refactor: Add type annotations to all functions and methods

pyproject.toml

@@ -1,3 +1,7 @@
+[project]
+name = "rosbridge_suite"
+requires-python = ">=3.10"
+
 [tool.black]
 # We use ruff for formatting, but black formatter should be compatible with ruff.
 line-length = 100
@@ -13,7 +17,7 @@ select = [
 
     # flake8 extensions
     "YTT",    # flake8-2020
-    # "ANN",  # flake8-annotations, There are too many missing annotations right now (TODO)
+    "ANN",    # flake8-annotations,
     "ASYNC",  # flake8-async
     "S",      # flake8-bandit
     # "BLE",  # flake8-blind-except, Too much hassle to fix (TODO)

rosapi/scripts/rosapi_node

@@ -31,9 +31,12 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import annotations
+
 import os
 import sys
 from json import dumps, loads
+from typing import Any
 
 import rclpy
 from rclpy.callback_groups import ReentrantCallbackGroup
@@ -79,7 +82,7 @@ from rosapi_msgs.srv import (
 class Rosapi(Node):
     NAME = "rosapi"
 
-    def __init__(self):
+    def __init__(self) -> None:
         super().__init__(self.NAME)
         self.declare_parameter("topics_glob", "[*]")
         self.declare_parameter("services_glob", "[*]")
@@ -89,7 +92,7 @@ class Rosapi(Node):
         self.register_services()
 
     # Initialises the ROS node
-    def register_services(self):
+    def register_services(self) -> None:
         proxy.init(self)
 
         timeout_sec = self.get_parameter("params_timeout").value
@@ -187,10 +190,10 @@ class Rosapi(Node):
         self.create_service(GetTime, "~/get_time", self.get_time)
         self.create_service(GetROSVersion, "~/get_ros_version", self.get_ros_version)
 
-    def get_globs(self):
+    def get_globs(self) -> glob_helper.Globs:
         return glob_helper.get_globs(self)
 
-    def get_topics(self, _request, response):
+    def get_topics(self, _request: Topics.Request, response: Topics.Response) -> Topics.Response:
         """
         Return a list of all the topics being published.
 
@@ -199,7 +202,9 @@ class Rosapi(Node):
         response.topics, response.types = proxy.get_topics_and_types(self.globs.topics)
         return response
 
-    def get_interfaces(self, _request, response):
+    def get_interfaces(
+        self, _request: Interfaces.Request, response: Interfaces.Response
+    ) -> Interfaces.Response:
         """
         Return a list of all the interfaces in the system.
 
@@ -208,7 +213,9 @@ class Rosapi(Node):
         response.interfaces = proxy.get_interfaces()
         return response
 
-    def get_topics_for_type(self, request, response):
+    def get_topics_for_type(
+        self, request: TopicsForType.Request, response: TopicsForType.Response
+    ) -> TopicsForType.Response:
         """
         Return a list of all the topics that are publishing a given type.
 
@@ -217,7 +224,9 @@ class Rosapi(Node):
         response.topics = proxy.get_topics_for_type(request.type, self.globs.topics)
         return response
 
-    def get_topics_and_raw_types(self, _request, response):
+    def get_topics_and_raw_types(
+        self, _request: TopicsAndRawTypes.Request, response: TopicsAndRawTypes.Response
+    ) -> TopicsAndRawTypes.Response:
         """
         Return a list of all the topics being published, and their raw types.
 
@@ -231,7 +240,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_services(self, _request, response):
+    def get_services(
+        self, _request: Services.Request, response: Services.Response
+    ) -> Services.Response:
         """
         Return a list of all the services being advertised.
 
@@ -240,7 +251,9 @@ class Rosapi(Node):
         response.services = proxy.get_services(self.globs.services)
         return response
 
-    def get_services_for_type(self, request, response):
+    def get_services_for_type(
+        self, request: ServicesForType.Request, response: ServicesForType.Response
+    ) -> ServicesForType.Response:
         """
         Return a list of all the services that are publishing a given type.
 
@@ -249,7 +262,7 @@ class Rosapi(Node):
         response.services = proxy.get_services_for_type(request.type, self.globs.services)
         return response
 
-    def get_nodes(self, _request, response):
+    def get_nodes(self, _request: Nodes.Request, response: Nodes.Response) -> Nodes.Response:
         """
         Return a list of all the nodes that are registered.
 
