (the 'License');
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
+# distributed under the License is distributed on an 'AS IS' BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
@@ -36,7 +36,6 @@ def transform_keys_in_dict(multilevel_dict, transformer):
         return multilevel_dict
     new_dict = {}
     for k, v in multilevel_dict.items():
-
         k = transformer(k)
 
         if isinstance(v, dict):
@@ -49,6 +48,24 @@ def transform_keys_in_dict(multilevel_dict, transformer):
     return new_dict
 
 
+def transform_action_parameter_values_to_json_string(multilevel_dict):
+    if not isinstance(multilevel_dict, dict):
+        return multilevel_dict
+    new_dict = {}
+    for k, v in multilevel_dict.items():
+        if k == 'action_parameters' and isinstance(v, list):
+            v = [{'key': elem['key'], 'value': json.dumps(elem['value'])} for elem in v]
+        else:
+            if isinstance(v, dict):
+                v = transform_action_parameter_values_to_json_string(v)
+            if isinstance(v, list):
+                v = [transform_action_parameter_values_to_json_string(x) for x in v]
+
+        assert k not in new_dict
+        new_dict[k] = v
+    return new_dict
+
+
 def dumps(d) -> str:
     return json.dumps(transform_keys_in_dict(d, dromedary))
 
@@ -57,3 +74,9 @@ def loads(str_val) -> dict:
     d = json.loads(str_val)
 
     return transform_keys_in_dict(d, snakey)
+
+
+# retransforms all instances of action_parameters to turn the values into
+# an json encoded string to support arbitrary types in the string message
+def loads_transforming_action_parameter_values_to_json_string(str_val) -> dict:
+    return transform_action_parameter_values_to_json_string(loads(str_val))