Function convert_python_msgs_to_cpp

rclcppyy/node.py:483–529

Convert all Python ROS messages in globals() to their C++ equivalents with keyword support. Args: target_globals: The globals dict to modify. If None, uses caller's globals().

(target_globals=None)

            
        except Exception as e:
            print(f"Failed to convert {name}: {e}")
            # Keep the original Python version if conversion fails
            continue

def setup_automatic_cpp_conversion():
    """
    Set up automatic conversion of Python ROS messages to C++ equivalents.
    This sets up an import hook that will automatically convert messages during import.
    """
    import sys
    import importlib.util
    from importlib.abc import Loader, MetaPathFinder
    from importlib.machinery import ModuleSpec
    
    class ROSMessageConverter(MetaPathFinder):
        """Import hook to automatically convert ROS messages to C++ equivalents"""
        
        def __init__(self):
            # Keep track of modules we're currently importing to avoid recursion
            self._importing = set()
            # Store the original loaders we wrap
            self._original_loaders = {}
        
        def find_spec(self, fullname, path, target=None):
            """Called by Python's import system for each import statement"""
            
            # Only intercept ROS message type imports (e.g. std_msgs.msg._string)
            # The actual message types are in the _<message> modules
            if '.msg._' in fullname and fullname not in self._importing:
                # Let the normal import happen first
                self._importing.add(fullname)
                try:
                    spec = importlib.util.find_spec(fullname)
                finally:
                    self._importing.remove(fullname)
                
                if spec is not None and spec.loader is not None:
                    # Remember the original loader
                    self._original_loaders[fullname] = spec.loader
                    # Return a new spec with our custom loader
                    return ModuleSpec(
                        fullname,
                        ROSMessageLoader(self._original_loaders[fullname]),
                        origin=spec.origin,
                        is_package=spec.parent == ''
                    )
            return None
    
    class ROSMessageLoader(Loader):
        """Custom loader that converts ROS messages to C++ after normal loading"""