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Static typing for Message, Services, and Actions #206

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@InvincibleRMC InvincibleRMC commented Mar 15, 2024 •
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Adds static typing to generated messages. Closes #157.

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explicit export and py.typed
f81e023 
Signed-off-by: Michael Carlstrom <[email protected]>
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Fix line lengths
2f99351 
Signed-off-by: Michael Carlstrom <[email protected]>
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Fix hanging indent
05761d8 
Signed-off-by: Michael Carlstrom <[email protected]>
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Improve typing
9807b07 
Signed-off-by: Michael Carlstrom <[email protected]>
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Fix subscription error
288ba5d 
Signed-off-by: Michael Carlstrom <[email protected]>
@InvincibleRMC InvincibleRMC marked this pull request as draft March 15, 2024 07:12
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Still need to fix a circular import issue.

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Tests complete
9aad27a 
Signed-off-by: Michael Carlstrom <[email protected]>
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Fewer flake8
2822852 
Signed-off-by: Michael Carlstrom <[email protected]>
@InvincibleRMC InvincibleRMC marked this pull request as ready for review March 15, 2024 16:35
InvincibleRMC and others added 18 commits March 15, 2024 13:36
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Fix typing import error
118b9ef 
Signed-off-by: Michael Carlstrom <[email protected]>
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Update _msg.py.em
af91451 
Signed-off-by: Michael Carlstrom <[email protected]>
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Constructor typing refactor
153a6d7 
Signed-off-by: Michael Carlstrom <[email protected]>
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Update _msg.py.em
6a147a7 
Signed-off-by: Michael Carlstrom <[email protected]>
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remove structure_needs_at_least_one_member
946381a 
Signed-off-by: Michael Carlstrom <[email protected]>
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Add actual numpy type annotations
956fe0a 
Signed-off-by: Michael Carlstrom <[email protected]>
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Add None
ae98901 
Signed-off-by: Michael Carlstrom <[email protected]>
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Add types to __prepare__ args
8d06b8c 
Signed-off-by: Michael Carlstrom <[email protected]>
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Default type annotations
ad14966 
Signed-off-by: Michael Carlstrom <[email protected]>
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Constant type annotations
48def6b 
Signed-off-by: Michael Carlstrom <[email protected]>
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Type constants
8458b38 
Signed-off-by: Michael Carlstrom <[email protected]>
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SLOT_TYPES type
9f80bcc 
Signed-off-by: Michael Carlstrom <[email protected]>
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small refactor
4b2f72c 
Signed-off-by: Michael Carlstrom <[email protected]>
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Add Protocol
a412da2 
Signed-off-by: Michael Carlstrom <[email protected]>
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Blank lines for flake8
86d8a97 
Signed-off-by: Michael Carlstrom <[email protected]>
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Remove Literal for better 3.6 support
5d839f4 
Signed-off-by: Michael Carlstrom <[email protected]>
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Better return types
1aef88a 
Signed-off-by: Michael Carlstrom <[email protected]>
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Move TYPE_CHECKING import
468c8f5 
Signed-off-by: Michael Carlstrom <[email protected]>
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remove ByteString from isinstance
ad8fd40 
Signed-off-by: Michael Carlstrom <[email protected]>
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import error
e7a2ed6 
Signed-off-by: Michael Carlstrom <[email protected]>
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switch typing improt
f1966c7 
Signed-off-by: Michael Carlstrom <[email protected]>
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move Literal import
95c8e52 
Signed-off-by: Michael Carlstrom <[email protected]>
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match getter and setter
375cc73 
Signed-off-by: Michael Carlstrom <[email protected]>
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fix numpy types
576fe24 
Signed-off-by: Michael Carlstrom <[email protected]>
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resolve all()
381d1e1 
Signed-off-by: Michael Carlstrom <[email protected]>
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fix mypy error
41cc561 
Signed-off-by: Michael Carlstrom <[email protected]>
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type ignore around mypy#3004
6e357c3 
Signed-off-by: Michael Carlstrom <[email protected]>
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revert specifc getter type
dd5c3e9 
Signed-off-by: Michael Carlstrom <[email protected]>
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Use Any to avoid mypy#3004
b6bc52c 
Signed-off-by: Michael Carlstrom <[email protected]>
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One thing I have learn which is relevant to #216 is that currently according to pep 484 is that a type annotation of float allows int. There is currently no defined way to define a realFloat type that disallows int. There are many discussions about this.

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@sloretz @fujitatomoya could you review this pull request if you get the chance? It would improve the pub/sub, service/clients in rclpy since currently the generics are being ignored.

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sloretz requested changes Mar 13, 2025
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Thank you for the PR! It's no small feat to make changes to the empy templates 🙇

I'm still looking through the changes in _msg.py.em, but I have some feedback in the meantime.

InvincibleRMC and others added 5 commits March 13, 2025 19:54
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Update rosidl_generator_py/resource/_msg.py.em
1582363 
Co-authored-by: Shane Loretz <[email protected]>
Signed-off-by: Michael Carlstrom <[email protected]>
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Update rosidl_generator_py/resource/_msg.py.em
f8df11f 
Co-authored-by: Shane Loretz <[email protected]>
Signed-off-by: Michael Carlstrom <[email protected]>
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feedback changes
79f101c 
Signed-off-by: Michael Carlstrom <[email protected]>
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remove extra if
6554f57 
Signed-off-by: Michael Carlstrom <[email protected]>
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Add missing py.typed
1edbf9a 
Signed-off-by: Michael Carlstrom <[email protected]>
sloretz
sloretz reviewed Mar 14, 2025
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Few more places to use if @(member.name) is not None else instead of or

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remove duplicated imports
6ba0242 
Signed-off-by: Michael Carlstrom <[email protected]>
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Add proper NoReturn type for Srv/Action
d272ce4 
Signed-off-by: Michael Carlstrom <[email protected]>
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@sloretz Following up I was able to remove the duplicate imports. Let me know if there are any other questions/suggestions. Thanks again for reviewing this pr.

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Python type annotation
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