Deprecated byte char

rosidl_generator_c/include/rosidl_generator_c/primitives_array_functions.h

@@ -38,7 +38,7 @@ extern "C"
 // array functions for all primitive types
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(bool, bool)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(byte, uint8_t)
-ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(char, char)
+ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(char, int8_t)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(float32, float)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(float64, double)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(int8, int8_t)

rosidl_generator_c/test/test_interfaces.c

@@ -333,7 +333,7 @@ int test_primitives_unbounded_arrays(void)
   }
 
   // byte_array
-  res = rosidl_generator_c__byte__Array__init(&arrays->byte_array, ARRAY_SIZE);
+  res = rosidl_generator_c__uint8__Array__init(&arrays->byte_array, ARRAY_SIZE);
   EXPECT_EQ(true, res);
   uint8_t test_array_byte[7] = {0, 57, 110, 177, 201, 240, 255};
   for (i = 0; i < ARRAY_SIZE; i++) {
@@ -346,7 +346,7 @@ int test_primitives_unbounded_arrays(void)
 
 
   // char array
-  res = rosidl_generator_c__char__Array__init(&arrays->char_array, ARRAY_SIZE);
+  res = rosidl_generator_c__int8__Array__init(&arrays->char_array, ARRAY_SIZE);
   EXPECT_EQ(true, res);
   char test_array_char[7] = {'a', '5', '#', 'Z', '@', '-', ' '};
   for (i = 0; i < ARRAY_SIZE; i++) {
@@ -527,7 +527,7 @@ int test_primitives_bounded_arrays(void)
   }
 
   // byte_array
-  res = rosidl_generator_c__byte__Array__init(&arrays->byte_array, ARRAY_SIZE);
+  res = rosidl_generator_c__uint8__Array__init(&arrays->byte_array, ARRAY_SIZE);
   EXPECT_EQ(true, res);
   uint8_t test_array_byte[8] = {0, 57, 110, 177, 201, 240, 255, 111};
   for (i = 0; i < ARRAY_SIZE; i++) {
@@ -540,7 +540,7 @@ int test_primitives_bounded_arrays(void)
 
 
   // char array
-  res = rosidl_generator_c__char__Array__init(&arrays->char_array, ARRAY_SIZE);
+  res = rosidl_generator_c__int8__Array__init(&arrays->char_array, ARRAY_SIZE);
   EXPECT_EQ(true, res);
   char test_array_char[7] = {'a', '5', '#', 'Z', '@', '-', ' '};
   for (i = 0; i < ARRAY_SIZE; i++) {

rosidl_generator_cpp/test/test_interfaces.cpp

@@ -160,8 +160,8 @@ void test_message_primitives_static(rosidl_generator_cpp::msg::PrimitivesStatic
 #ifdef __linux__
 #pragma GCC diagnostic pop
 #endif
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 0, 255)
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, CHAR_MIN, CHAR_MAX)
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 0, UINT8_MAX)
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, INT8_MIN, INT8_MAX)
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float32_value, FLT_MIN, FLT_MAX)
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float64_value, DBL_MIN, DBL_MAX)
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, int8_value, INT8_MIN, INT8_MAX)
@@ -198,8 +198,8 @@ void test_message_primitives_bounded(rosidl_generator_cpp::msg::PrimitivesBounde
 {
   TEST_BOUNDED_ARRAY_PRIMITIVE(message, bool_value, bool, PRIMITIVES_ARRAY_SIZE, \
     false, true)
-  TEST_BOUNDED_ARRAY_PRIMITIVE(message, char_value, char, PRIMITIVES_ARRAY_SIZE, \
-    CHAR_MIN, CHAR_MAX)
+  TEST_BOUNDED_ARRAY_PRIMITIVE(message, char_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
+    INT8_MIN, INT8_MAX)
   TEST_BOUNDED_ARRAY_PRIMITIVE(message, byte_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
     0, UINT8_MAX)
   TEST_BOUNDED_ARRAY_PRIMITIVE(message, float32_value, float, PRIMITIVES_ARRAY_SIZE, \
@@ -250,8 +250,8 @@ void test_message_primitives_unbounded(rosidl_generator_cpp::msg::PrimitivesUnbo
 {
   TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, bool_value, bool, PRIMITIVES_ARRAY_SIZE, \
     false, true)
-  TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, char_value, char, PRIMITIVES_ARRAY_SIZE, \
-    CHAR_MIN, CHAR_MAX)
+  TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, char_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
+    INT8_MIN, INT8_MAX)
   TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, byte_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
     0, UINT8_MAX)
   TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, float32_value, float, PRIMITIVES_ARRAY_SIZE, \
@@ -290,8 +290,8 @@ void test_message_primitives_static_arrays(rosidl_generator_cpp::msg::PrimitiveS
 {
   TEST_STATIC_ARRAY_PRIMITIVE(message, bool_value, bool, PRIMITIVES_ARRAY_SIZE, \
     false, true)
-  TEST_STATIC_ARRAY_PRIMITIVE(message, char_value, char, PRIMITIVES_ARRAY_SIZE, \
-    CHAR_MIN, CHAR_MAX)
+  TEST_STATIC_ARRAY_PRIMITIVE(message, char_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
+    INT8_MIN, INT8_MAX)
   TEST_STATIC_ARRAY_PRIMITIVE(message, byte_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
     0, UINT8_MAX)
   TEST_STATIC_ARRAY_PRIMITIVE(message, float32_value, float, PRIMITIVES_ARRAY_SIZE, \
@@ -450,8 +450,8 @@ TEST(Test_messages, primitives_default) {
 #ifdef __linux__
 #pragma GCC diagnostic pop
 #endif
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 50, 255);
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, 100, CHAR_MAX);
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 50, UINT8_MAX);
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, 100, INT8_MAX);
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float32_value, 1.125f, FLT_MAX);
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float64_value, 1.125, DBL_MAX);
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, int8_value, -50, INT8_MAX);

rosidl_generator_py/resource/_msg.py.em

@@ -113,28 +113,12 @@ class @(spec.base_type.type)(metaclass=Metaclass):
         from @(field.type.pkg_name).msg import @(field.type.type)
 @[      end if]@
 @[      if field.type.array_size and not field.type.is_upper_bound]@
-@[        if field.type.type == 'byte']@
-        self.@(field.name) = kwargs.get(
-            '@(field.name)',
-            list([bytes([0]) for x in range(@(field.type.array_size))])
-        )
-@[        elif field.type.type == 'char']@
-        self.@(field.name) = kwargs.get(
-            '@(field.name)',
-            list([chr(0) for x in range(@(field.type.array_size))])
-        )
-@[        else]@
         self.@(field.name) = kwargs.get(
             '@(field.name)',
             list([@(get_python_type(field.type))() for x in range(@(field.type.array_size))])
         )
-@[        end if]@
 @[      elif field.type.is_array]@
         self.@(field.name) = kwargs.get('@(field.name)', list())
-@[      elif field.type.type == 'byte']@
-        self.@(field.name) = kwargs.get('@(field.name)', bytes([0]))
-@[      elif field.type.type == 'char']@
-        self.@(field.name) = kwargs.get('@(field.name)', chr(0))
 @[      else]@
         self.@(field.name) = kwargs.get('@(field.name)', @(get_python_type(field.type))())
 @[      end if]@
@@ -167,10 +151,6 @@ class @(spec.base_type.type)(metaclass=Metaclass):
         from collections import UserString
 @[  elif field.type.string_upper_bound]@
         from collections import UserString
-@[  elif field.type.type == 'byte']@
-        from collections import ByteString
-@[  elif field.type.type in ['char']]@
-        from collections import UserString
 @[  end if]@
         assert \
 @[  if field.type.is_array]@
@@ -202,8 +182,6 @@ nbits = int(field.type.type[4:])
 bound = 2**nbits
 }@
              all([val >= 0 and val < @(bound) for val in value]))
-@[      elif field.type.type == 'char']@
-             all([ord(val) >= -128 and ord(val) < 128 for val in value]))
 @[      else]@
              True)
 @[      end if]@
@@ -212,12 +190,6 @@ bound = 2**nbits
              len(value) <= @(field.type.string_upper_bound))
 @[  elif not field.type.is_primitive_type()]@
             isinstance(value, @(field.type.type))
-@[  elif field.type.type == 'byte']@
-            ((isinstance(value, bytes) or isinstance(value, ByteString)) and
-             len(value) == 1)
-@[  elif field.type.type == 'char']@
-            ((isinstance(value, str) or isinstance(value, UserString)) and
-             len(value) == 1 and ord(value) >= -128 and ord(value) < 128)
 @[  elif field.type.type in [
         'bool',
         'float32', 'float64',

