Add types to parameter.py. (#1246)

* Add types to parameter.py

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Revert "Add types to TypeHash and moved away from __slots__ usage (#1232)" (#1243)

This reverts commit b06baef.

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add back Type hash __slots__ and add test cases. (#1245)

* Add types to TypeHash and add test cases

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add types to context.py (#1240)

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add types to qos_overriding_options.py (#1248)

Signed-off-by: Michael Carlstrom <rmc170@case.edu>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Small fixes for modern flake8. (#1264)

It doesn't like to compare types with ==, so switch to
isinstance as appropriate.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add types to time_source.py (#1259)

* Add types to time_source.py

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* fix small bug

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Switch to overloads to avoid mypy3737

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update parameter declaration from Node

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* add back rclpy.

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fix flake8 imports

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add proper array.array[]

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update types of declare_parameter, declare_parameters api

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add non conflicting types back to constructor

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Move sys import

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update error message

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add default value for generic Parameter

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add explanation comment

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add TypeVar import inside else case

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* push to rerun ci

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* push to rerun ci

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Switch back to union

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

---------

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
Signed-off-by: Michael Carlstrom <rmc170@case.edu>
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Co-authored-by: Shane Loretz <sloretz@intrinsic.ai>

rclpy/rclpy/node.py

@@ -16,13 +16,12 @@
 import time
 
 from types import TracebackType
-from typing import Any
 from typing import Callable
 from typing import Dict
 from typing import Iterator
 from typing import List
 from typing import Optional
-from typing import Sequence
+from typing import overload
 from typing import Tuple
 from typing import Type
 from typing import TypeVar
@@ -67,7 +66,8 @@
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.logging import get_logger
 from rclpy.logging_service import LoggingService
-from rclpy.parameter import Parameter, PARAMETER_SEPARATOR_STRING
+from rclpy.parameter import (AllowableParameterValue, AllowableParameterValueT, Parameter,
+ PARAMETER_SEPARATOR_STRING)
 from rclpy.parameter_service import ParameterService
 from rclpy.publisher import Publisher
 from rclpy.qos import qos_profile_parameter_events
@@ -164,7 +164,7 @@ def __init__(
  """
  self.__handle = None
  self._context = get_default_context() if context is None else context
- self._parameters: dict = {}
+ self._parameters: Dict[str, Parameter] = {}
  self._publishers: List[Publisher] = []
  self._subscriptions: List[Subscription] = []
  self._clients: List[Client] = []
@@ -179,8 +179,8 @@ def __init__(
  self._post_set_parameters_callbacks: List[Callable[[List[Parameter]], None]] = []
  self._rate_group = ReentrantCallbackGroup()
  self._allow_undeclared_parameters = allow_undeclared_parameters
- self._parameter_overrides = {}
- self._descriptors = {}
+ self._parameter_overrides: Dict[str, Parameter] = {}
+ self._descriptors: Dict[str, ParameterDescriptor] = {}
 
  namespace = namespace or ''
  if not self._context.ok():
@@ -358,10 +358,23 @@ def get_logger(self):
  """Get the nodes logger."""
  return self._logger
 
+ @overload
+ def declare_parameter(self, name: str, value: Union[AllowableParameterValueT,
+ Parameter.Type, ParameterValue],
+ descriptor: Optional[ParameterDescriptor] = None,
+ ignore_override: bool = False
+ ) -> Parameter[AllowableParameterValueT]: ...
+
+ @overload
+ def declare_parameter(self, name: str,
+ value: Union[None, Parameter.Type, ParameterValue] = None,
+ descriptor: Optional[ParameterDescriptor] = None,
+ ignore_override: bool = False) -> Parameter[None]: ...
+
  def declare_parameter(
  self,
  name: str,
- value: Any = None,
+ value: Union[AllowableParameterValue, Parameter.Type, ParameterValue] = None,
  descriptor: Optional[ParameterDescriptor] = None,
  ignore_override: bool = False
  ) -> Parameter:
@@ -386,7 +399,9 @@ def declare_parameter(
  """
  if value is None and descriptor is None:
  # Temporal patch so we get deprecation warning if only a name is provided.
- args = (name, )
+ args: Union[Tuple[str], Tuple[str, Union[AllowableParameterValue,
+ Parameter.Type, ParameterValue],
+ ParameterDescriptor]] = (name, )
  else:
  descriptor = ParameterDescriptor() if descriptor is None else descriptor
  args = (name, value, descriptor)
@@ -398,7 +413,8 @@ def declare_parameters(
  parameters: List[Union[
  Tuple[str],
  Tuple[str, Parameter.Type],
- Tuple[str, Any, ParameterDescriptor],
+ Tuple[str, Union[AllowableParameterValue, Parameter.Type, ParameterValue],
+ ParameterDescriptor],
  ]],
  ignore_override: bool = False
  ) -> List[Parameter]:
@@ -448,8 +464,8 @@ def declare_parameters(
  :raises: InvalidParameterValueException if the registered callback rejects any parameter.
  :raises: TypeError if any tuple in **parameters** does not match the annotated type.
  """
- parameter_list = []
- descriptors = {}
+ parameter_list: List[Parameter] = []
+ descriptors: Dict[str, ParameterDescriptor] = {}
  for index, parameter_tuple in enumerate(parameters):
  if len(parameter_tuple) < 1 or len(parameter_tuple) > 3:
  raise TypeError(
@@ -473,9 +489,8 @@ def declare_parameters(
  # Note(jubeira): declare_parameters verifies the name, but set_parameters doesn't.
  validate_parameter_name(name)
 
