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193
msgcenterpy/core/message_instance.py
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193
msgcenterpy/core/message_instance.py
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import uuid
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from abc import ABC, abstractmethod
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from datetime import datetime, timezone
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from typing import TYPE_CHECKING, Any, Dict, Generic, Optional, Type, TypeVar, cast
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from msgcenterpy.core.envelope import FormatMetadata, MessageEnvelope, Properties
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from msgcenterpy.core.field_accessor import (
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FieldAccessor,
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FieldAccessorFactory,
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TypeInfoProvider,
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)
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from msgcenterpy.core.types import MessageType
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if TYPE_CHECKING:
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# 仅用于类型检查的导入，避免运行时循环依赖
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from msgcenterpy.instances.json_schema_instance import JSONSchemaMessageInstance
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from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
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T = TypeVar("T")
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class MessageInstance(TypeInfoProvider, ABC, Generic[T]):
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"""统一消息实例基类"""
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_init_ok: bool = False
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# 字段访问器相关方法
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@property
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def fields(self) -> FieldAccessor:
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if self._field_accessor is None:
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raise RuntimeError("FieldAccessor not initialized")
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return self._field_accessor
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def __setattr__(self, field_name: str, value: Any) -> None:
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if not self._init_ok:
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return super().__setattr__(field_name, value)
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for cls in self.__class__.__mro__:
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if field_name in cls.__dict__:
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return super().__setattr__(field_name, value)
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self.fields[field_name] = value
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return None
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def __getattr__(self, field_name: str) -> Any:
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if not self._init_ok:
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return super().__getattribute__(field_name)
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for cls in self.__class__.__mro__:
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if field_name in cls.__dict__:
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return super().__getattribute__(field_name)
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return self.fields[field_name]
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def __getitem__(self, field_name: str) -> Any:
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"""支持通过下标访问字段"""
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return self.fields[field_name]
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def __setitem__(self, field_name: str, value: Any) -> None:
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"""支持通过下标设置字段"""
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self.fields[field_name] = value
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def __contains__(self, field_name: str) -> bool:
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"""支持in操作符检查字段是否存在"""
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return field_name in self.fields
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def __init__(
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self,
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inner_data: T,
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message_type: MessageType,
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metadata: Optional[FormatMetadata] = None,
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):
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# 初始化标记和基础属性
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self._field_accessor: Optional[FieldAccessor] = None
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self._instance_id: str = str(uuid.uuid4())
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self.inner_data: T = inner_data # 原始类型数据
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self.message_type: MessageType = message_type
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self._metadata: FormatMetadata = metadata or FormatMetadata()
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self._created_at = datetime.now(timezone.utc)
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self._collect_public_properties_to_metadata()
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self._field_accessor = FieldAccessorFactory.create_accessor(self.inner_data, self)
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self._init_ok = True
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def _collect_public_properties_to_metadata(self) -> None:
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"""将所有非下划线开头的 @property 的当前值放入 metadata.properties 中。
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仅收集只读属性，忽略访问抛出异常的属性。
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"""
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properties_bucket = self._metadata.setdefault("properties", Properties())
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for cls in self.__class__.__mro__:
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for attribute_name, attribute_value in cls.__dict__.items():
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if attribute_name.startswith("_"):
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continue
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if isinstance(attribute_value, property):
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try:
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# 避免重复收集已存在的属性
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if attribute_name not in properties_bucket:
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properties_bucket[attribute_name] = getattr(self, attribute_name) # type: ignore[literal-required]
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except (AttributeError, TypeError, RuntimeError):
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# Skip attributes that can't be accessed or have incompatible types
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# This includes attributes that require initialization to complete (like 'fields')
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pass
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def to(self, target_type: MessageType, **kwargs: Any) -> "MessageInstance[Any]":
