Using Generics for messages (#1239)

* First draft of generics Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix Generic Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add legacy Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix import order Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix import order Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add Docstrings Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add Docstrings Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add generics support to Node Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update type_support.py Signed-off-by: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to expand_topic_name (#1238) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Creates Enum wrapper for ClockType and ClockChange (#1235) * Testing out Enum wrapper for ClockType * convert to rcl_clock_type_t * Update create_time_point Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types (#1231) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to exceptions.py (#1241) * Add types to exception * Add type checking guard * Fix NotInitializedException * Add missing defualt Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * added python3-yaml (#1242) Signed-off-by: SnIcK <ido.samuelson@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to duration.py (#1233) * Add types to logging_service.py (#1227) * add types to logging_service * Add types to duration.py * Add newlines for class definintions * update type alias name * Update to use Protocols Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add Static Typing to Validate files (#1230) * Add types to validate files Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * remove type annotations from docstrings Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * removed other type annotated docstrings Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to TypeHash and moved away from __slots__ usage (#1232) * Add types to TypeHash and moved away from __slots__ usage Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * remove docstring types Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Time.py Types (#1237) * Start typing time.py Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Testing out Enum wrapper for ClockType Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * convert to rcl_clock_type_t Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Undo Change to time_point.cpp Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update create_time_point Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Lint fixes Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add debug message Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove test file Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Try extending the type assert Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to logging_service.py (#1227) * add types to logging_service Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to duration.py Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add newlines for class definintions Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * update type alias name Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove newline Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Merge? Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix failed merge Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update to use Protocols Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix import error Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add types to time.py Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Linty Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- 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> * fix pub and sub Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update LifecyclePublisher Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix docstring Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * serialization generic Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * serialization generic Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update type_support.py Signed-off-by: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> Signed-off-by: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com> Signed-off-by: SnIcK <ido.samuelson@gmail.com> Signed-off-by: Shane Loretz <sloretz@intrinsic.ai> Co-authored-by: SnIcK <ido.samuelson@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Shane Loretz <sloretz@intrinsic.ai>
ros2 · May 3, 2024 · 99f1ce9 · 99f1ce9
1 parent 070132a
commit 99f1ce9
Show file tree

Hide file tree

Showing 6 changed files with 95 additions and 39 deletions.
diff --git a/rclpy/rclpy/lifecycle/publisher.py b/rclpy/rclpy/lifecycle/publisher.py
@@ -14,8 +14,8 @@
 
 from typing import Union
 
-from rclpy.publisher import MsgType
 from rclpy.publisher import Publisher
+from rclpy.type_support import MsgT
 
 from .managed_entity import SimpleManagedEntity
 
@@ -28,7 +28,7 @@ def __init__(self, *args, **kwargs):
         Publisher.__init__(self, *args, **kwargs)
 
     @SimpleManagedEntity.when_enabled
-    def publish(self, msg: Union[MsgType, bytes]) -> None:
+    def publish(self, msg: Union[MsgT, bytes]) -> None:
         """
         Publish a message if the lifecycle publisher is enabled.
 

diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
@@ -83,6 +83,7 @@
 from rclpy.type_description_service import TypeDescriptionService
 from rclpy.type_support import check_is_valid_msg_type
 from rclpy.type_support import check_is_valid_srv_type
+from rclpy.type_support import MsgT
 from rclpy.utilities import get_default_context
 from rclpy.validate_full_topic_name import validate_full_topic_name
 from rclpy.validate_namespace import validate_namespace
@@ -93,8 +94,9 @@
 
 HIDDEN_NODE_PREFIX = '_'
 
-# Used for documentation purposes only
+# Left to support Legacy TypeVar.
 MsgType = TypeVar('MsgType')
+
 SrvType = TypeVar('SrvType')
 SrvTypeRequest = TypeVar('SrvTypeRequest')
 SrvTypeResponse = TypeVar('SrvTypeResponse')
@@ -1499,15 +1501,15 @@ def resolve_service_name(
 
     def create_publisher(
         self,
-        msg_type,
+        msg_type: Type[MsgT],
         topic: str,
         qos_profile: Union[QoSProfile, int],
         *,
         callback_group: Optional[CallbackGroup] = None,
         event_callbacks: Optional[PublisherEventCallbacks] = None,
         qos_overriding_options: Optional[QoSOverridingOptions] = None,
         publisher_class: Type[Publisher] = Publisher,
-    ) -> Publisher:
+    ) -> Publisher[MsgT]:
         """
         Create a new publisher.
 
@@ -1573,16 +1575,16 @@ def create_publisher(
 
     def create_subscription(
         self,
-        msg_type,
+        msg_type: Type[MsgT],
         topic: str,
-        callback: Callable[[MsgType], None],
+        callback: Callable[[MsgT], None],
         qos_profile: Union[QoSProfile, int],
         *,
         callback_group: Optional[CallbackGroup] = None,
         event_callbacks: Optional[SubscriptionEventCallbacks] = None,
         qos_overriding_options: Optional[QoSOverridingOptions] = None,
         raw: bool = False
-    ) -> Subscription:
+    ) -> Subscription[MsgT]:
         """
         Create a new subscription.
 

