Custom Completion Finder for fetching topic prototype. (#995)

* Double yaml encoding for fetching topic prototype.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Use a custom completer for yaml strings.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

Author: leander-dsouza

ros2topic/ros2topic/api/__init__.py

@@ -17,6 +17,8 @@
 from time import sleep
 from typing import Optional
 
+from argcomplete import CompletionFinder
+
 import rclpy
 
 from rclpy.duration import Duration
@@ -161,6 +163,17 @@ def _get_msg_class(node, topic, include_hidden_topics):
         raise RuntimeError("The message type '%s' is invalid" % message_type)
 
 
+class YamlCompletionFinder(CompletionFinder):
+    def quote_completions(
+        self, completions: list[str],
+            cword_prequote: str, last_wordbreak_pos: Optional[int]):
+
+        # For YAML content, return as-is without escaping
+        if not any('-' in c for c in completions):
+            return completions
+        return super().quote_completions(completions, cword_prequote, last_wordbreak_pos)
+
+
 class TopicMessagePrototypeCompleter:
     """Callable returning a message prototype."""
 
@@ -169,7 +182,8 @@ def __init__(self, *, topic_type_key=None):
 
     def __call__(self, prefix, parsed_args, **kwargs):
         message = get_message(getattr(parsed_args, self.topic_type_key))
-        return [message_to_yaml(message())]
+        yaml_snippet = "'" + message_to_yaml(message()) + "'"
+        return [yaml_snippet]
 
 
 def profile_configure_short_keys(

ros2topic/ros2topic/verb/pub.py

@@ -16,6 +16,8 @@
 from typing import Optional
 from typing import TypeVar
 
+import argcomplete
+
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
@@ -25,7 +27,7 @@
 from ros2topic.api import add_qos_arguments
 from ros2topic.api import positive_float
 from ros2topic.api import profile_configure_short_keys
-from ros2topic.api import TopicMessagePrototypeCompleter
+from ros2topic.api import TopicMessagePrototypeCompleter, YamlCompletionFinder
 from ros2topic.api import TopicNameCompleter
 from ros2topic.api import TopicTypeCompleter
 from ros2topic.verb import VerbExtension
@@ -108,6 +110,10 @@ def add_arguments(self, parser, cli_name):
         parser.add_argument(
             '-n', '--node-name',
             help='Name of the created publishing node')
+
+        # Use the custom completion finder
+        argcomplete.autocomplete = YamlCompletionFinder(parser)
+
         add_qos_arguments(parser, 'publish', 'default')
         add_direct_node_arguments(parser)
 
@@ -173,7 +179,17 @@ def publisher(
     if yaml_file:
         msg_reader = read_msg_from_yaml(yaml_file)
     else:
-        values_dictionary = yaml.safe_load(values)
+        try:
+            # Handle cases where the user pastes the autocompleted bash safe string
+            if '^J' in values:
+                values = values.replace("'", '')
+                values = values.replace('^J', '\n')
+
+            values_dictionary = yaml.safe_load(values)
+
+        except (yaml.parser.ParserError, yaml.scanner.ScannerError):
+            return 'The passed value needs to be in YAML string or a dictionary'
+
         if not isinstance(values_dictionary, dict):
             return 'The passed value needs to be a dictionary in YAML format'