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refactor: simplify _extract_namespaced_type_fields, remove redundant try-except and post-processing

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Made-with: Cursor
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Xuwznln
2026-03-22 01:33:01 +08:00
parent 9e6007eb60
commit 182c5187a0
1 changed files with 18 additions and 27 deletions
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45
msgcenterpy/instances/ros2_instance.py
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@@ -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