From 0bca600e77e21d1bfa8900ae3fbef8c79d315b48 Mon Sep 17 00:00:00 2001
From: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com>
Date: Sun, 24 Mar 2024 19:57:16 -0400
Subject: [PATCH] Add types to qos_overriding_options.py (#1248)

Signed-off-by: Michael Carlstrom <rmc170@case.edu>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
---
 rclpy/rclpy/qos_overriding_options.py | 45 +++++++++++++++++----------
 1 file changed, 28 insertions(+), 17 deletions(-)

diff --git a/rclpy/rclpy/qos_overriding_options.py b/rclpy/rclpy/qos_overriding_options.py
index 316b59433..f64b83d30 100644
--- a/rclpy/rclpy/qos_overriding_options.py
+++ b/rclpy/rclpy/qos_overriding_options.py
@@ -14,6 +14,7 @@
 
 from typing import Callable
 from typing import Iterable
+from typing import List
 from typing import Optional
 from typing import Text
 from typing import Type
@@ -28,11 +29,16 @@
 from rclpy.exceptions import ParameterAlreadyDeclaredException
 from rclpy.parameter import Parameter
 from rclpy.publisher import Publisher
+from rclpy.qos import QoSDurabilityPolicy
+from rclpy.qos import QoSHistoryPolicy
+from rclpy.qos import QoSLivelinessPolicy
 from rclpy.qos import QoSPolicyKind
 from rclpy.qos import QoSProfile
+from rclpy.qos import QoSReliabilityPolicy
 from rclpy.subscription import Subscription
 
 if TYPE_CHECKING:
+    from typing import TypeAlias
     from rclpy.node import Node
 
 
@@ -41,7 +47,7 @@ class InvalidQosOverridesError(Exception):
 
 
 # Return type of qos validation callbacks
-QosCallbackResult = SetParametersResult
+QosCallbackResult: 'TypeAlias' = SetParametersResult
 # Qos callback type annotation
 QosCallbackType = Callable[[QoSProfile], QosCallbackResult]
 
@@ -103,7 +109,7 @@ def _declare_qos_parameters(
     topic_name: Text,
     qos: QoSProfile,
     options: QoSOverridingOptions
-) -> QoSProfile:
+) -> None:
     """
     Declare QoS parameters for a Publisher or a Subscription.
 
@@ -143,37 +149,42 @@ def _declare_qos_parameters(
                 f"{description.format('Provided QoS overrides')}, are not valid: {result.reason}")
 
 
-def _get_allowed_policies(entity_type: Union[Type[Publisher], Type[Subscription]]):
+def _get_allowed_policies(entity_type: Union[Type[Publisher],
+                                             Type[Subscription]]) -> List[QoSPolicyKind]:
     allowed_policies = list(QoSPolicyKind.__members__.values())
     if issubclass(entity_type, Subscription):
         allowed_policies.remove(QoSPolicyKind.LIFESPAN)
     return allowed_policies
 
 
+QoSProfileAttributes = Union[QoSHistoryPolicy, int, QoSReliabilityPolicy, QoSDurabilityPolicy,
+                             Duration, QoSLivelinessPolicy, bool]
+
+
 def _get_qos_policy_parameter(qos: QoSProfile, policy: QoSPolicyKind) -> Union[str, int, bool]:
-    value = getattr(qos, policy.name.lower())
-    if policy in (
-        QoSPolicyKind.LIVELINESS, QoSPolicyKind.RELIABILITY,
-        QoSPolicyKind.HISTORY, QoSPolicyKind.DURABILITY
-    ):
-        value = value.name.lower()
-        if value == 'unknown':
+    value: QoSProfileAttributes = getattr(qos, policy.name.lower())
+    if isinstance(value, (QoSHistoryPolicy, QoSReliabilityPolicy,
+                  QoSDurabilityPolicy, QoSLivelinessPolicy)):
+        return_value: Union[str, int, bool] = value.name.lower()
+        if return_value == 'unknown':
             raise ValueError('User provided QoS profile is invalid')
-    if policy in (
-        QoSPolicyKind.LIFESPAN, QoSPolicyKind.DEADLINE, QoSPolicyKind.LIVELINESS_LEASE_DURATION
-    ):
-        value = value.nanoseconds
-    return value
+    elif isinstance(value, Duration):
+        return_value = value.nanoseconds
+    else:
+        return_value = value
+    return return_value
 
 
-def _override_qos_policy_with_param(qos: QoSProfile, policy: QoSPolicyKind, param: Parameter):
+def _override_qos_policy_with_param(qos: QoSProfile,
+                                    policy: QoSPolicyKind,
+                                    param: Parameter) -> None:
     value = param.value
     policy_name = policy.name.lower()
     if policy in (
         QoSPolicyKind.LIVELINESS, QoSPolicyKind.RELIABILITY,
         QoSPolicyKind.HISTORY, QoSPolicyKind.DURABILITY
     ):
-        def capitalize_first_letter(x):
+        def capitalize_first_letter(x: str) -> str:
             return x[0].upper() + x[1:]
         # e.g. `policy=QosPolicyKind.LIVELINESS` -> `policy_enum_class=rclpy.qos.LivelinessPolicy`
         policy_enum_class = getattr(