@@ -258,7 +271,9 @@ class Rosapi(Node):
         response.nodes = proxy.get_nodes()
         return response
 
-    def get_node_details(self, request, response):
+    def get_node_details(
+        self, request: NodeDetails.Request, response: NodeDetails.Response
+    ) -> NodeDetails.Response:
         """
         Return a node description.
 
@@ -271,7 +286,9 @@ class Rosapi(Node):
         ) = proxy.get_node_info(request.node)
         return response
 
-    def get_action_servers(self, _request, response):
+    def get_action_servers(
+        self, _request: GetActionServers.Request, response: GetActionServers.Response
+    ) -> GetActionServers.Response:
         """
         Return a list of action servers based on actions standard topics.
 
@@ -281,7 +298,9 @@ class Rosapi(Node):
         response.action_servers = proxy.filter_action_servers(topics)
         return response
 
-    def get_topic_type(self, request, response):
+    def get_topic_type(
+        self, request: TopicType.Request, response: TopicType.Response
+    ) -> TopicType.Response:
         """
         Given the name of a topic, return the name of the type of that topic.
 
@@ -294,7 +313,9 @@ class Rosapi(Node):
         response.type = proxy.get_topic_type(request.topic, self.globs.topics)
         return response
 
-    def get_service_type(self, request, response):
+    def get_service_type(
+        self, request: ServiceType.Request, response: ServiceType.Response
+    ) -> ServiceType.Response:
         """
         Given the name of a service, return the type of that service.
 
@@ -307,7 +328,9 @@ class Rosapi(Node):
         response.type = proxy.get_service_type(request.service, self.globs.services)
         return response
 
-    def get_publishers(self, request, response):
+    def get_publishers(
+        self, request: Publishers.Request, response: Publishers.Response
+    ) -> Publishers.Response:
         """
         Given the name of a topic, return a list of node names that are publishing on that topic.
 
@@ -316,7 +339,9 @@ class Rosapi(Node):
         response.publishers = proxy.get_publishers(request.topic, self.globs.topics)
         return response
 
-    def get_subscribers(self, request, response):
+    def get_subscribers(
+        self, request: Subscribers.Request, response: Subscribers.Response
+    ) -> Subscribers.Response:
         """
         Given the name of a topic, return a list of node names that are subscribing to that topic.
 
@@ -325,7 +350,9 @@ class Rosapi(Node):
         response.subscribers = proxy.get_subscribers(request.topic, self.globs.topics)
         return response
 
-    def get_service_providers(self, request, response):
+    def get_service_providers(
+        self, request: ServiceProviders.Request, response: ServiceProviders.Response
+    ) -> ServiceProviders.Response:
         """
         Given the name of a topic, returns a list of node names that are advertising that service type.
 
@@ -334,7 +361,9 @@ class Rosapi(Node):
         response.providers = proxy.get_service_providers(request.service, self.globs.services)
         return response
 
-    def get_service_node(self, request, response):
+    def get_service_node(
+        self, request: ServiceNode.Request, response: ServiceNode.Response
+    ) -> ServiceNode.Response:
         """
         Given the name of a service, returns the name of the node that is providing that service.
 
@@ -343,7 +372,9 @@ class Rosapi(Node):
         response.node = proxy.get_service_node(request.service, self.globs.services)
         return response
 
-    def get_message_details(self, request, response):
+    def get_message_details(
+        self, request: MessageDetails.Request, response: MessageDetails.Response
+    ) -> MessageDetails.Response:
         """
         Given the name of a message type, return the TypeDef for that type.
 
@@ -354,7 +385,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_service_request_details(self, request, response):
+    def get_service_request_details(
+        self, request: ServiceRequestDetails.Request, response: ServiceRequestDetails.Response
+    ) -> ServiceRequestDetails.Response:
         """
         Given the name of a service type, return the TypeDef for the request message of that service type.
 
@@ -366,7 +399,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_service_response_details(self, request, response):
+    def get_service_response_details(
+        self, request: ServiceResponseDetails.Request, response: ServiceResponseDetails.Response
+    ) -> ServiceResponseDetails.Response:
         """
         Given the name of a service type, return the TypeDef for the response message of that service type.
 
@@ -378,7 +413,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_action_goal_details(self, request, response):
+    def get_action_goal_details(
+        self, request: ActionGoalDetails.Request, response: ActionGoalDetails.Response
+    ) -> ActionGoalDetails.Response:
         """
         Given the name of an action type, return the TypeDef for the goal message of that action type.
 