- second_arg = parameter_tuple[1] if 1 < len(parameter_tuple) else None
- descriptor = parameter_tuple[2] if 2 < len(parameter_tuple) else ParameterDescriptor()
-
+ second_arg = parameter_tuple[1] if len(parameter_tuple) > 1 else None
+ descriptor = parameter_tuple[2] if len(parameter_tuple) > 2 else ParameterDescriptor()
  if not isinstance(descriptor, ParameterDescriptor):
  raise TypeError(
  f'Third element {descriptor} at index {index} in parameters list '
@@ -519,6 +534,11 @@ def declare_parameters(
  if not ignore_override and name in self._parameter_overrides:
  value = self._parameter_overrides[name].value
 
+ if isinstance(value, ParameterValue):
+ raise ValueError('Cannot declare a Parameter from a ParameterValue without it '
+ 'being included in self._parameter_overrides, and ',
+ 'ignore_override=False')
+
  parameter_list.append(Parameter(name, value=value))
  descriptors.update({name: descriptor})
 
@@ -719,10 +739,7 @@ def get_parameter_or(
 
  return self._parameters[name]
 
- def get_parameters_by_prefix(self, prefix: str) -> Dict[str, Optional[Union[
- bool, int, float, str, bytes,
- Sequence[bool], Sequence[int], Sequence[float], Sequence[str]
- ]]]:
+ def get_parameters_by_prefix(self, prefix: str) -> Dict[str, Parameter]:
  """
  Get parameters that have a given prefix in their names as a dictionary.
 
@@ -1039,7 +1056,7 @@ def _check_undeclared_parameters(self, parameter_list: List[Parameter]):
  if not self._allow_undeclared_parameters and any(undeclared_parameters):
  raise ParameterNotDeclaredException(list(undeclared_parameters))
 
- def _call_pre_set_parameters_callback(self, parameter_list: [List[Parameter]]):
+ def _call_pre_set_parameters_callback(self, parameter_list: List[Parameter]):
  if self._pre_set_parameters_callbacks:
  modified_parameter_list = []
  for callback in self._pre_set_parameters_callbacks:
@@ -1049,7 +1066,7 @@ def _call_pre_set_parameters_callback(self, parameter_list: [List[Parameter]]):
  else:
  return None
 
- def _call_post_set_parameters_callback(self, parameter_list: [List[Parameter]]):
+ def _call_post_set_parameters_callback(self, parameter_list: List[Parameter]):
  if self._post_set_parameters_callbacks:
  for callback in self._post_set_parameters_callbacks:
  callback(parameter_list)

rclpy/rclpy/parameter.py

@@ -13,10 +13,14 @@
 # limitations under the License.
 
 import array
-from enum import Enum
+from enum import IntEnum
+import sys
+from typing import Any
 from typing import Dict
+from typing import Generic
 from typing import List
 from typing import Optional
+from typing import overload
 from typing import Tuple
 from typing import TYPE_CHECKING
 from typing import Union
@@ -29,17 +33,38 @@
 PARAMETER_SEPARATOR_STRING = '.'
 
 if TYPE_CHECKING:
- AllowableParameterValue = Union[None, bool, int, float, str,
- List[bytes], Tuple[bytes, ...],
- List[bool], Tuple[bool, ...],
- List[int], Tuple[int, ...], array.array[int],
- List[float], Tuple[float, ...], array.array[float],
- List[str], Tuple[str, ...], array.array[str]]
-
-
-class Parameter:
-
- class Type(Enum):
+ from typing_extensions import TypeVar
+ # Mypy does not handle string literals of array.array[int/str/float] very well
+ # So if user has newer version of python can use proper array types.
+ if sys.version_info > (3, 9):
+ AllowableParameterValue = Union[None, bool, int, float, str,
+ list[bytes], Tuple[bytes, ...],
+ list[bool], Tuple[bool, ...],
+ list[int], Tuple[int, ...], array.array[int],
+ list[float], Tuple[float, ...], array.array[float],
+ list[str], Tuple[str, ...], array.array[str]]
+ else:
+ AllowableParameterValue = Union[None, bool, int, float, str,
+ List[bytes], Tuple[bytes, ...],
+ List[bool], Tuple[bool, ...],
+ List[int], Tuple[int, ...], 'array.array[int]',
+ List[float], Tuple[float, ...], 'array.array[float]',
+ List[str], Tuple[str, ...], 'array.array[str]']
+
+ AllowableParameterValueT = TypeVar('AllowableParameterValueT',
+ bound=AllowableParameterValue,
+ default=AllowableParameterValue)
+else:
+ from typing import TypeVar
+ # Done to prevent runtime errors of undefined values.
+ # after python3.13 is minimum support this could be removed.
+ AllowableParameterValue = Any
+ AllowableParameterValueT = TypeVar('AllowableParameterValueT')
+
+
+class Parameter(Generic[AllowableParameterValueT]):
+
+ class Type(IntEnum):
  NOT_SET = ParameterType.PARAMETER_NOT_SET
  BOOL = ParameterType.PARAMETER_BOOL
  INTEGER = ParameterType.PARAMETER_INTEGER
@@ -52,7 +77,9 @@ class Type(Enum):
  STRING_ARRAY = ParameterType.PARAMETER_STRING_ARRAY
 
