Separate raw changes into different schema for now

Signed-off-by: ruffsl <[email protected]>

sros2/scripts/dds_sql_to_sros2_policy.py

@@ -100,21 +100,24 @@ def df_to_dds_policy(df):
 def dds_policy_to_sros2_policy(dds_policy):
 
     # Parse files
-    policy_xsd = etree.XMLSchema(
+    sros2_policy_xsd = etree.XMLSchema(
         etree.parse(
             get_policy_schema('policy.xsd')))
-    demangle_xsl = etree.XSLT(
+    dds_policy_xsd = etree.XMLSchema(
+        etree.parse(
+            get_transport_schema('dds', 'policy.xsd')))
+    dds_demangle_xsl = etree.XSLT(
         etree.parse(
             get_transport_template('dds', 'demangle.xsl')))
 
-    # Validate policy schema
-    policy_xsd.assertValid(dds_policy)
+    # Validate input schema
+    dds_policy_xsd.assertValid(dds_policy)
 
     # Transform policy
-    sros2_policy = demangle_xsl(dds_policy)
+    sros2_policy = dds_demangle_xsl(dds_policy)
 
-    # Validate policy schema
-    policy_xsd.assertValid(sros2_policy)
+    # Validate output schema
+    sros2_policy_xsd.assertValid(sros2_policy)
 
     return sros2_policy
 

sros2/sros2/policy/schemas/dds/policy.xsd

@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xs:schema
+    xmlns:xs="http://www.w3.org/2001/XMLSchema"
+    xmlns:xml="http://www.w3.org/XML/1998/namespace"
+    elementFormDefault="qualified" attributeFormDefault="unqualified">
+    <xs:import namespace="http://www.w3.org/XML/1998/namespace"
+               schemaLocation="http://www.w3.org/2001/03/xml.xsd" />
+    <!-- TODO: Use namespaces for xs:import so schemas can be DRY -->
+
+    <xs:element name="policy" type="Policy" />
+    <xs:complexType name="Policy">
+        <xs:sequence minOccurs="1" maxOccurs="1">
+            <xs:element name="profiles" type="Profiles" />
+        </xs:sequence>
+        <xs:attribute name="version" type="xs:string" use="required" />
+    </xs:complexType>
+
+    <xs:complexType name="Profiles">
+        <xs:sequence minOccurs="1" maxOccurs="unbounded">
+            <xs:element name="profile" type="Profile" />
+        </xs:sequence>
+    </xs:complexType>
+
+    <xs:complexType name="Profile">
+        <xs:sequence minOccurs="0" maxOccurs="unbounded">
+            <xs:choice minOccurs="1" maxOccurs="1">
+                <xs:element name="raws" minOccurs="1" type="RawExpressionList" />
+            </xs:choice>
+        </xs:sequence>
+        <xs:attribute name="ns" type="xs:string" use="required" />
+        <xs:attribute name="node" type="xs:string" use="required" />
+        <xs:attribute ref="xml:base" />
+    </xs:complexType>
+
+    <xs:complexType name="RawExpressionList">
+        <xs:sequence minOccurs="1" maxOccurs="unbounded">
+            <xs:element name="raw" type="Expression" />
+        </xs:sequence>
+        <xs:attribute name="publish" type="RuleQualifier" use="optional" />
+        <xs:attribute name="relay" type="RuleQualifier" use="optional" />
+        <xs:attribute name="subscribe" type="RuleQualifier" use="optional" />
+        <xs:attribute ref="xml:base" />
+    </xs:complexType>
+
+    <xs:simpleType name="Expression">
+        <xs:restriction base="xs:string" />
+    </xs:simpleType>
+
+    <xs:simpleType name="RuleQualifier">
+        <xs:restriction base="xs:string">
+            <xs:enumeration value="ALLOW" />
+            <xs:enumeration value="DENY" />
+        </xs:restriction>
+    </xs:simpleType>
+
+</xs:schema>

sros2/sros2/policy/schemas/policy.xsd

@@ -24,7 +24,6 @@
     <xs:complexType name="Profile">
         <xs:sequence minOccurs="0" maxOccurs="unbounded">
             <xs:choice minOccurs="1" maxOccurs="1">
-                <xs:element name="raws" minOccurs="1" type="RawExpressionList" />
                 <xs:element name="topics" minOccurs="1" type="TopicExpressionList" />
                 <xs:element name="services" minOccurs="1" type="ServicesExpressionList" />
                 <xs:element name="actions" minOccurs="1" type="ActionsExpressionList" />
@@ -35,16 +34,6 @@
         <xs:attribute ref="xml:base" />
     </xs:complexType>
 
-    <xs:complexType name="RawExpressionList">
-        <xs:sequence minOccurs="1" maxOccurs="unbounded">
-            <xs:element name="raw" type="Expression" />
-        </xs:sequence>
-        <xs:attribute name="publish" type="RuleQualifier" use="optional" />
-        <xs:attribute name="relay" type="RuleQualifier" use="optional" />
-        <xs:attribute name="subscribe" type="RuleQualifier" use="optional" />
-        <xs:attribute ref="xml:base" />
-    </xs:complexType>
-
     <xs:complexType name="TopicExpressionList">
         <xs:sequence minOccurs="1" maxOccurs="unbounded">
             <xs:element name="topic" type="Expression" />