@@ -389,7 +426,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_action_result_details(self, request, response):
+    def get_action_result_details(
+        self, request: ActionResultDetails.Request, response: ActionResultDetails.Response
+    ) -> ActionResultDetails.Response:
         """
         Given the name of an action type, return the TypeDef for the result message of that action type.
 
@@ -401,7 +440,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_action_feedback_details(self, request, response):
+    def get_action_feedback_details(
+        self, request: ActionFeedbackDetails.Request, response: ActionFeedbackDetails.Response
+    ) -> ActionFeedbackDetails.Response:
         """
         Given the name of an action type, return the TypeDef for the feedback message of that action type.
 
@@ -413,7 +454,9 @@ class Rosapi(Node):
         ]
         return response
 
-    def get_action_type(self, request, response):
+    def get_action_type(
+        self, request: ActionType.Request, response: ActionType.Response
+    ) -> ActionType.Response:
         """
         Given the name of an action, return its type.
 
@@ -424,7 +467,9 @@ class Rosapi(Node):
         response.type = proxy.get_action_type(request.action)
         return response
 
-    async def set_param(self, request, response):
+    async def set_param(
+        self, request: SetParam.Request, response: SetParam.Response
+    ) -> SetParam.Response:
         try:
             node_name, param_name = self._get_node_and_param_name(request.name)
         except ValueError:
@@ -440,7 +485,9 @@ class Rosapi(Node):
 
         return response
 
-    async def get_param(self, request, response):
+    async def get_param(
+        self, request: GetParam.Request, response: GetParam.Response
+    ) -> GetParam.Response:
         try:
             node_name, param_name = self._get_node_and_param_name(request.name)
         except ValueError:
@@ -467,7 +514,9 @@ class Rosapi(Node):
 
         return response
 
-    async def has_param(self, request, response):
+    async def has_param(
+        self, request: HasParam.Request, response: HasParam.Response
+    ) -> HasParam.Response:
         try:
             node_name, param_name = self._get_node_and_param_name(request.name)
         except ValueError:
@@ -477,7 +526,9 @@ class Rosapi(Node):
 
         return response
 
-    async def delete_param(self, request, response):
+    async def delete_param(
+        self, request: DeleteParam.Request, response: DeleteParam.Response
+    ) -> DeleteParam.Response:
         try:
             node_name, param_name = self._get_node_and_param_name(request.name)
         except ValueError:
@@ -493,29 +544,33 @@ class Rosapi(Node):
 
         return response
 
-    async def get_param_names(self, _request, response):
+    async def get_param_names(
+        self, _request: GetParamNames.Request, response: GetParamNames.Response
+    ) -> GetParamNames.Response:
         response.names = await params.get_param_names(self.globs.params)
         return response
 
-    def get_time(self, _request, response):
+    def get_time(self, _request: GetTime.Request, response: GetTime.Response) -> GetTime.Response:
         response.time = Clock(clock_type=ClockType.ROS_TIME).now().to_msg()
         return response
 
-    def _get_node_and_param_name(self, param):
+    def _get_node_and_param_name(self, param: str) -> tuple[str, str]:
         return tuple(param.split(":"))
 
-    def _print_malformed_param_name_warning(self, param_name):
+    def _print_malformed_param_name_warning(self, param_name: str) -> None:
         self.get_logger().warning(
             f"Malformed parameter name: {param_name}; expecting <node_name>:<param_name>"
         )
 
-    def get_ros_version(self, _request, response):
+    def get_ros_version(
+        self, _request: GetROSVersion.Request, response: GetROSVersion.Response
+    ) -> GetROSVersion.Response:
         response.version = 2
         response.distro = str(os.environ["ROS_DISTRO"])
         return response
 
 
-def dict_to_typedef(typedefdict):
+def dict_to_typedef(typedefdict: dict[str, Any]) -> TypeDef:
     typedef = TypeDef()
     typedef.type = typedefdict["type"]
     typedef.fieldnames = typedefdict["fieldnames"]
@@ -527,7 +582,7 @@ def dict_to_typedef(typedefdict):
     return typedef
 
 
-def main(args=None):
+def main(args: list[str] | None = None) -> None:
     if args is None:
         args = sys.argv