Add @key annotation

rosidl_adapter/rosidl_adapter/parser.py

@@ -19,18 +19,25 @@
 from typing import Final, Iterable, List, Optional, Tuple, TYPE_CHECKING, TypedDict, Union
 
 if TYPE_CHECKING:
+    from typing import Dict, Literal
     from typing_extensions import TypeAlias
 
     PrimitiveType: TypeAlias = Union[bool, float, int, str]
+    AnnotationType: TypeAlias = Literal['optional', 'key']
+    AnnotantionsDict: TypeAlias = Dict[AnnotationType, bool]
 
     class Annotations(TypedDict, total=False):
         comment: List[str]
         unit: str
         optional: bool
+        key: bool
 
 PACKAGE_NAME_MESSAGE_TYPE_SEPARATOR: Final = '/'
 ANNOTATION_DELIMITER: Final = '@'
-OPTIONAL_ANNOTATION: Final = ANNOTATION_DELIMITER + 'optional'
+OPTIONAL_ANNOTATION_TOKEN: Final['AnnotationType'] = 'optional'
+OPTIONAL_ANNOTATION: Final = ANNOTATION_DELIMITER + OPTIONAL_ANNOTATION_TOKEN
+KEY_ANNOTATION_TOKEN: Final['AnnotationType'] = 'key'
+KEY_ANNOTATION: Final = ANNOTATION_DELIMITER + KEY_ANNOTATION_TOKEN
 COMMENT_DELIMITER: Final = '#'
 CONSTANT_SEPARATOR: Final = '='
 ARRAY_UPPER_BOUND_TOKEN: Final = '<='
@@ -112,7 +119,7 @@ class UnknownMessageType(InvalidSpecification):
     pass
 
 
-class MultipleOptionalAnnotations(InvalidSpecification):
+class RepeatedAnnotation(InvalidSpecification):
     pass
 
 
@@ -492,7 +499,10 @@ def parse_message_string(pkg_name: str, msg_name: str,
     fields: List[Field] = []
     constants: List[Constant] = []
     last_element: Union[Field, Constant, None] = None  # either a field or a constant
-    is_optional = False
+    with_annotation: 'AnnotantionsDict' = {
+        OPTIONAL_ANNOTATION_TOKEN: False,
+        KEY_ANNOTATION_TOKEN: False
+    }
     # replace tabs with spaces
     message_string = message_string.replace('\t', ' ')
 
@@ -530,16 +540,21 @@ def parse_message_string(pkg_name: str, msg_name: str,
             if not line:
                 continue
 
-        if line.startswith(OPTIONAL_ANNOTATION):
-            if is_optional:
-                raise MultipleOptionalAnnotations(
-                    f'Already declared @optional. Error detected with {line}.')
+        # Loop to allow for arbitrary order
+        while line.startswith(ANNOTATION_DELIMITER):
+            for annotation, is_annotated in with_annotation.items():
+                annotation_token = ANNOTATION_DELIMITER + annotation
+                if not line.startswith(annotation_token):
+                    continue
+                if is_annotated:
+                    raise RepeatedAnnotation(
+                        f'Already declared {annotation_token}. Error detected with {line}.')
 
-            line = line[len(OPTIONAL_ANNOTATION):].lstrip()
-            is_optional = True
+                line = line[len(annotation_token):].lstrip()
+                with_annotation[annotation] = True
 
-            if not line:
-                continue
+        if not line:
+            continue
 
         type_string, _, rest = line.partition(' ')
         rest = rest.lstrip()
@@ -574,9 +589,10 @@ def parse_message_string(pkg_name: str, msg_name: str,
             last_element = constants[-1]
 