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"""直接转换到目标类型"""
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if target_type == MessageType.ROS2:
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return cast("MessageInstance[Any]", self.to_ros2(**kwargs))
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elif target_type == MessageType.DICT:
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return cast("MessageInstance[Any]", self.to_dict(**kwargs))
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elif target_type == MessageType.JSON:
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return cast("MessageInstance[Any]", self.to_json(**kwargs))
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elif target_type == MessageType.JSON_SCHEMA:
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return cast("MessageInstance[Any]", self.to_json_schema(**kwargs))
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elif target_type == MessageType.YAML:
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return cast("MessageInstance[Any]", self.to_yaml(**kwargs))
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elif target_type == MessageType.PYDANTIC:
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return cast("MessageInstance[Any]", self.to_pydantic(**kwargs))
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elif target_type == MessageType.DATACLASS:
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return cast("MessageInstance[Any]", self.to_dataclass(**kwargs))
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else:
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raise ValueError(f"Unsupported target message type: {target_type}")
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@classmethod
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@abstractmethod
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def import_from_envelope(cls, data: MessageEnvelope, **kwargs: Any) -> "MessageInstance[Any]":
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"""从统一信封字典创建实例（仅接受 data 一个参数）。"""
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# metadata会被重置
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pass
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@abstractmethod
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def export_to_envelope(self, **kwargs: Any) -> MessageEnvelope:
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"""导出为字典格式"""
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pass
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@abstractmethod
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def get_python_dict(self) -> Dict[str, Any]:
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"""获取当前所有的字段名和对应的python可读值"""
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pass
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@abstractmethod
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def set_python_dict(self, value: Dict[str, Any], **kwargs: Any) -> bool:
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"""设置所有字段的值"""
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pass
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def get_json_schema(self) -> Dict[str, Any]:
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"""生成当前消息实例的JSON Schema，委托给FieldAccessor递归处理"""
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# 直接调用FieldAccessor的get_json_schema方法
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schema = self.fields.get_json_schema()
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# 添加schema元信息（对于JSONSchemaMessageInstance，如果已有title则保持，否则添加默认title）
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from msgcenterpy.instances.json_schema_instance import JSONSchemaMessageInstance
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if isinstance(self, JSONSchemaMessageInstance):
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# 对于JSON Schema实例，如果schema中没有title，则添加一个
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if "title" not in schema:
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schema["title"] = f"{self.__class__.__name__} Schema" # type: ignore
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if "description" not in schema:
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schema["description"] = f"JSON Schema generated from {self.message_type.value} message instance" # type: ignore
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else:
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# 对于其他类型的实例，总是添加schema元信息
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schema["title"] = f"{self.__class__.__name__} Schema" # type: ignore
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schema["description"] = f"JSON Schema generated from {self.message_type.value} message instance" # type: ignore
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return schema
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def __repr__(self) -> str:
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return f"{self.__class__.__name__}(type={self.message_type.value}, id={self._instance_id[:8]})"
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# 便捷转换方法，使用MessageCenter单例
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def to_ros2(self, type_hint: str | Type[Any], **kwargs: Any) -> "ROS2MessageInstance":
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"""转换到ROS2实例。传入必备的类型提示，"""
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override_properties = {}
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from msgcenterpy.core.message_center import get_message_center
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ros2_message_instance = cast(
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ROS2MessageInstance,
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get_message_center().get_instance_class(MessageType.ROS2),
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)
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ros_type = ros2_message_instance.obtain_ros_cls_from_str(type_hint)
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override_properties["ros_msg_cls_path"] = ROS2MessageInstance.get_ros_msg_cls_path(ros_type)
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override_properties["ros_msg_cls_namespace"] = ROS2MessageInstance.get_ros_msg_cls_namespace(ros_type)
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return cast(
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ROS2MessageInstance,
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get_message_center().convert(self, MessageType.ROS2, override_properties, **kwargs),
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)
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def to_json_schema(self, **kwargs: Any) -> "JSONSchemaMessageInstance":
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"""转换到JSON Schema实例"""
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override_properties = {"json_schema": self.get_json_schema()}
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from msgcenterpy.core.message_center import get_message_center
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from msgcenterpy.instances.json_schema_instance import JSONSchemaMessageInstance
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return cast(
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JSONSchemaMessageInstance,
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get_message_center().convert(self, MessageType.JSON_SCHEMA, override_properties, **kwargs),
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)
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