  @classmethod
- def from_parameter_value(cls, parameter_value):
+ def from_parameter_value(cls,
+ parameter_value: AllowableParameterValueT
+ ) -> 'Parameter.Type':
  """
  Get a Parameter.Type from a given variable.
 
@@ -88,7 +115,7 @@ def from_parameter_value(cls, parameter_value):
  raise TypeError(
  f"The given value is not one of the allowed types '{parameter_value}'.")
 
- def check(self, parameter_value):
+ def check(self, parameter_value: AllowableParameterValueT) -> bool:
  if Parameter.Type.NOT_SET == self:
  return parameter_value is None
  if Parameter.Type.BOOL == self:
@@ -117,7 +144,7 @@ def check(self, parameter_value):
  return False
 
  @classmethod
- def from_parameter_msg(cls, param_msg):
+ def from_parameter_msg(cls, param_msg: ParameterMsg) -> 'Parameter[AllowableParameterValueT]':
  value = None
  type_ = Parameter.Type(value=param_msg.value.type)
  if Parameter.Type.BOOL == type_:
@@ -140,7 +167,14 @@ def from_parameter_msg(cls, param_msg):
  value = param_msg.value.string_array_value
  return cls(param_msg.name, type_, value)
 
- def __init__(self, name, type_=None, value=None):
+ @overload
+ def __init__(self, name: str, type_: Optional['Parameter.Type'] = None) -> None: ...
+
+ @overload
+ def __init__(self, name: str, type_: Optional['Parameter.Type'],
+ value: AllowableParameterValueT) -> None: ...
+
+ def __init__(self, name: str, type_: Optional['Parameter.Type'] = None, value=None) -> None:
  if type_ is None:
  # This will raise a TypeError if it is not possible to get a type from the value.
  type_ = Parameter.Type.from_parameter_value(value)
@@ -156,18 +190,18 @@ def __init__(self, name, type_=None, value=None):
  self._value = value
 
  @property
- def name(self):
+ def name(self) -> str:
  return self._name
 
  @property
- def type_(self):
+ def type_(self) -> 'Parameter.Type':
  return self._type_
 
  @property
- def value(self):
+ def value(self) -> AllowableParameterValueT:
  return self._value
 
- def get_parameter_value(self):
+ def get_parameter_value(self) -> ParameterValue:
  parameter_value = ParameterValue(type=self.type_.value)
  if Parameter.Type.BOOL == self.type_:
  parameter_value.bool_value = self.value
@@ -189,7 +223,7 @@ def get_parameter_value(self):
  parameter_value.string_array_value = self.value
  return parameter_value
 
- def to_parameter_msg(self):
+ def to_parameter_msg(self) -> ParameterMsg:
  return ParameterMsg(name=self.name, value=self.get_parameter_value())
 
 
@@ -237,7 +271,7 @@ def get_parameter_value(string_value: str) -> ParameterValue:
  return value
 
 
-def parameter_value_to_python(parameter_value: ParameterValue):
+def parameter_value_to_python(parameter_value: ParameterValue) -> AllowableParameterValue:
  """
  Get the value for the Python builtin type from a rcl_interfaces/msg/ParameterValue object.
 
@@ -295,7 +329,7 @@ def parameter_dict_from_yaml_file(
  """
  with open(parameter_file, 'r') as f:
  param_file = yaml.safe_load(f)
- param_keys = []
+ param_keys: List[str] = []
  param_dict = {}
 
  if use_wildcard and '/**' in param_file:
@@ -325,7 +359,8 @@ def parameter_dict_from_yaml_file(
  return _unpack_parameter_dict(namespace, param_dict)
 
 
-def _unpack_parameter_dict(namespace, parameter_dict):
+def _unpack_parameter_dict(namespace: str,
+ parameter_dict: Dict[str, ParameterMsg]) -> Dict[str, ParameterMsg]:
  """
  Flatten a parameter dictionary recursively.