Merge pull request #91 from gramaziokohler/validate_time_input

Validate time input

Author: gonzalocasas

.editorconfig

@@ -20,5 +20,9 @@ trim_trailing_whitespace = false
 indent_style = tab
 indent_size = 4
 
+[*.yml]
+indent_style = space
+indent_size = 2
+
 [LICENSE]
 insert_final_newline = false

CHANGELOG.rst

@@ -21,6 +21,7 @@ Unreleased
 
 * Fixed #87 where a goal could be marked as terminal on result alone rather
   than both result and status.
+* Ensure input of ``Time`` is always two integers.
 
 **Deprecated**
 

requirements-dev.txt

@@ -1,10 +1,13 @@
 attrs>=19.2.0
-bump2version
+autopep8
+bump2version >=1.0.1
 check-manifest>=0.36
+doc8
 flake8
 invoke>=0.14
 isort>=4.3.21
+pydocstyle
 pytest
-sphinx>=1.5
+sphinx >=3.4
 twine
 -e .

setup.cfg

@@ -27,4 +27,4 @@ line_length = 180
 known_first_party = roslibpy
 default_section = THIRDPARTY
 forced_separate = test_roslibpy
-skip = migrations
+skip = migrations, __init__.py

src/roslibpy/__init__.py

@@ -90,24 +90,50 @@ class and are passed around via :class:`Topics <Topic>` using a **publish/subscr
 
 """
 
-from .__version__ import __author__
-from .__version__ import __author_email__
-from .__version__ import __copyright__
-from .__version__ import __description__
-from .__version__ import __license__
-from .__version__ import __title__
-from .__version__ import __url__
-from .__version__ import __version__
-from .core import Header
-from .core import Message
-from .core import Param
-from .core import Service
-from .core import ServiceRequest
-from .core import ServiceResponse
-from .core import Time
-from .core import Topic
-from .ros import Ros
-from .ros import set_rosapi_timeout
-
-__all__ = ['Ros', 'set_rosapi_timeout', 'Message', 'Header', 'Time', 'Param', 'Service', 'ServiceRequest', 'ServiceResponse', 'Topic',
-           '__author__', '__author_email__', '__copyright__', '__description__', '__license__', '__title__', '__url__', '__version__']
+from .__version__ import (
+    __author__,
+    __author_email__,
+    __copyright__,
+    __description__,
+    __license__,
+    __title__,
+    __url__,
+    __version__
+)
+from .core import (
+    Header,
+    Message,
+    Param,
+    Service,
+    ServiceRequest,
+    ServiceResponse,
+    Time,
+    Topic
+)
+from .ros import (
+    set_rosapi_timeout,
+    Ros
+)
+
+__all__ = [
+    '__author__',
+    '__author_email__',
+    '__copyright__',
+    '__description__',
+    '__license__',
+    '__title__',
+    '__url__',
+    '__version__',
+
+    'Header',
+    'Message',
+    'Param',
+    'Service',
+    'ServiceRequest',
+    'ServiceResponse',
+    'Time',
+    'Topic',
+
+    'set_rosapi_timeout',
+    'Ros',
+]

src/roslibpy/core.py

@@ -12,12 +12,16 @@
 
 LOGGER = logging.getLogger('roslibpy')
 
-__all__ = ['Message',
-           'ServiceRequest',
-           'ServiceResponse',
-           'Topic',
-           'Service',
-           'Param']
+__all__ = [
+    'Header',
+    'Message',
+    'Param',
+    'Service',
+    'ServiceRequest',
+    'ServiceResponse',
+    'Time',
+    'Topic'
+]
 
 
 class Message(UserDict):
@@ -44,8 +48,15 @@ class Time(UserDict):
     """Represents ROS time with two integers: seconds since epoch and nanoseconds since seconds."""
     def __init__(self, secs, nsecs):
         self.data = {}
-        self.data['secs'] = secs
-        self.data['nsecs'] = nsecs
+        self.data['secs'] = self._ensure_int(secs)
+        self.data['nsecs'] = self._ensure_int(nsecs)
+
+    def _ensure_int(self, n):
+        if isinstance(n, int):
+            return n
+        if isinstance(n, float) and n.is_integer():
+            return int(n)
+        raise ValueError('argument must be an integer')
 
     @property
     def secs(self):

tests/test_core.py

@@ -1,3 +1,5 @@
+import pytest
+
 from roslibpy import Header
 from roslibpy import Time
 
@@ -37,3 +39,22 @@ def test_header_ctor_supports_dict():
     assert header['stamp']['secs'] == 1610122759
     assert header['stamp']['secs'] == header['stamp'].secs
     assert header['stamp'].to_sec() == REF_FLOAT_SECS_TIME
+
+
+def test_time_accepts_only_ints():
+    with pytest.raises(ValueError):
+        Time(1.3, 1.0)
+    with pytest.raises(ValueError):
+        Time(100.0, 3.1)
+
+    t = Time(110.0, 0.0)
+    assert t.secs == 110
+    assert t.nsecs == 0
+
+
+def test_time_properties_are_readonly():
+    t = Time.now()
+    with pytest.raises(AttributeError):
+        t.secs = 10
+    with pytest.raises(AttributeError):
+        t.nsecs = 10