Change generation of messages that conflict with built-ins

Closes #7

Author: jdlangs

README.md

@@ -55,6 +55,11 @@ generated type names into the local namespace.
     p = Path()
     v = Vector3(1.1,2.2,3.3)
 
+There is one special case, where the ROS type name conflicts with a built-in
+Julia type name (e.g., `std_msgs/Float64` or `std_msgs/String`). In these
+cases, the generated Julia type will have "Msg" appended to the name for
+disambiguation (e.g., `std_msgs.msg.Float64Msg` and `std_msgs.msg.StringMsg`).
+
 An additional function, `rostypereset()`, resets the type generation process,
 possibly useful for development in the REPL. When invoked, new `@rosimport`
 calls will be needed to generate the same or different types, and previously

src/gentypes.jl

@@ -214,9 +214,11 @@ end
 function _importdeps!(mod::ROSModule, deps::Vector)
     global _rospy_imports
     for d in deps
-        if ! (d in keys(_ros_builtin_types))
+        #We don't care about array types when doing dependency resolution
+        dclean = _check_array_type(d)[1]
+        if ! (dclean in keys(_ros_builtin_types))
             @debug("Dependency: ", d)
-            pkgname, typename = _splittypestr(d)
+            pkgname, typename = _splittypestr(dclean)
 
             @debug_addindent
             #Create a new ROSPackage if needed
@@ -230,9 +232,7 @@ function _importdeps!(mod::ROSModule, deps::Vector)
             #pushing to a set does not create duplicates
             push!(mod.deps, depmod.name)
 
-            #Don't want to include the brackets in the string if present
-            typeclean = _check_array_type(typename)[1]
-            addtype!(depmod, typeclean)
+            addtype!(depmod, typename)
             @debug_subindent
         end
     end
@@ -347,8 +347,13 @@ end
 
 #The exported names for each module
 function _exportexpr(mod::ROSMsgModule)
-    exports = [symbol(m) for m in mod.members]
-    Expr(:export, exports...)
+    exportexpr = Expr(:export)
+    for m in mod.members
+        push!(exportexpr.args, _nameconflicts(m) ?
+            symbol(string(m,"Msg")) :
+            symbol(m))
+    end
+    exportexpr
 end
 function _exportexpr(mod::ROSSrvModule)
     exportexpr = Expr(:export)
@@ -371,6 +376,11 @@ function buildtype(mod::ROSMsgModule, typename::String)
     memtypes = pyobj[:_slot_types]
     members = collect(zip(memnames, memtypes))
 
+    #Some ROS message names conflict with Julia built-in types
+    #Append 'Msg' to the type name to resolve
+    if _nameconflicts(typename)
+        fulltypestr = fulltypestr * "Msg"
+    end
     typecode(fulltypestr, :MsgT, members)
 end
 
@@ -610,6 +620,17 @@ function _get_rospy_class(typ::DataType)
     rospycls
 end
 
+#Check if the type name conflicts with a Julia builtin. Currently this is only
+#some of the messages from the std_msgs.msg package
+function _nameconflicts(typename::String)
+    try
+        eval(Base, symbol(typename))
+        true
+    catch
+        false
+    end
+end
+
 #Get a default value for any builtin ROS type
 _typedefault{T<:Real}(::Type{T}) = zero(T)
 _typedefault(::Type{ASCIIString}) = ""

test/typegeneration.jl

@@ -6,6 +6,7 @@ using Compat
 @rosimport geometry_msgs.msg: PoseStamped, Vector3
 @rosimport std_srvs.srv.Empty
 @rosimport nav_msgs.srv.GetPlan
+@rosimport std_msgs.msg: Float64, String, Int8MultiArray
 rostypegen()
 
 @test isdefined(:geometry_msgs)
@@ -59,6 +60,12 @@ path2 = convert(nav_msgs.msg.Path, pypath)
 @test path2.poses[1].pose.position.y == 2.
 @test path2.poses[1].pose.position.z == 3.
 
-#Empty message
+#Issue #6 - Empty message
 emptymsg = std_msgs.msg.Empty()
 @test length(fieldnames(emptymsg)) == 0
+
+#Issue #7 - Renaming conflicting message types
+@test isdefined(std_msgs.msg, :Float64Msg)
+@test isdefined(std_msgs.msg, :StringMsg)
+intarr = std_msgs.msg.Int8MultiArray()
+@test typeof(intarr.data) == Vector{Int8}