Types for rosidl_adapter (#828)

* type for rosidl_adapter

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

* re-run CI

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

* re-run CI

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

* use ament_cmake_mypy instead

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

---------

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>

Author: InvincibleRMC

rosidl_adapter/CMakeLists.txt

@@ -10,6 +10,7 @@ ament_python_install_package(${PROJECT_NAME})
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_mypy REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_add_pytest_test(pytest test)
 endif()

rosidl_adapter/package.xml

@@ -26,6 +26,7 @@
   <exec_depend>python3-empy</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
 
+  <test_depend>ament_cmake_mypy</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

rosidl_adapter/rosidl_adapter/__init__.py

@@ -12,8 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from pathlib import Path
 
-def convert_to_idl(package_dir, package_name, interface_file, output_dir):
+
+def convert_to_idl(package_dir: Path, package_name: str, interface_file: Path,
+                   output_dir: Path) -> Path:
     if interface_file.suffix == '.msg':
         from rosidl_adapter.msg import convert_msg_to_idl
         return convert_msg_to_idl(

rosidl_adapter/rosidl_adapter/__main__.py

@@ -16,4 +16,5 @@
 
 from rosidl_adapter.main import main
 
-sys.exit(main())
+main()
+sys.exit()

rosidl_adapter/rosidl_adapter/action/__init__.py

@@ -12,11 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from pathlib import Path
+
 from rosidl_adapter.parser import parse_action_string
-from rosidl_adapter.resource import expand_template
+from rosidl_adapter.resource import ActionData, expand_template
 
 
-def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
+def convert_action_to_idl(package_dir: Path, package_name: str, input_file: Path,
+                          output_dir: Path) -> Path:
     assert package_dir.is_absolute()
     assert not input_file.is_absolute()
     assert input_file.suffix == '.action'
@@ -30,7 +33,7 @@ def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
     output_file = output_dir / input_file.with_suffix('.idl').name
     abs_output_file = output_file.absolute()
     print(f'Writing output file: {abs_output_file}')
-    data = {
+    data: ActionData = {
         'pkg_name': package_name,
         'relative_input_file': input_file.as_posix(),
         'action': action,

rosidl_adapter/rosidl_adapter/cli.py

@@ -13,8 +13,9 @@
 # limitations under the License.
 
 import argparse
-import pathlib
+from pathlib import Path
 import sys
+from typing import Callable, List, Literal, TYPE_CHECKING
 
 from catkin_pkg.package import package_exists_at
 from catkin_pkg.package import parse_package
@@ -27,7 +28,18 @@
 from rosidl_cli.command.translate.extensions import TranslateCommandExtension
 
 
-def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
+if TYPE_CHECKING:
+    from typing_extensions import TypeAlias
+
+    ConversionFunctionType: TypeAlias = Callable[[Path, str, Path, Path], Path]
+
+
+def convert_files_to_idl(
+    extension: Literal['.msg', '.srv', '.action'],
+    conversion_function: 'ConversionFunctionType',
+    argv: List[str] = sys.argv[1:]
+) -> None:
+
     parser = argparse.ArgumentParser(
         description=f'Convert {extension} files to .idl')
     parser.add_argument(
@@ -36,7 +48,7 @@ def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
     args = parser.parse_args(argv)
 
     for interface_file in args.interface_files:
-        interface_file = pathlib.Path(interface_file)
+        interface_file = Path(interface_file)
         package_dir = interface_file.parent.absolute()
         while (
             len(package_dir.parents) and
@@ -48,8 +60,7 @@ def convert_files_to_idl(extension, conversion_function, argv=sys.argv[1:]):
                 f"Could not find package for '{interface_file}'",
                 file=sys.stderr)
             continue
-        warnings = []
-        pkg = parse_package(package_dir, warnings=warnings)
+        pkg = parse_package(package_dir, warnings=[])
 
         conversion_function(
             package_dir, pkg.name,
@@ -63,14 +74,14 @@ class TranslateToIDL(TranslateCommandExtension):
 
     def translate(
         self,
-        package_name,
-        interface_files,
-        include_paths,
-        output_path
-    ):
+        package_name: str,
+        interface_files: List[str],
+        include_paths: List[str],
+        output_path: Path
+    ) -> List[str]:
         translated_interface_files = []
-        for interface_file in interface_files:
-            prefix, interface_file = interface_path_as_tuple(interface_file)
+        for interface_file_str in interface_files:
+            prefix, interface_file = interface_path_as_tuple(interface_file_str)
             output_dir = output_path / interface_file.parent
             translated_interface_file = self.conversion_function(
                 prefix, package_name, interface_file, output_dir)
@@ -87,7 +98,7 @@ class TranslateMsgToIDL(TranslateToIDL):
     input_format = 'msg'
 
     @property
-    def conversion_function(self):
+    def conversion_function(self) -> 'ConversionFunctionType':
         return convert_msg_to_idl
 
 
@@ -96,13 +107,13 @@ class TranslateSrvToIDL(TranslateToIDL):
     input_format = 'srv'
 
     @property
-    def conversion_function(self):
+    def conversion_function(self) -> 'ConversionFunctionType':
         return convert_srv_to_idl
 
 
 class TranslateActionToIDL(TranslateToIDL):
     input_format = 'action'
 
     @property
-    def conversion_function(self):
+    def conversion_function(self) -> 'ConversionFunctionType':
         return convert_action_to_idl

rosidl_adapter/rosidl_adapter/main.py

@@ -17,12 +17,13 @@
 import os
 import pathlib
 import sys
+from typing import List
 
 
 from rosidl_adapter import convert_to_idl
 
 
-def main(argv=sys.argv[1:]):
+def main(argv: List[str] = sys.argv[1:]) -> None:
     parser = argparse.ArgumentParser(
         description='Convert interface files to .idl')
     parser.add_argument(

rosidl_adapter/rosidl_adapter/msg/__init__.py

@@ -12,11 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from rosidl_adapter.parser import parse_message_string
-from rosidl_adapter.resource import expand_template
+from pathlib import Path
+from typing import Final, Optional, Union
 
+from rosidl_adapter.parser import BaseType, parse_message_string, Type
+from rosidl_adapter.resource import expand_template, MsgData
 
-def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
+
+def convert_msg_to_idl(package_dir: Path, package_name: str, input_file: Path,
+                       output_dir: Path) -> Path:
     assert package_dir.is_absolute()
     assert not input_file.is_absolute()
     assert input_file.suffix == '.msg'
@@ -30,7 +34,7 @@ def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
     output_file = output_dir / input_file.with_suffix('.idl').name
     abs_output_file = output_file.absolute()
     print(f'Writing output file: {abs_output_file}')
-    data = {
+    data: MsgData = {
         'pkg_name': package_name,
         'relative_input_file': input_file.as_posix(),
         'msg': msg,
@@ -40,7 +44,7 @@ def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
     return output_file
 
 
-MSG_TYPE_TO_IDL = {
+MSG_TYPE_TO_IDL: Final = {
     'bool': 'boolean',
     'byte': 'octet',
     'char': 'uint8',
@@ -59,7 +63,7 @@ def convert_msg_to_idl(package_dir, package_name, input_file, output_dir):
 }
 
 
-def to_idl_literal(idl_type, value):
+def to_idl_literal(idl_type: str, value: str) -> str:
     if idl_type[-1] == ']' or idl_type.startswith('sequence<'):
         content = repr(tuple(value)).replace('\\', r'\\').replace('"', r'\"')
         return f'"{content}"'
@@ -73,24 +77,24 @@ def to_idl_literal(idl_type, value):
     return value
 
 
-def string_to_idl_string_literal(string):
+def string_to_idl_string_literal(string: str) -> str:
     """Convert string to character literal as described in IDL 4.2 section  7.2.6.3 ."""
     estr = string.encode().decode('unicode_escape')
     estr = estr.replace('"', r'\"')
     return '"{0}"'.format(estr)
 
 
-def string_to_idl_wstring_literal(string):
+def string_to_idl_wstring_literal(string: str) -> str:
     return string_to_idl_string_literal(string)
 
 
-def get_include_file(base_type):
+def get_include_file(base_type: BaseType) -> Optional[str]:
     if base_type.is_primitive_type():
         return None
     return f'{base_type.pkg_name}/msg/{base_type.type}.idl'
 
 
-def get_idl_type(type_):
+def get_idl_type(type_: Union[str, Type]) -> str:
     if isinstance(type_, str):
         identifier = MSG_TYPE_TO_IDL[type_]
     elif type_.is_primitive_type():