From 8793817b892669e2541745ecd0fa11f297b3a524 Mon Sep 17 00:00:00 2001
From: mhidalgo-bdai <144129882+mhidalgo-bdai@users.noreply.github.com>
Date: Fri, 20 Dec 2024 08:48:12 -0300
Subject: [PATCH] Fix `synchros2` aliasing as `bdai_ros2_wrappers` (#135)

Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com>
---
 .../bdai_ros2_wrappers/__init__.py               | 16 +++++++++++++++-
 bdai_ros2_wrappers/setup.py                      |  3 ++-
 bdai_ros2_wrappers/test/test_import.py           | 13 +++++++++++++
 synchros2/setup.py                               |  2 +-
 4 files changed, 31 insertions(+), 3 deletions(-)
 create mode 100644 bdai_ros2_wrappers/test/test_import.py

diff --git a/bdai_ros2_wrappers/bdai_ros2_wrappers/__init__.py b/bdai_ros2_wrappers/bdai_ros2_wrappers/__init__.py
index dd73d13..598bfe3 100644
--- a/bdai_ros2_wrappers/bdai_ros2_wrappers/__init__.py
+++ b/bdai_ros2_wrappers/bdai_ros2_wrappers/__init__.py
@@ -1,5 +1,19 @@
 # Copyright (c) 2024 Boston Dynamics AI Institute Inc.  All rights reserved.
 
+import importlib
+import pkgutil
 import sys
 
-sys.modules[__name__] = __import__("synchros2")
+
+def aliased_import(name, alias):
+    """Import a module or a package using an alias for it.
+
+    For packages, this function will recursively import all its subpackages and modules.
+    """
+    sys.modules[alias] = module = importlib.import_module(name)
+    if hasattr(module, "__path__"):
+        for info in pkgutil.iter_modules(module.__path__):
+            aliased_import(f"{name}.{info.name}", f"{alias}.{info.name}")
+
+
+aliased_import("synchros2", alias=__name__)
diff --git a/bdai_ros2_wrappers/setup.py b/bdai_ros2_wrappers/setup.py
index a144595..b23ea9c 100644
--- a/bdai_ros2_wrappers/setup.py
+++ b/bdai_ros2_wrappers/setup.py
@@ -14,8 +14,9 @@
     ],
     install_requires=["setuptools"],
     maintainer="The AI Institute",
-    maintainer_email="engineering@theaiinstitute.com",
+    maintainer_email="opensource@theaiinstitute.com",
     description="The AI Institute's wrappers for ROS2",
+    tests_require=["pytest"],
     zip_safe=True,
     license="MIT",
 )
diff --git a/bdai_ros2_wrappers/test/test_import.py b/bdai_ros2_wrappers/test/test_import.py
new file mode 100644
index 0000000..c56ee43
--- /dev/null
+++ b/bdai_ros2_wrappers/test/test_import.py
@@ -0,0 +1,13 @@
+# Copyright (c) 2024 Boston Dynamics AI Institute Inc.  All rights reserved.
+
+import bdai_ros2_wrappers.scope
+import synchros2.scope
+
+
+def test_submodule_aliasing() -> None:
+    assert id(bdai_ros2_wrappers.scope) == id(synchros2.scope)
+
+
+def test_global_aliasing() -> None:
+    with bdai_ros2_wrappers.scope.top(global_=True) as top:
+        assert synchros2.scope.current() is top
diff --git a/synchros2/setup.py b/synchros2/setup.py
index 42c6fde..189f47a 100644
--- a/synchros2/setup.py
+++ b/synchros2/setup.py
@@ -15,7 +15,7 @@
     ],
     install_requires=["setuptools"],
     maintainer="The AI Institute",
-    maintainer_email="engineering@theaiinstitute.com",
+    maintainer_email="opensource@theaiinstitute.com",
     description="The AI Institute's wrappers for ROS2",
     tests_require=["pytest"],
     zip_safe=True,