From 4efd92ac7f27028c063864793535184061791438 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <537409+emersonknapp@users.noreply.github.com>
Date: Tue, 25 Jul 2023 22:01:30 -0700
Subject: [PATCH] Fix same named types overriding typesources (#759)

* Fix same named types overriding typesources

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
(cherry picked from commit 89c6713707ec8d45f3d1b89e8b6f522999a7d5e8)
---
 rosidl_generator_tests/CMakeLists.txt         |  1 +
 rosidl_generator_tests/msg/BasicIdl.idl       |  7 +++
 .../rosidl_generator_c/test_descriptions.c    | 48 +++++++++++++++++++
 rosidl_pycommon/rosidl_pycommon/__init__.py   |  7 ++-
 4 files changed, 61 insertions(+), 2 deletions(-)
 create mode 100644 rosidl_generator_tests/msg/BasicIdl.idl

diff --git a/rosidl_generator_tests/CMakeLists.txt b/rosidl_generator_tests/CMakeLists.txt
index 4510a9221..514a42853 100644
--- a/rosidl_generator_tests/CMakeLists.txt
+++ b/rosidl_generator_tests/CMakeLists.txt
@@ -34,6 +34,7 @@ if(BUILD_TESTING)
     ${test_interface_files_ACTION_FILES}
     ${test_interface_files_MSG_FILES}
     ${test_interface_files_SRV_FILES}
+    msg/BasicIdl.idl
     ADD_LINTER_TESTS
     SKIP_INSTALL
   )
diff --git a/rosidl_generator_tests/msg/BasicIdl.idl b/rosidl_generator_tests/msg/BasicIdl.idl
new file mode 100644
index 000000000..af25ccd5e
--- /dev/null
+++ b/rosidl_generator_tests/msg/BasicIdl.idl
@@ -0,0 +1,7 @@
+module rosidl_generator_tests {
+  module msg {
+    struct BasicIdl {
+        float x;
+    };
+  };
+};
diff --git a/rosidl_generator_tests/test/rosidl_generator_c/test_descriptions.c b/rosidl_generator_tests/test/rosidl_generator_c/test_descriptions.c
index fbe127faa..8e907b68a 100644
--- a/rosidl_generator_tests/test/rosidl_generator_c/test_descriptions.c
+++ b/rosidl_generator_tests/test/rosidl_generator_c/test_descriptions.c
@@ -29,7 +29,9 @@
 #include "rosidl_runtime_c/type_description/type_source__struct.h"
 
 #include "rosidl_generator_tests/action/fibonacci.h"
+#include "rosidl_generator_tests/msg/basic_idl.h"
 #include "rosidl_generator_tests/msg/defaults.h"
+#include "rosidl_generator_tests/msg/empty.h"
 #include "rosidl_generator_tests/srv/empty.h"
 
 #include "type_description_interfaces/msg/field.h"
@@ -67,6 +69,7 @@ bool string_char_equal(const rosidl_runtime_c__String * lhs, const char * rhs)
 int test_description_linkage();
 int test_copied_type_description_struct_hashes();
 int test_source_defined();
+int test_same_name_types();
 
 int main(void)
 {
@@ -86,6 +89,11 @@ int main(void)
     fprintf(stderr, "test_source_defined() FAILED\n");
     rc++;
   }
+  printf("Testing same named types...\n");
+  if (test_same_name_types()) {
+    fprintf(stderr, "test_same_name_types() FAILED\n");
+    rc++;
+  }
 
   if (rc != 0) {
     fprintf(stderr, "Some tests failed!\n");
@@ -254,6 +262,18 @@ int test_source_defined()
   {
     return 1;
   }
+
+  // IDL
+  check_src = rosidl_generator_tests__msg__BasicIdl__get_individual_type_description_source(NULL);
+  if (!check_src) {
+    fprintf(stderr, "BasicIdl.idl sources not available.\n");
+    return 1;
+  }
+  if (!string_char_equal(&check_src->encoding, "idl")) {
+    fprintf(stderr, "BasicIdl.idl source encoding '%s' is not 'idl'\n", check_src->encoding.data);
+    return 1;
+  }
+
   return 0;
 }
 
@@ -292,3 +312,31 @@ int test_copied_type_description_struct_hashes()
   #undef runtimehash
   return rc;
 }
+
+int test_same_name_types()
+{
+  // Msg and srv with same name in this package
+  // Regression check case, this was receiving "srv" encoding with Empty.srv sources
+  const rosidl_runtime_c__type_description__TypeSource * empty_msg_src =
+    rosidl_generator_tests__msg__Empty__get_individual_type_description_source(NULL);
+  if (!string_char_equal(&empty_msg_src->type_name, "rosidl_generator_tests/msg/Empty")) {
+    fprintf(stderr, "Empty.msg source name not as expected\n");
+    return 1;
+  }
+  if (!string_char_equal(&empty_msg_src->encoding, "msg")) {
+    fprintf(stderr, "Empty.msg source not encoded as msg\n");
+    return 1;
+  }
+
+  const rosidl_runtime_c__type_description__TypeSource * empty_srv_src =
+    rosidl_generator_tests__srv__Empty__get_individual_type_description_source(NULL);
+  if (!string_char_equal(&empty_srv_src->type_name, "rosidl_generator_tests/srv/Empty")) {
+    fprintf(stderr, "Empty.srv source name not as expected\n");
+    return 1;
+  }
+  if (!string_char_equal(&empty_srv_src->encoding, "srv")) {
+    fprintf(stderr, "Empty.srv source not encoded as srv\n");
+    return 1;
+  }
+  return 0;
+}
diff --git a/rosidl_pycommon/rosidl_pycommon/__init__.py b/rosidl_pycommon/rosidl_pycommon/__init__.py
index b9ba04913..deae9bcc7 100644
--- a/rosidl_pycommon/rosidl_pycommon/__init__.py
+++ b/rosidl_pycommon/rosidl_pycommon/__init__.py
@@ -70,7 +70,9 @@ def generate_files(
     ros_interface_files = {}
     for ros_interface_file in args.get('ros_interface_files',  []):
         p = pathlib.Path(ros_interface_file)
-        ros_interface_files[p.stem] = p
+        # e.g. ('msg', 'Empty')
+        key = (p.suffix[1:], p.stem)
+        ros_interface_files[key] = p
 
     for idl_tuple in args.get('idl_tuples', []):
         idl_parts = idl_tuple.rsplit(':', 1)
@@ -85,7 +87,8 @@ def generate_files(
                 type_description_info = json.load(f)
 
         idl_stem = idl_rel_path.stem
-        type_source_file = ros_interface_files.get(idl_stem, locator.get_absolute_path())
+        type_source_key = (idl_rel_path.parts[-2], idl_stem)
+        type_source_file = ros_interface_files.get(type_source_key, locator.get_absolute_path())
         if not keep_case:
             idl_stem = convert_camel_case_to_lower_case_underscore(idl_stem)
         try: