Allow struct to contain member with same name

.vscode/settings.json

@@ -1,7 +1,7 @@
 // -*- jsonc -*-
 {
   "editor.codeActionsOnSave": {
-    "source.fixAll.eslint": true
+    "source.fixAll.eslint": "explicit"
   },
   "editor.defaultFormatter": "esbenp.prettier-vscode",
   "editor.detectIndentation": false,

packages/omgidl-parser/src/IDLNodes/IDLNode.ts

@@ -92,18 +92,18 @@ function resolveScopedOrLocalNodeReference({
   // If using local un-scoped identifier, it will not be found in the definitions map
   // In this case we try by building up the namespace prefix until we find a match
   let referencedNode = undefined;
-  const namespacePrefixes = [...scopeOfUsage];
-  const currPrefix: string[] = [];
+  // start with most specific scope and work upwards
+  const currPrefix: string[] = [...scopeOfUsage];
   for (;;) {
     const identifierToTry = toScopedIdentifier([...currPrefix, usedIdentifier]);
     referencedNode = definitionMap.get(identifierToTry);
     if (referencedNode != undefined) {
       break;
     }
-    if (namespacePrefixes.length === 0) {
+    if (currPrefix.length === 0) {
       break;
     }
-    currPrefix.push(namespacePrefixes.shift()!);
+    currPrefix.pop();
   }
 
   return referencedNode;

packages/omgidl-parser/src/parseIDL.test.ts

@@ -1,4 +1,4 @@
-import { parseIDL as parse } from "./parseIDL";
+import { parseIDL as parse, parseIDL } from "./parseIDL";
 
 describe("omgidl parser tests", () => {
   it("parses a struct", () => {
@@ -2597,6 +2597,28 @@ module rosidl_parser {
       },
     ]);
   });
+  it("can parse struct with member of the same name", () => {
+    const msgDef = `
+    struct ColorSettings {
+        uint8 ColorSettings;
+    };
+      `;
+
+    const ast = parseIDL(msgDef);
+    expect(ast).toEqual([
+      {
+        name: "ColorSettings",
+        aggregatedKind: "struct",
+        definitions: [
+          {
+            name: "ColorSettings",
+            isComplex: false,
+            type: "uint8",
+          },
+        ],
+      },
+    ]);
+  });
   // **************** Not supported in our implementation yet
   it("cannot compose variable size arrays (no serialization support)", () => {
     const msgDef = `

packages/omgidl-parser/src/parseIDLToAST.test.ts

@@ -1775,7 +1775,29 @@ module idl_parser {
       },
     ]);
   });
+  it("can parse struct with member of the same name", () => {
+    const msgDef = `
+    struct ColorSettings {
+        uint8 ColorSettings;
+    };
+      `;
 
+    const ast = parseIDLToAST(msgDef);
+    expect(ast).toEqual([
+      {
+        name: "ColorSettings",
+        declarator: "struct",
+        definitions: [
+          {
+            name: "ColorSettings",
+            isComplex: false,
+            declarator: "struct-member",
+            type: "uint8",
+          },
+        ],
+      },
+    ]);
+  });
   /****************  Not supported by IDL (as far as I can tell) */
   it("cannot parse constants that reference other constants", () => {
     const msgDef = `