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lcmgen python: import only the package when the package init is generated #491

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Feb 25, 2024
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lcmgen python: import only the package when the package init is generated #491

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34 changes: 17 additions & 17 deletions lcmgen/emit_python.c
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Original file line number Diff line number Diff line change
Expand Up @@ -162,31 +162,22 @@ static void _emit_decode_one(const lcmgen_t *lcm, FILE *f, lcm_struct_t *structu
emit(indent, "__%s_len = struct.unpack('>I', buf.read(4))[0]", member_name);
emit(indent, "%sbuf.read(__%s_len)[:-1].decode('utf-8', 'replace')%s", accessor,
member_name, sfx);

} else if (!strcmp("byte", type_name)) {
emit(indent, "%sstruct.unpack('B', buf.read(1))[0]%s", accessor, sfx);

} else if (!(strcmp("boolean", type_name))) {
emit(indent, "%sbool(struct.unpack('b', buf.read(1))[0])%s", accessor, sfx);

} else if (!strcmp("int8_t", type_name)) {
emit(indent, "%sstruct.unpack('b', buf.read(1))[0]%s", accessor, sfx);

} else if (!strcmp("int16_t", type_name)) {
emit(indent, "%sstruct.unpack('>h', buf.read(2))[0]%s", accessor, sfx);

} else if (!strcmp("int32_t", type_name)) {
emit(indent, "%sstruct.unpack('>i', buf.read(4))[0]%s", accessor, sfx);

} else if (!strcmp("int64_t", type_name)) {
emit(indent, "%sstruct.unpack('>q', buf.read(8))[0]%s", accessor, sfx);

} else if (!strcmp("float", type_name)) {
emit(indent, "%sstruct.unpack('>f', buf.read(4))[0]%s", accessor, sfx);

} else if (!strcmp("double", type_name)) {
emit(indent, "%sstruct.unpack('>d', buf.read(8))[0]%s", accessor, sfx);

} else {
if (is_same_type(structure_member->type, structure->structname)) {
emit(indent, "%s%s._decode_one(buf)%s", accessor, short_name, sfx);
Expand All @@ -207,7 +198,6 @@ static void _emit_decode_list(const lcmgen_t *lcm, FILE *f, lcm_struct_t *struct
}
if (!strcmp("byte", type_name)) {
emit(indent, "%sbuf.read(%s%s)%s", accessor, fixed_len ? "" : "self.", len, suffix);

} else if (!strcmp("boolean", type_name)) {
if (fixed_len) {
emit(indent, "%s[bool(x) for x in struct.unpack('>%s%c', buf.read(%d))]%s", accessor,
Expand Down Expand Up @@ -655,16 +645,26 @@ static void emit_python_fingerprint(const lcmgen_t *lcm, FILE *f, lcm_struct_t *
}

static void
emit_python_dependencies (const lcmgen_t *lcm, FILE *f, lcm_struct_t *structure)
emit_python_dependencies (const lcmgen_t *lcm, FILE *f, lcm_struct_t *structure, int write_init_py )
{
GHashTable *dependencies = g_hash_table_new (g_str_hash, g_str_equal);
for (unsigned int m=0; m < structure->members->len; m++) {
lcm_member_t *member = (lcm_member_t *) g_ptr_array_index (structure->members, m);

if (! lcm_is_primitive_type (member->type->lctypename) &&
! g_hash_table_lookup (dependencies, member->type->lctypename)) {
g_hash_table_insert (dependencies, member->type->lctypename,
member->type->lctypename);
if (write_init_py) {
// pyright (The vscode python static analyzer) refuses to understand
// `import foo.bar` in cases where `import foo` works.
// https://github.com/microsoft/pyright/issues/6674
if (! lcm_is_primitive_type (member->type->lctypename) &&
! g_hash_table_lookup (dependencies, member->type->package)) {
g_hash_table_insert (dependencies, member->type->package,
member->type->package);
}
} else {
if (! lcm_is_primitive_type (member->type->lctypename) &&
! g_hash_table_lookup (dependencies, member->type->lctypename)) {
g_hash_table_insert (dependencies, member->type->lctypename,
member->type->lctypename);
}
}
}

Expand Down Expand Up @@ -944,7 +944,7 @@ emit_package (lcmgen_t *lcm, _package_contents_t *package)
"from io import BytesIO\n"
"import struct\n\n");

emit_python_dependencies(lcm, f, structure);
emit_python_dependencies(lcm, f, structure, write_init_py);

fprintf(f, "class %s(object):\n", structure->structname->shortname);
fprintf(f, " __slots__ = [");
Expand Down
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