From 182c5187a07580c43db85aea8bc594a74d8ddc4b Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Sun, 22 Mar 2026 01:33:01 +0800
Subject: [PATCH] refactor: simplify _extract_namespaced_type_fields, remove
 redundant try-except and post-processing

Made-with: Cursor
---
 msgcenterpy/instances/ros2_instance.py | 45 +++++++++++---------------
 1 file changed, 18 insertions(+), 27 deletions(-)

diff --git a/msgcenterpy/instances/ros2_instance.py b/msgcenterpy/instances/ros2_instance.py
index 064d0e3..29d58bf 100644
--- a/msgcenterpy/instances/ros2_instance.py
+++ b/msgcenterpy/instances/ros2_instance.py
@@ -1,11 +1,8 @@
 import array
 import importlib
-import logging
 from collections import OrderedDict
 from typing import TYPE_CHECKING, Any, Dict, Optional, Type
 
-logger = logging.getLogger(__name__)
-
 from rosidl_parser.definition import NamespacedType  # type: ignore
 from rosidl_runtime_py import (  # type: ignore
     import_message_from_namespaced_type,
@@ -248,29 +245,23 @@ class ROS2MessageInstance(MessageInstance[Any]):
             type_info: 要填充 object_fields 的 TypeInfo 对象
             namespaced_type: rosidl NamespacedType 定义
         """
-        from msgcenterpy.core.type_info import TypeInfoPostProcessor
+        msg_cls = import_message_from_namespaced_type(namespaced_type)
+        msg_instance = msg_cls()
 
-        try:
-            msg_cls = import_message_from_namespaced_type(namespaced_type)
-            msg_instance = msg_cls()
+        # noinspection PyProtectedMember
+        slots = msg_instance._fields_and_field_types
+        slot_types = msg_instance.SLOT_TYPES
 
-            # noinspection PyProtectedMember
-            slots = msg_instance._fields_and_field_types
-            slot_types = msg_instance.SLOT_TYPES
-
-            for field_name, slot_type in zip(slots, slot_types):
-                std_type = TypeConverter.rosidl_definition_to_standard(slot_type)
-                python_type = TypeConverter.standard_to_python_type(std_type)
-                field_type_info = TypeInfo(
-                    field_name=field_name,
-                    field_path=f"{type_info.field_path}.{field_name}",
-                    standard_type=std_type,
-                    python_type=python_type,
-                    original_type=slot_type,
-                )
-                self._extract_from_rosidl_definition(field_type_info)
-                TypeInfoPostProcessor.post_process_type_info(field_type_info)
-                field_type_info.add_constraint(ConstraintType.REQUIRED, True)
-                type_info.object_fields[field_name] = field_type_info
-        except Exception as e:
-            logger.warning("Failed to extract fields from NamespacedType %s: %s", namespaced_type, e)
+        for field_name, slot_type in zip(slots, slot_types):
+            std_type = TypeConverter.rosidl_definition_to_standard(slot_type)
+            python_type = TypeConverter.standard_to_python_type(std_type)
+            field_type_info = TypeInfo(
+                field_name=field_name,
+                field_path=f"{type_info.field_path}.{field_name}",
+                standard_type=std_type,
+                python_type=python_type,
+                original_type=slot_type,
+            )
+            self._extract_from_rosidl_definition(field_type_info)
+            field_type_info.add_constraint(ConstraintType.REQUIRED, True)
+            type_info.object_fields[field_name] = field_type_info