search

ros2 / rosidl_dds

Apache License 2.0
6 stars 7 forks source link

IDL constant is incorrectly substituted during code generation #53

Open jacobperron opened 4 years ago

jacobperron commented 4 years ago

Bug report

Required Info:

Steps to reproduce issue

Try to build the following message defined with IDL:

module foo {
  module msg {
    module MyMessage_Constants {
      const unsigned long UNSIGNED_LONG_CONSTANT = 42; 
    };  

    struct MyMessage {
      // (1)
      @default ( value=UNSIGNED_LONG_CONSTANT )
      unsigned long unsigned_long_value;

      // (2)
      wstring<UNSIGNED_LONG_CONSTANT> constant_bounded_wstring_value;

      // (3)
      string<UNSIGNED_LONG_CONSTANT> bounded_string_value;
    };  
  };  
};

Assumes the package name is foo and the message is a subdirectory named msg.

Expected behavior

Code is successfully generated and compiled for the message type.

Actual behavior

The constant UNSIGNED_LONG_CONSTANT is not resolved correctly. In cases (1) and (2), we get the following compilation error:

In file included from /tmp/bug_report/build/foo/rosidl_generator_c/foo/msg/detail/my_message__functions.h:19,
                 from /tmp/bug_report/build/foo/rosidl_generator_c/foo/msg/detail/my_message__functions.c:4:
/tmp/bug_report/build/foo/rosidl_generator_c/foo/msg/detail/my_message__struct.h:34:74: error: ‘UNSIGNED_LONG_CONSTANT’ undeclared here (not in a function)
   34 |   foo__msg__MyMessage__constant_bounded_wstring_value__MAX_STRING_SIZE = UNSIGNED_LONG_CONSTANT
      |                                                                          ^~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/foo__rosidl_generator_c.dir/build.make:92: CMakeFiles/foo__rosidl_generator_c.dir/rosidl_generator_c/foo/msg/detail/my_message__functions.c.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:301: CMakeFiles/foo__rosidl_generator_c.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
TypeError in template '/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/share/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em': %u format: a number is required, not str
TypeError when expanding 'idl__type_support.cpp.em' into '/tmp/bug_report/build/foo/rosidl_typesupport_introspection_cpp/foo/msg/detail/my_message__type_support.cpp': %u format: a number is required, not str
Error processing idl file: /tmp/bug_report/src/foo/msg/MyMessage.idl
Traceback (most recent call last):
  File "/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/lib/rosidl_typesupport_introspection_cpp/rosidl_typesupport_introspection_cpp", line 23, in <module>
    sys.exit(main())
  File "/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/lib/rosidl_typesupport_introspection_cpp/rosidl_typesupport_introspection_cpp", line 19, in main
    return generate_cpp(args.generator_arguments_file)
  File "/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/lib/python3.8/site-packages/rosidl_typesupport_introspection_cpp/__init__.py", line 24, in generate_cpp
    generate_files(generator_arguments_file, mapping)
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 96, in generate_files
    raise(e)
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 87, in generate_files
    expand_template(
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 149, in expand_template
    interpreter.string(template_content, template_path, locals=data)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2391, in string
    self.safe(scanner, True, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2401, in safe
    self.parse(scanner, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2421, in parse
    token.run(self, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1547, in run
    self.subrun(info[0][1], interpreter, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1631, in subrun
    token.run(interpreter, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1425, in run
    interpreter.execute(self.code, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2596, in execute
    _exec(statements, self.globals, locals)
  File "<string>", line 2, in <module>
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 198, in _expand_template
    interpreter.string(content, str(template_path), kwargs)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2391, in string
    self.safe(scanner, True, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2401, in safe
    self.parse(scanner, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2421, in parse
    token.run(self, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1425, in run
    interpreter.execute(self.code, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2596, in execute
    _exec(statements, self.globals, locals)
  File "<string>", line 27, in <module>
TypeError: %u format: a number is required, not str
Exception ignored in: <function Interpreter.__del__ at 0x7f8a84dcee50>
Traceback (most recent call last):
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2094, in __del__
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2157, in shutdown
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2647, in finalize
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2200, in push
AttributeError: '_io.TextIOWrapper' object has no attribute 'push'
make[2]: *** [CMakeFiles/foo__rosidl_typesupport_introspection_cpp.dir/build.make:70: rosidl_typesupport_introspection_cpp/foo/msg/detail/my_message__rosidl_typesupport_introspection_cpp.hpp] Error 1
make[2]: *** Deleting file 'rosidl_typesupport_introspection_cpp/foo/msg/detail/my_message__rosidl_typesupport_introspection_cpp.hpp'
make[1]: *** [CMakeFiles/Makefile2:468: CMakeFiles/foo__rosidl_typesupport_introspection_cpp.dir/all] Error 2

In case (3), we get a different error:

'>' not supported between instances of 'str' and 'int' /tmp/bug_report/src/foo/msg/MyMessage.idl
Error processing idl file: /tmp/bug_report/src/foo/msg/MyMessage.idl
'>' not supported between instances of 'str' and 'int' /tmp/bug_report/src/foo/msg/MyMessage.idl
Error processing idl file: /tmp/bug_report/src/foo/msg/MyMessage.idl
Traceback (most recent call last):
  File "/home/jacob/ws/ros/latest/install/rosidl_generator_c/share/rosidl_generator_c/cmake/../../../lib/rosidl_generator_c/rosidl_generator_c", line 40, in <module>
    sys.exit(main())
  File "/home/jacob/ws/ros/latest/install/rosidl_generator_c/share/rosidl_generator_c/cmake/../../../lib/rosidl_generator_c/rosidl_generator_c", line 34, in main
    return generate_c(
  File "/home/jacob/ws/ros/latest/install/rosidl_generator_c/lib/python3.8/site-packages/rosidl_generator_c/__init__.py", line 37, in generate_c
    generate_files(
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 96, in generate_files
    raise(e)
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 74, in generate_files
    idl_file = parse_idl_file(locator)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 64, in parse_idl_file
    content = parse_idl_string(string, png_file=png_file)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 73, in parse_idl_string
    content = extract_content_from_ast(tree)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 144, in extract_content_from_ast
    add_message_members(msg, struct_defs[0])
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 365, in add_message_members
    abstract_type = get_abstract_type_from_type_spec(type_spec)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 406, in get_abstract_type_from_type_spec
    return get_abstract_type(child)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 456, in get_abstract_type
    assert maximum_size > 0
TypeError: '>' not supported between instances of 'str' and 'int'
make[2]: *** [CMakeFiles/foo__rosidl_generator_c.dir/build.make:75: rosidl_generator_c/foo/msg/my_message.h] Error 1
make[1]: *** [CMakeFiles/Makefile2:300: CMakeFiles/foo__rosidl_generator_c.dir/all] Error 2

Additional information

I haven't tried, but I assume the issue relates to all types of constants, not just unsigned longs.

jacobperron commented 4 years ago

For context, this bug was found when trying to add IDL files to our test interfaces: https://github.com/ros2/test_interface_files/pull/10