         # add "unused" comments to the field / constant
-        if is_optional:
-            last_element.annotations['optional'] = is_optional
-        is_optional = False
+        for annotation, is_annotated in with_annotation.items():
+            if is_annotated:
+                last_element.annotations[annotation] = is_annotated
+            with_annotation[annotation] = False
         comment_lines = last_element.annotations.setdefault(
             'comment', [])
         comment_lines += current_comments

rosidl_adapter/rosidl_adapter/resource/struct.idl.em

@@ -52,6 +52,9 @@ else:
 @[    end if]@
 @[    if 'optional' in constant.annotations]@
       @@optional
+@[    end if]@
+@[    if 'key' in constant.annotations]@
+      @@key
 @[    end if]@
       const @(get_idl_type(constant.type)) @(constant.name) = @(to_idl_literal(get_idl_type(constant.type), constant.value));
 @[  end for]@
@@ -87,6 +90,9 @@ else:
 @[    if 'optional' in field.annotations]@
       @@optional
 @[    end if]@
+@[    if 'key' in field.annotations]@
+      @@key
+@[    end if]@
 @[    if field.default_value is not None]@
       @@default (value=@(to_idl_literal(get_idl_type(field.type), field.default_value)))
 @[    end if]@

rosidl_adapter/test/data/action/Test.action

@@ -26,6 +26,11 @@ bool ok
 
 @optional
 bool optional_bool
+@key
+bool key_bool
+@optional
+@key
+bool optional_key_bool
 ---
 # feedback definition
 # more

rosidl_adapter/test/data/action/Test.expected.idl

@@ -53,6 +53,13 @@ module test_msgs {
 
       @optional
       boolean optional_bool;
+
+      @key
+      boolean key_bool;
+
+      @optional
+      @key
+      boolean optional_key_bool;
     };
     @verbatim (language="comment", text=
       "feedback definition" "\n"

rosidl_adapter/test/data/msg/Test.expected.idl

@@ -10,6 +10,16 @@ module test_msgs {
       const float INLINE_CONSTANT = 32.0;
       @optional
       const string OPTIONAL_STRING_CONST = "@optional";
+      @key
+      const float INLINE_CONSTANT_KEY = 32.0;
+      @key
+      const string KEY_STRING_CONST = "@key";
+      @optional
+      @key
+      const float INLINE_CONSTANT_OPTIONAL_KEY = 32.0;
+      @optional
+      @key
+      const string KEY_OPTIONAL_STRING_CONST = "@optional @key";
     };
     @verbatim (language="comment", text=
       "msg level doc")
@@ -60,6 +70,38 @@ module test_msgs {
       @optional
       @default (value="@optional")
       string optional_default_string;
+
+      @key
+      float multiline_key;
+
+      @key
+      float inline_key;
+
+      @key
+      @default (value=32.0)
+      float inline_default_key;
+
+      @key
+      @default (value="@key")
+      string key_default_string;
+
+      @optional
+      @key
+      float multiline_optional_key;
+
+      @optional
+      @key
+      float inline_optional_key;
+
+      @optional
+      @key
+      @default (value=32.0)
+      float inline_default_optional_key;
+
+      @optional
+      @key
+      @default (value="@key @optional")
+      string optional_key_default_string;
     };
   };
 };

rosidl_adapter/test/data/msg/Test.msg

@@ -25,3 +25,26 @@ float32 multiline_optional
 
 @optional string optional_default_string @optional
 @optional string OPTIONAL_STRING_CONST=@optional
+
+@key
+float32 multiline_key
+
+@key float32 inline_key
+@key float32 inline_default_key 32.0
+@key float32 INLINE_CONSTANT_KEY=32.0
+
+@key string key_default_string @key
+@key string KEY_STRING_CONST=@key
+
+@key
+@optional
+float32 multiline_optional_key
+
+@key @optional float32 inline_optional_key
+@optional @key float32 inline_default_optional_key 32.0
+@key @optional float32 INLINE_CONSTANT_OPTIONAL_KEY=32.0
+
+@optional
+@key string optional_key_default_string @key @optional
+@key
+@optional string KEY_OPTIONAL_STRING_CONST=@optional @key

rosidl_adapter/test/data/srv/Test.expected.idl

@@ -53,6 +53,13 @@ module test_msgs {
 
       @optional
       boolean optional_bool;
+
+      @key
+      boolean key_bool;
+
+      @optional
+      @key
+      uint8 optional_key_int;
     };
   };
 };

rosidl_adapter/test/data/srv/Test.srv

@@ -24,3 +24,5 @@ string string_value
 
 bool ok
 @optional bool optional_bool
+@key bool key_bool
+@key @optional uint8 optional_key_int