rosidl_parser: Add enum support

rosidl_parser/rosidl_parser/definition.py

@@ -533,6 +533,40 @@ def has_annotations(self, name: str) -> bool:
         return bool(annotations)
 
 
+class Enumerator(Annotatable):
+    """An enumerator in an enum."""
+
+    __slots__ = ('name')
+
+    def __init__(self, name: str):
+        """
+        Create an Enumerator.
+
+        :param name: the name of the enumerator
+        """
+        super().__init__()
+        self.name = name
+
+
+class Enum(Annotatable):
+    """An enum type containing a list of enumerators."""
+
+    __slots__ = ('namespaced_type', 'enumerators')
+
+    def __init__(self, namespaced_type: NamespacedType,
+                 enumerators: Optional[List['Enumerator']] = None) -> None:
+        """
+        Create an Enum.
+
+        :param namespaced_type: the namespaced type identifying the enum
+        :param list enumerators: the enumerators of the enum
+        """
+        super().__init__()
+        assert isinstance(namespaced_type, NamespacedType)
+        self.namespaced_type = namespaced_type
+        self.enumerators = enumerators or []
+
+
 class Member(Annotatable):
     """A member of a structure."""
 
@@ -819,7 +853,7 @@ def get_absolute_path(self) -> pathlib.Path:
         return self.basepath / self.relative_path
 
 
-IdlContentElement: 'TypeAlias' = Union[Include, Message, Service, Action]
+IdlContentElement: 'TypeAlias' = Union[Include, Message, Service, Action, Enum]
 IdlContentElementT = TypeVar('IdlContentElementT', bound=IdlContentElement)
 
 

rosidl_parser/rosidl_parser/parser.py

@@ -47,6 +47,8 @@
 from rosidl_parser.definition import BoundedWString
 from rosidl_parser.definition import Constant
 from rosidl_parser.definition import CONSTANT_MODULE_SUFFIX
+from rosidl_parser.definition import Enum
+from rosidl_parser.definition import Enumerator
 from rosidl_parser.definition import IdlContent
 from rosidl_parser.definition import IdlFile
 from rosidl_parser.definition import IdlLocator
@@ -146,6 +148,33 @@ def extract_content_from_ast(tree: 'ParseTree') -> IdlContent:
         module_comments.append(constant)
 
     typedefs: Dict[Any, Union[Array, AbstractTypeAlias]] = {}
+    enum_dcls = tree.find_data('enum_dcl')
+    for enum_dcl in enum_dcls:
+        annotations = get_annotations(enum_dcl)
+        module_identifiers = get_module_identifier_values(tree, enum_dcl)
+        enum_name = get_child_identifier_value(enum_dcl)
+
+        enumerators = []
+        enumerator_nodes = enum_dcl.find_data('enumerator')
+        for enumerator_node in enumerator_nodes:
+            enumerator_name = get_child_identifier_value(enumerator_node)
+            enumerator_annotations = get_annotations(enumerator_node)
+
+            enumerator = Enumerator(enumerator_name)
+            enumerator.annotations = enumerator_annotations
+            enumerators.append(enumerator)
+
+        enum_obj = Enum(
+            NamespacedType(
+                namespaces=module_identifiers,
+                name=enum_name
+            ),
+            enumerators=enumerators
+        )
+        enum_obj.annotations = annotations
+        content.elements.append(enum_obj)
+        typedefs[enum_name] = enum_obj
+
     typedef_dcls = tree.find_data('typedef_dcl')
     for typedef_dcl in typedef_dcls:
         assert len(typedef_dcl.children) == 1

rosidl_parser/test/msg/MyMessage.idl

@@ -13,6 +13,13 @@ module rosidl_parser {
       const string EMPTY_STRING_CONSTANT = "";
     };
 
+    @verbatim ( language="comment", text="Documentation of MyEnum." "Define an enum." )
+    enum MyEnum {
+      FIRST_ENUM,
+      SECOND_ENUM,
+      THIRD_ENUM
+    };
+
     @verbatim ( language="comment", text="Documentation of MyMessage." "Adjacent string literal." )
     @transfer_mode(SHMEM_REF)
     struct MyMessage {
@@ -85,6 +92,9 @@ module rosidl_parser {
       // Optional test
       @optional
       int32 optional_int;
+
+      // Enum field usage
+      MyEnum my_enum;
     };
   };
 };

rosidl_parser/test/test_parser.py

@@ -21,6 +21,7 @@
 from rosidl_parser.definition import BoundedSequence
 from rosidl_parser.definition import BoundedString
 from rosidl_parser.definition import BoundedWString
+from rosidl_parser.definition import Enum
 from rosidl_parser.definition import IdlFile
 from rosidl_parser.definition import IdlLocator
 from rosidl_parser.definition import Include
@@ -92,6 +93,21 @@ def test_message_parser_includes(message_idl_file: IdlFile) -> None:
     assert includes[1].locator == 'pkgname/msg/OtherMessage.idl'
 
 
+def test_message_parser_enums(message_idl_file: IdlFile) -> None:
+    enums = message_idl_file.content.get_elements_of_type(Enum)
+    assert len(enums) == 1
+    assert enums[0].namespaced_type.name == 'MyEnum'
+    assert len(enums[0].annotations) == 1
+    assert enums[0].annotations[0].name == 'verbatim'
+    assert enums[0].annotations[0].value['language'] == 'comment'
+    text = enums[0].annotations[0].value['text']
+    assert text == 'Documentation of MyEnum.Define an enum.'
+    assert len(enums[0].enumerators) == 3
+    assert enums[0].enumerators[0].name == 'FIRST_ENUM'
+    assert enums[0].enumerators[1].name == 'SECOND_ENUM'
+    assert enums[0].enumerators[2].name == 'THIRD_ENUM'
+
+
 def test_message_parser_structure(message_idl_file: IdlFile) -> None:
     messages = message_idl_file.content.get_elements_of_type(Message)
     assert len(messages) == 1
@@ -134,7 +150,7 @@ def test_message_parser_structure(message_idl_file: IdlFile) -> None:
     structure = messages[0].structure
     assert structure.namespaced_type.namespaces == ['rosidl_parser', 'msg']
     assert structure.namespaced_type.name == 'MyMessage'
-    assert len(structure.members) == 46
+    assert len(structure.members) == 47
 
     assert isinstance(structure.members[0].type, BasicType)
     assert structure.members[0].type.typename == 'int16'
@@ -310,6 +326,14 @@ def test_message_parser_annotations(message_idl_file: IdlFile) -> None:
     assert len(structure.members[45].annotations) == 1
     assert structure.members[45].annotations[0].name == 'optional'
 
+    assert isinstance(structure.members[46].type, Enum)
+    assert structure.members[46].name == 'my_enum'
+    assert structure.members[46].type.namespaced_type.name == 'MyEnum'
+    assert len(structure.members[46].type.enumerators) == 3
+    assert structure.members[46].type.enumerators[0].name == 'FIRST_ENUM'
+    assert structure.members[46].type.enumerators[1].name == 'SECOND_ENUM'
+    assert structure.members[46].type.enumerators[2].name == 'THIRD_ENUM'
+
 
 @pytest.fixture(scope='module')
 def service_idl_file() -> IdlFile: