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

Made-with: Cursor

.github/workflows/ci.yml

@@ -21,7 +21,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10" # Use minimum version for consistency
+          python-version: "3.10"
 
       - name: Install dependencies
         run: |
@@ -33,27 +33,27 @@ jobs:
         with:
           extra_args: --all-files
 
-  # Step 2: Basic build and test with minimum Python version (3.10)
+  # Step 2: Basic build and test
   basic-build:
-    name: Basic build (Python 3.10, Ubuntu)
+    name: Basic build (Python 3.11, Ubuntu)
     runs-on: ubuntu-latest
     needs: [code-format] # Only run after code formatting passes
 
     steps:
       - uses: actions/checkout@v6
 
-      - name: Set up Python 3.10
+      - name: Set up Python 3.11
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10"
+          python-version: "3.11"
 
       - name: Cache pip dependencies
         uses: actions/cache@v5
         with:
           path: ~/.cache/pip
-          key: ubuntu-pip-3.10-${{ hashFiles('**/pyproject.toml') }}
+          key: ubuntu-pip-3.11-${{ hashFiles('**/pyproject.toml') }}
           restore-keys: |
-            ubuntu-pip-3.10-
+            ubuntu-pip-3.11-
 
       - name: Install dependencies
         run: |
@@ -173,7 +173,7 @@ jobs:
         exclude:
           # Skip the combination we already tested in basic-build
           - os: ubuntu-latest
-            python-version: "3.10"
+            python-version: "3.11"
 
     steps:
       - uses: actions/checkout@v6

.github/workflows/publish.yml

@@ -34,7 +34,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10" # Use minimum version for consistency
+          python-version: "3.10"
 
       - name: Install dependencies
         run: |
@@ -46,27 +46,27 @@ jobs:
         with:
           extra_args: --all-files
 
-  # Step 2: Basic build and test with minimum Python version (3.10)
+  # Step 2: Basic build and test
   basic-build:
-    name: Basic build (Python 3.10, Ubuntu)
+    name: Basic build (Python 3.11, Ubuntu)
     runs-on: ubuntu-latest
     needs: [code-format] # Only run after code formatting passes
 
     steps:
       - uses: actions/checkout@v6
 
-      - name: Set up Python 3.10
+      - name: Set up Python 3.11
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10"
+          python-version: "3.11"
 
       - name: Cache pip dependencies
         uses: actions/cache@v5
         with:
           path: ~/.cache/pip
-          key: ubuntu-pip-3.10-${{ hashFiles('**/pyproject.toml') }}
+          key: ubuntu-pip-3.11-${{ hashFiles('**/pyproject.toml') }}
           restore-keys: |
-            ubuntu-pip-3.10-
+            ubuntu-pip-3.11-
 
       - name: Install dependencies
         run: |

msgcenterpy/__init__.py

@@ -5,7 +5,7 @@ A multi-format message conversion system supporting seamless conversion
 between ROS2, Pydantic, Dataclass, JSON, Dict, YAML and JSON Schema.
 """
 
-__version__ = "0.1.6"
+__version__ = "0.1.8"
 __license__ = "Apache-2.0"
 
 from msgcenterpy.core.envelope import MessageEnvelope, create_envelope

msgcenterpy/core/type_info.py

@@ -277,9 +277,16 @@ class TypeInfo:
         # Special handling for object types
         if self.is_object and self.object_fields:
             properties = {}
+            required_fields = []
             for field_name, field_info in self.object_fields.items():
                 properties[field_name] = field_info.to_json_schema_property(include_constraints)
+                if field_info.has_constraint(ConstraintType.REQUIRED):
+                    required_fields.append(field_name)
             property_schema["properties"] = properties
+            if required_fields:
+                property_schema["required"] = required_fields
+            if self.field_name and self.field_name != Consts.ELEMENT_TYPE_INFO_SYMBOL:
+                property_schema["title"] = self.field_name
 
         # Add description
         if self.original_type:

msgcenterpy/instances/ros2_instance.py

@@ -40,11 +40,7 @@ class ROS2MessageInstance(MessageInstance[Any]):
         interface = (
             "msg"
             if ".msg" in module_name
-            else "srv"
+            else "srv" if ".srv" in module_name else "action" if ".action" in module_name else "msg"
-            if ".srv" in module_name
-            else "action"
-            if ".action" in module_name
-            else "msg"
         )
         return f"{package}/{interface}/{class_name}" if package and class_name else f"{module_name}.{class_name}"
 
@@ -221,10 +217,9 @@ class ROS2MessageInstance(MessageInstance[Any]):
             # 基础类型的约束将在 field_accessor 中自动添加
             pass
         elif isinstance(definition_type, NamespacedType):
-            # 对象类型，标记为对象并提取字段信息
             type_info.is_object = True
             type_info.add_constraint(ConstraintType.TYPE_KEEP, True)
-            # 这里可以进一步扩展来提取对象字段信息
+            self._extract_namespaced_type_fields(type_info, definition_type)
         # 提取元素类型信息
         if get_element_type:
             if not isinstance(definition_type, AbstractNestedType):
@@ -240,3 +235,33 @@ class ROS2MessageInstance(MessageInstance[Any]):
                 original_type=definition_type.value_type,
             )
             self._extract_from_rosidl_definition(type_info.element_type_info)
+
+    def _extract_namespaced_type_fields(self, type_info: TypeInfo, namespaced_type: "NamespacedType") -> None:
+        """从 NamespacedType（嵌套 ROS2 消息）中提取所有字段信息，填充 object_fields
+
+        递归处理嵌套的消息类型，确保多层嵌套的结构也能正确提取。
+
+        Args:
+            type_info: 要填充 object_fields 的 TypeInfo 对象
+            namespaced_type: rosidl NamespacedType 定义
+        """
+        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
+
+        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

pyproject.toml

@@ -128,9 +128,10 @@ skips = ["B101", "B601"]
 # ── Version management ────────────────────────────────────────
 
 [tool.bumpversion]
-current_version = "0.1.6"
+current_version = "0.1.8"
 commit = true
 tag = true
+push = true
 tag_name = "v{new_version}"
 message = "release: bump version {current_version} → {new_version}"