rospy: #2990 bug fix for md5sum calculation when fieldname collides with Python keyword. Also made keyword list more robust by pulling from python keywords module instead of custom file. This required cleaning up example files and tests.

core/roslib/scripts/python-reserved-words.txt

@@ -1,32 +0,0 @@
-and
-as  
-assert
-break     
-class
-continue
-def
-del
-elif      
-else
-except
-exec
-finally
-for
-from
-global    
-import
-if
-in
-is
-lambda
-not
-or
-pass
-print              
-raise
-return
-self
-try
-while
-with
-yield

core/roslib/src/roslib/genpy.py

@@ -49,6 +49,7 @@ The structure of the serialization descends several levels of serializers:
 # creates circular deps
 
 import os
+import keyword
 import shutil
 import atexit
 import itertools
@@ -254,30 +255,9 @@ def _remap_reserved(field_name):
     @rtype: str
     """
     #doing this lazy saves 0.05s on up-to-date builds
-    if not _reserved_words:
-        _load_reserved_words()
-    if field_name in _reserved_words:
+    if field_name in keyword.kwlist:
         return field_name + "_"
     return field_name
-
-_reserved_words = []
-def _load_reserved_words():
-    """
-    load python reserved words file into global _reserved_words. these
-    reserved words cannot be field names without being altered first
-    """
-    global _reserved_words
-    roslib_dir = roslib.packages.get_pkg_dir('roslib')
-    reserved_words_file = os.path.join(roslib_dir, 'scripts', 'python-reserved-words.txt')
-    if not os.path.exists(reserved_words_file):
-        print >> sys.stderr, "Cannot load python reserved words file [%s]"%reserved_words_file
-        return False
-    f = open(reserved_words_file, 'r')
-    try:
-        _reserved_words = [w.strip() for w in f.readlines() if w]
-        return True
-    finally:
-        f.close()
     
 ################################################################################
 # (de)serialization routines
@@ -951,7 +931,17 @@ def msg_generator(package, name, spec):
     @param spec: parsed .msg specification
     @type  spec: L{MsgSpec}
     """
-    spec = make_python_safe(spec) # remap spec names to be Python-safe
+    
+    # #2990: have to compute md5sum before any calls to make_python_safe
+
+    # generate dependencies dictionary. omit files calculation as we
+    # rely on in-memory MsgSpecs instead so that we can generate code
+    # for older versions of msg files
+    gendeps_dict = roslib.gentools.get_dependencies(spec, package, compute_files=False)
+    md5sum = roslib.gentools.compute_md5(gendeps_dict)
+    
+    # remap spec names to be Python-safe
+    spec = make_python_safe(spec) 
     spec_names = spec.names
 
     # #1807 : this will be much cleaner when msggenerator library is
@@ -972,14 +962,10 @@ def msg_generator(package, name, spec):
     
     fulltype = '%s%s%s'%(package, roslib.msgs.SEP, name)
 
-    # generate dependencies dictionary. omit files calculation as we
-    # rely on in-memory MsgSpecs instead so that we can generate code
-    # for older versions of msg files
-    gendeps_dict = roslib.gentools.get_dependencies(spec, package, compute_files=False)
     #Yield data class first, e.g. Point2D
     yield 'class %s(roslib.message.Message):'%name
-    yield '  _md5sum = "%s"'%roslib.gentools.compute_md5(gendeps_dict)
-    yield '  _type = "%s"'%fulltype
+    yield '  _md5sum = "%s"'%(md5sum)
+    yield '  _type = "%s"'%(fulltype)
     yield '  _has_header = %s #flag to mark the presence of a Header object'%spec.has_header()
     # note: we introduce an extra newline to protect the escaping from quotes in the message
     yield '  _full_text = """%s\n"""'%compute_full_text_escaped(gendeps_dict)

test/test_roslaunch/test/test_xmlloader.py

@@ -212,7 +212,7 @@ class TestXmlLoader(unittest.TestCase):
         p = [p for p in mock.params if p.key == '/binaryfile'][0]
         self.assertEquals(xmlrpclib.Binary(contents), p.value, 1)
 
-        f = open(os.path.join(get_pkg_dir('roslib'), 'scripts', 'python-reserved-words.txt'))
+        f = open(os.path.join(get_pkg_dir('roslaunch'), 'example.launch'))
         try:
             contents = f.read()
         finally:

test/test_roslaunch/test/xml/test-params-valid.xml

@@ -30,7 +30,7 @@
   <!-- upload the contents of a file as base64 binary as a param -->
   <param name="binaryfile" binfile="$(find roslaunch)/example.launch" />
   <!-- upload the output of a command as a param. -->
-  <param name="commandoutput" command="cat &quot;$(find roslib)/scripts/python-reserved-words.txt&quot;" />
+  <param name="commandoutput" command="cat &quot;$(find roslaunch)/example.launch&quot;" />
 
 
   <!-- test that we can override params -->

test/test_rospy/msg/PythonKeyword.msg

@@ -0,0 +1 @@
+int32 yield

test/test_rospy/test/test_genmsg_py.py

@@ -48,6 +48,14 @@ from roslib.message import SerializationError
         
 class TestGenmsgPy(unittest.TestCase):
 
+    def test_PythonKeyword(self):
+        from test_ros.msg import PythonKeyword
+        # the md5sum is pulled from the c++ message generator. The
+        # test here is that the Python msg generator didn't
+        # accidentally mutate a md5sum based on a message that has its
+        # fieldname remapped.
+        self.assertEquals(PythonKeyword._md5sum, "1330d6bbfad8e75334346fec949d5133")
+                          
     ## Utility for testing roundtrip serialization
     ## @param orig Message to test roundtrip serialization of
     ## @param blank Uninitialized instance of message to deserialize into

tools/roslaunch/example.launch

@@ -30,7 +30,7 @@
   <!-- upload the contents of a file as base64 binary as a param -->
   <param name="binaryfile" binfile="$(find roslaunch)/example.launch" />
   <!-- upload the output of a command as a param. -->
-  <param name="commandoutput" command="cat &quot;$(find roslib)/scripts/python-reserved-words.txt&quot;" />
+  <param name="commandoutput" command="cat &quot;$(find roslaunch)/example.launch&quot;" />
   
   <!-- Group a collection of tags. ns attribute is optional -->
   <group ns="wg">