From a77cf77a6c32c7e940cde1375d2ec92c6b2b73ff Mon Sep 17 00:00:00 2001
From: EsipovPA <esipov.p@mail.ru>
Date: Tue, 10 Sep 2024 14:54:13 +0300
Subject: [PATCH] =?UTF-8?q?Added=20forced=20casting=20of=20int=20values=20?=
 =?UTF-8?q?=E2=80=8B=E2=80=8Bto=20float=20for=20float-typed=20fields?=
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Content-Transfer-Encoding: 8bit

Signed-off-by: EsipovPA <esipov.p@mail.ru>
---
 rosidl_generator_py/CMakeLists.txt            |  7 ++++
 rosidl_generator_py/msg/Float.msg             |  1 +
 rosidl_generator_py/resource/_msg.py.em       |  4 +++
 rosidl_generator_py/test/test_int_to_float.py | 34 +++++++++++++++++++
 4 files changed, 46 insertions(+)
 create mode 100644 rosidl_generator_py/msg/Float.msg
 create mode 100644 rosidl_generator_py/test/test_int_to_float.py

diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
index 07d124a1..cdae8ee8 100644
--- a/rosidl_generator_py/CMakeLists.txt
+++ b/rosidl_generator_py/CMakeLists.txt
@@ -53,6 +53,7 @@ if(BUILD_TESTING)
       msg/BuiltinTypeSequencesIdl.idl
       msg/StringArrays.msg
       msg/Property.msg
+      msg/Float.msg
       ADD_LINTER_TESTS
       SKIP_INSTALL
     )
@@ -79,6 +80,12 @@ if(BUILD_TESTING)
       APPEND_LIBRARY_DIRS "${_append_library_dirs}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
     )
+
+    ament_add_pytest_test(test_int_to_float_py test/test_int_to_float.py
+      APPEND_ENV "PYTHONPATH=${pythonpath}"
+      APPEND_LIBRARY_DIRS "${_append_library_dirs}"
+      WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
+    )
   endif()
 endif()
 
diff --git a/rosidl_generator_py/msg/Float.msg b/rosidl_generator_py/msg/Float.msg
new file mode 100644
index 00000000..91bec70e
--- /dev/null
+++ b/rosidl_generator_py/msg/Float.msg
@@ -0,0 +1 @@
+float32 float_value
diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index 8c21e552..f0eece45 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -481,6 +481,10 @@ if member.name in dict(inspect.getmembers(builtins)).keys():
             from collections.abc import ByteString
 @[  elif isinstance(type_, BasicType) and type_.typename in CHARACTER_TYPES]@
             from collections import UserString
+@[  end if]@
+@[  if isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES]@
+            if isinstance(value, int):
+                value = float(int)
 @[  end if]@
             assert \
 @[  if isinstance(member.type, AbstractNestedType)]@
diff --git a/rosidl_generator_py/test/test_int_to_float.py b/rosidl_generator_py/test/test_int_to_float.py
new file mode 100644
index 00000000..74942f06
--- /dev/null
+++ b/rosidl_generator_py/test/test_int_to_float.py
@@ -0,0 +1,34 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_generator_py.msg import Float
+
+
+def test_int_to_float():
+    msg = Float()
+
+    assert isinstance(msg.float_value, float)
+
+    # default value
+    assert 0 == msg.float_value
+
+    # set float value
+    msg.float_value = float(1)
+
+    assert 1 == msg.float_value
+
+    # set int value, should not throw
+    msg.float_value = int(1)
+
+    assert 1 == msg.float_value