rosidl_generator_py/test/test_interfaces.py

@@ -96,8 +96,8 @@ def test_constants():
     assert 123 == Constants.X
     assert -123 == Constants.Y
     assert 'foo' == Constants.FOO
-    assert '\x7F' == Constants.TOTO
-    assert b'0' == Constants.TATA
+    assert ord('\x7F') == Constants.TOTO
+    assert ord('0') == Constants.TATA
 
     assert_raises(AttributeError, setattr, Constants, 'FOO', 'bar')
 
@@ -120,9 +120,9 @@ def test_default_values():
 
     assert [5, 23] == b.UP_TO_THREE_INT32_VALUES_WITH_DEFAULT_VALUES__DEFAULT
 
-    assert '\x01' == b.CHAR_VALUE__DEFAULT
+    assert 1 == b.CHAR_VALUE__DEFAULT
     assert '1' != b.CHAR_VALUE__DEFAULT
-    assert b'\x01' == b.BYTE_VALUE__DEFAULT
+    assert 1 == b.BYTE_VALUE__DEFAULT
     assert b'1' != b.BYTE_VALUE__DEFAULT
 
 
@@ -169,19 +169,6 @@ def test_check_constraints():
     assert [primitives, primitives] == b.unbounded_primitives
 
     c = Various()
-    c.byte_value = b'a'
-    assert b'a' == c.byte_value
-    assert 'a' != c.byte_value
-    assert_raises(AssertionError, setattr, c, 'byte_value', 'a')
-    assert_raises(AssertionError, setattr, c, 'byte_value', b'abc')
-    assert_raises(AssertionError, setattr, c, 'byte_value', 'abc')
-
-    c.char_value = 'a'
-    assert 'a' == c.char_value
-    assert b'a' != c.char_value
-    assert_raises(AssertionError, setattr, c, 'char_value', b'a')
-    assert_raises(AssertionError, setattr, c, 'char_value', 'abc')
-    assert_raises(AssertionError, setattr, c, 'char_value', b'abc')
 
     c.up_to_three_int32_values = []
     assert [] == c.up_to_three_int32_values

rosidl_parser/rosidl_parser/__init__.py

@@ -27,8 +27,6 @@
 
 PRIMITIVE_TYPES = [
     'bool',
-    'byte',
-    'char',
     # TODO reconsider wchar
     'float32',
     'float64',
@@ -47,6 +45,11 @@
     'time',  # for compatibility only
 ]
 
+DEPRECATED_TYPES = {
+    'byte': 'uint8',
+    'char': 'int8'
+}
+
 VALID_PACKAGE_NAME_PATTERN = re.compile('^[a-z]([a-z0-9_]?[a-z0-9]+)*$')
 VALID_FIELD_NAME_PATTERN = re.compile('^[a-z]([a-z0-9_]?[a-z0-9]+)*$')
 # relaxed patterns used for compatibility with ROS 1 messages
@@ -132,7 +135,16 @@ class BaseType(object):
 
