Merge pull request #216 from JdeRobot/ros-native

ROS 2 Native Support for Robotics Academy Exercises

Author: javizqh

manager/manager/lint/linter.py

@@ -105,29 +105,38 @@ def evaluate_code(
             code = re.sub(r"from MAP import MAP", "from map import MAP", code)
             code = re.sub(r"\nimport cv2\n", "\nfrom cv2 import cv2\n", code)
 
-            # Avoids EOF error when iterative code is empty
-            # (which prevents other errors from showing)
-            while_position = re.search(
-                r"[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:",
-                code,
+            # Avoids EOF error when iterative code is empty (which prevents other errors from showing)
+            loop_regex = (
+                r"[^ ]while\s*\(\s*True\s*\)\s*:|"
+                r"[^ ]while\s*True\s*:|"
+                r"[^ ]while\s*1\s*:|"
+                r"[^ ]while\s*\(\s*1\s*\)\s*:|"
+                r"rclpy\.spin\(\s*\w+\s*\)|"
+                r"rclpy\.spin_once\(\s*\w+\s*.*?\)|"
+                r"\.create_rate\(\s*[\w.]+\s*\)"
             )
-            if while_position is None:
-                while_error = "ERROR: While loop is required and was not found.\n"
-                return while_error.strip()
-            sequential_code = code[: while_position.start()]
-            iterative_code = code[while_position.start() :]
-            iterative_code = re.sub(
-                r"[^ ]while\s*\(\s*True\s*\)\s*:|[^ ]while\s*True\s*:|[^ ]while\s*1\s*:|[^ ]while\s*\(\s*1\s*\)\s*:",
-                "\n",
-                iterative_code,
-                1,
-            )
-            iterative_code = re.sub(r"^[ ]{4}", "", iterative_code, flags=re.M)
-            code = sequential_code + iterative_code
-
-            f = open("user_code.py", "w")
-            f.write(code)
-            f.close()
+            loop_match = re.search(loop_regex, code)
+
+            if loop_match is None:
+                return "ERROR: No event loop found. Add 'while True:', 'rclpy.spin(node)', or 'rclpy.spin_once(node)' or use 'Rate'"
+
+            if (
+                "rclpy.spin" in loop_match.group()
+                or "rclpy.spin_once" in loop_match.group()
+                or ".create_rate" in loop_match.group()
+            ):
+                # Keep the code as-is; don't modify it
+                pass
+            else:
+                # Modify code for while True (add frequency control)
+                sequential_code = code[: loop_match.start()]
+                iterative_code = code[loop_match.start() :]
+                iterative_code = re.sub(loop_regex, "\n", iterative_code, 1)
+                iterative_code = re.sub(r"^[ ]{4}", "", iterative_code, flags=re.M)
+                code = sequential_code + iterative_code
+
+            with open("user_code.py", "w") as f:
+                f.write(code)
 
             command = ""
             if "humble" in str(ros_version):