ROS Interface Glinters (MetroRobots#3)

edu-rossrobotics · Dec 8, 2023 · 8546559 · 8546559
1 parent 9de27c0
commit 8546559
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diff --git a/src/ros_glint/__init__.py b/src/ros_glint/__init__.py
@@ -1,3 +1,5 @@
 from .core import get_linters
 
-__all__ = ['get_linters']
+from .glinters import ros_interfaces
+
+__all__ = ['get_linters', 'ros_interfaces']
diff --git a/src/ros_glint/glinters/ros_interfaces.py b/src/ros_glint/glinters/ros_interfaces.py
@@ -0,0 +1,32 @@
+from ..core import glinter
+from ros_introspect.components.ros_interface import PRIMITIVES
+
+STANDARD = {
+    'Header': 'std_msgs'
+}
+
+
+@glinter
+def clean_whitespace_from_interface_definition(package):
+    # Formerly remove_trailing_whitespace_from_generators
+    for interface in package.get_ros_interfaces():
+        interface.changed = True
+
+
+@glinter
+def fill_in_msg_package_names(package):
+    interfaces = package.get_ros_interfaces()
+    all_names = {ros_i.name for ros_i in interfaces}
+
+    for interface in interfaces:
+        for section in interface.sections:
+            for field in section.fields:
+                if '/' in field.type or field.type in PRIMITIVES:
+                    continue
+
+                if field.type in STANDARD:
+                    field.type = STANDARD[field.type] + '/' + field.type
+                    interface.changed = True
+                elif field.type in all_names:
+                    field.type = package.name + '/' + field.type
+                    interface.changed = True