move dict construction to rosidl_runtime_py

Signed-off-by: Mikael Arguedas <[email protected]>

rosidl_generator_py/resource/_idl.py.em

@@ -24,8 +24,6 @@ msg_required_import_imported = False
 @[for message in content.get_elements_of_type(Message)]@
 @[  if not msg_required_import_imported]@
 @{msg_required_import_imported = True}@
-from collections import OrderedDict
-
 import rosidl_parser.definition
 @[  end if]@
 @{
@@ -45,8 +43,6 @@ from rosidl_parser.definition import Service
 @[for service in content.get_elements_of_type(Service)]@
 @[  if not msg_required_import_imported]@
 @{msg_required_import_imported = True}@
-from collections import OrderedDict
-
 import rosidl_parser.definition
 @[  end if]@
 @{
@@ -66,8 +62,6 @@ from rosidl_parser.definition import Action
 @[for action in content.get_elements_of_type(Action)]@
 @[  if not msg_required_import_imported]@
 @{msg_required_import_imported = True}@
-from collections import OrderedDict
-
 import rosidl_parser.definition
 @[  end if]@
 @{

rosidl_generator_py/resource/_msg.py.em

@@ -299,10 +299,6 @@ if isinstance(type_, NestedType):
             return False
 @[end for]@
         return True
-
-    @@classmethod
-    def get_slot_types(cls):
-        return OrderedDict(zip([s[1:] for s in cls.__slots__], cls.SLOT_TYPES))
 @[for member in message.structure.members]@
 
 @{

rosidl_runtime_py/package.xml

@@ -11,6 +11,7 @@
 
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
+  <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

rosidl_runtime_py/rosidl_runtime_py/__init__.py

@@ -15,12 +15,16 @@
 from .convert import message_to_csv
 from .convert import message_to_ordereddict
 from .convert import message_to_yaml
+from .convert import slot_types_dict_from_message
+from .import_message import import_message_from_namespaced_type
 from .set_message import set_message_fields
 
 
 __all__ = [
+    'import_message_from_namespaced_type',
     'message_to_csv',
     'message_to_ordereddict',
     'message_to_yaml',
     'set_message_fields',
+    'slot_types_dict_from_message',
 ]

rosidl_runtime_py/rosidl_runtime_py/convert.py

@@ -156,3 +156,14 @@ def _convert_value(value, truncate_length=None):
         # Assuming value is a message since it is neither a collection nor a primitive type
         value = message_to_ordereddict(value, truncate_length=truncate_length)
     return value
+
+
+def slot_types_dict_from_message(msg: Any) -> OrderedDict:
+    """
+    Return an OrderedDict of the slot types of a message.
+
+    :param msg: The ROS message to convert.
+        This does not truncate the list of message fields.
+    :returns: An OrderedDict with message member names as keys and slot types as values.
+    """
+    return OrderedDict(zip([s[1:] for s in msg.__slots__], msg.SLOT_TYPES))