     def __init__(self, type_string, context_package_name=None):
         # check for primitive types
-        if type_string in PRIMITIVE_TYPES:
+        if type_string in DEPRECATED_TYPES.keys():
+            print("WARNING: '%s' is DEPRECATED, it will be remapped to '%s'" %
+                  (type_string, DEPRECATED_TYPES[type_string]))
+            print("please use the equivalent primitive type '%s'\n" % (
+                DEPRECATED_TYPES[type_string]))
+            self.pkg_name = None
+            self.type = DEPRECATED_TYPES[type_string]
+            self.string_upper_bound = None
+
+        elif type_string in PRIMITIVE_TYPES:
             self.pkg_name = None
             self.type = type_string
             self.string_upper_bound = None
@@ -277,16 +289,21 @@ class Constant(object):
     __slots__ = ['type', 'name', 'value']
 
     def __init__(self, primitive_type, name, value_string):
-        if primitive_type not in PRIMITIVE_TYPES:
+        if primitive_type not in PRIMITIVE_TYPES and primitive_type not in DEPRECATED_TYPES.keys():
             raise TypeError("the constant type '%s' must be a primitive type" %
                             primitive_type)
-        self.type = primitive_type
         if not is_valid_constant_name(name):
             raise NameError("the constant name '%s' is not valid" % name)
         self.name = name
         if value_string is None:
             raise ValueError("the constant value must not be 'None'")
-
+        if primitive_type in DEPRECATED_TYPES.keys():
+            print("WARNING '%s' is DEPRECATED, it will be remapped to '%s'" %
+                  (primitive_type, DEPRECATED_TYPES[primitive_type]))
+            print("please use the equivalent primitive type '%s'\n" % (
+                DEPRECATED_TYPES[primitive_type]))
+            primitive_type = DEPRECATED_TYPES[primitive_type]
+        self.type = primitive_type
         self.value = parse_primitive_value_string(
             Type(primitive_type), value_string)
 

rosidl_parser/test/test_base_type.py

@@ -21,8 +21,6 @@
 def test_base_type_constructor():
     primitive_types = [
         'bool',
-        'byte',
-        'char',
         'float32',
         'float64',
         'int8',
@@ -34,11 +32,22 @@ def test_base_type_constructor():
         'int64',
         'uint64',
         'string']
+
+    deprecated_types = {
+        'byte': 'uint8',
+        'char': 'int8'
+    }
+
     for primitive_type in primitive_types:
         base_type = BaseType(primitive_type)
         assert base_type.pkg_name is None
         assert base_type.type == primitive_type
         assert base_type.string_upper_bound is None
+    for deprecated_type in deprecated_types.keys():
+        base_type = BaseType(deprecated_type)
+        assert base_type.pkg_name is None
+        assert base_type.type == deprecated_types[deprecated_type]
+        assert base_type.string_upper_bound is None
 
     base_type = BaseType('string<=23')
     assert base_type.pkg_name is None

rosidl_parser/test/test_constant.py

@@ -37,7 +37,7 @@ def test_constant_methods():
     assert Constant('bool', 'FOO', '1') == Constant('bool', 'FOO', '1')
     assert Constant('bool', 'FOO', '1') != Constant('bool', 'FOO', '0')
     assert Constant('bool', 'FOO', '1') != Constant('bool', 'BAR', '1')
-    assert Constant('bool', 'FOO', '1') != Constant('byte', 'FOO', '1')
+    assert Constant('bool', 'FOO', '1') != Constant('uint8', 'FOO', '1')
 
     assert str(Constant('bool', 'FOO', '1')) == 'bool FOO=True'
 

rosidl_parser/test/test_field.py

@@ -58,7 +58,7 @@ def test_field_methods():
     assert (Field(Type('bool'), 'foo', '1') !=
             Field(Type('bool'), 'bar', '1'))
     assert (Field(Type('bool'), 'foo', '1') !=
-            Field(Type('byte'), 'foo', '1'))
+            Field(Type('uint8'), 'foo', '1'))
 
     assert str(Field(Type('bool'), 'foo', '1')) == 'bool foo True'