diff --git a/rclpy/rclpy/publisher.py b/rclpy/rclpy/publisher.py
@@ -12,24 +12,25 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import TypeVar, Union
+from typing import Generic, List, Type, TypeVar, Union
 
 from rclpy.callback_groups import CallbackGroup
 from rclpy.duration import Duration
-from rclpy.event_handler import EventHandler
-from rclpy.event_handler import PublisherEventCallbacks
+from rclpy.event_handler import EventHandler, PublisherEventCallbacks
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
+from rclpy.type_support import MsgT
 
+# Left to support Legacy TypeVars.
 MsgType = TypeVar('MsgType')
 
 
-class Publisher:
+class Publisher(Generic[MsgT]):
 
     def __init__(
         self,
         publisher_impl: _rclpy.Publisher,
-        msg_type: MsgType,
+        msg_type: Type[MsgT],
         topic: str,
         qos_profile: QoSProfile,
         event_callbacks: PublisherEventCallbacks,
@@ -54,10 +55,10 @@ def __init__(
         self.topic = topic
         self.qos_profile = qos_profile
 
-        self.event_handlers: EventHandler = event_callbacks.create_event_handlers(
+        self.event_handlers: List[EventHandler] = event_callbacks.create_event_handlers(
             callback_group, publisher_impl, topic)
 
-    def publish(self, msg: Union[MsgType, bytes]) -> None:
+    def publish(self, msg: Union[MsgT, bytes]) -> None:
         """
         Send a message to the topic for the publisher.
 

diff --git a/rclpy/rclpy/serialization.py b/rclpy/rclpy/serialization.py
@@ -11,12 +11,13 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+from typing import Type
 
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
-from rclpy.type_support import check_for_type_support
+from rclpy.type_support import check_for_type_support, Msg, MsgT
 
 
-def serialize_message(message) -> bytes:
+def serialize_message(message: Msg) -> bytes:
     """
     Serialize a ROS message.
 
@@ -29,7 +30,7 @@ def serialize_message(message) -> bytes:
     return _rclpy.rclpy_serialize(message, message_type)
 
 
-def deserialize_message(serialized_message: bytes, message_type):
+def deserialize_message(serialized_message: bytes, message_type: Type[MsgT]) -> MsgT:
     """
     Deserialize a ROS message.
 

diff --git a/rclpy/rclpy/subscription.py b/rclpy/rclpy/subscription.py
@@ -12,23 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+
 from enum import Enum
 import inspect
-from typing import Callable
-from typing import TypeVar
+from typing import Callable, Generic, List, Type, TypeVar
 
 from rclpy.callback_groups import CallbackGroup
-from rclpy.event_handler import EventHandler
-from rclpy.event_handler import SubscriptionEventCallbacks
+from rclpy.event_handler import EventHandler, SubscriptionEventCallbacks
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
+from rclpy.type_support import MsgT
 
 
-# For documentation only
+# Left to support Legacy TypeVars.
 MsgType = TypeVar('MsgType')
 
 
-class Subscription:
+class Subscription(Generic[MsgT]):
 
     class CallbackType(Enum):
         MessageOnly = 0
@@ -37,9 +37,9 @@ class CallbackType(Enum):
     def __init__(
          self,
          subscription_impl: _rclpy.Subscription,
-         msg_type: MsgType,
+         msg_type: Type[MsgT],
          topic: str,
-         callback: Callable,
+         callback: Callable[[MsgT], None],
          callback_group: CallbackGroup,
          qos_profile: QoSProfile,
          raw: bool,
@@ -73,7 +73,7 @@ def __init__(
         self.qos_profile = qos_profile
         self.raw = raw
 
-        self.event_handlers: EventHandler = event_callbacks.create_event_handlers(
+        self.event_handlers: List[EventHandler] = event_callbacks.create_event_handlers(
             callback_group, subscription_impl, topic)
 
     def get_publisher_count(self) -> int:
@@ -102,11 +102,11 @@ def topic_name(self):
             return self.__subscription.get_topic_name()
 
     @property
-    def callback(self):
+    def callback(self) -> Callable[[MsgT], None]:
         return self._callback
 
     @callback.setter
-    def callback(self, value):
+    def callback(self, value: Callable[[MsgT], None]) -> None:
         self._callback = value
         self._callback_type = Subscription.CallbackType.MessageOnly
         try:

diff --git a/rclpy/rclpy/type_support.py b/rclpy/rclpy/type_support.py
@@ -12,12 +12,64 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Optional, Protocol, Type, TypeVar, Union
+
 from rclpy.exceptions import NoTypeSupportImportedException
 
 
-def check_for_type_support(msg_or_srv_type):
+class PyCapsule(Protocol):
+    """Alias for PyCapsule Pybind object."""
+
+    pass
+
+
+# Done because metaclasses need to inherit from type
+ProtocolType: Type = type(Protocol)
+
+
+class CommonMsgSrvMetaClass(ProtocolType):
+    """Shared attributes between messages and services."""
+
+    _TYPE_SUPPORT: Optional[PyCapsule]
+
+    @classmethod
+    def __import_type_support__(cls) -> None:
+        ...
+
+
+class MsgMetaClass(CommonMsgSrvMetaClass):
+    """Generic Message Metaclass Alias."""
+
+    _CREATE_ROS_MESSAGE:  Optional[PyCapsule]
+    _CONVERT_FROM_PY:  Optional[PyCapsule]
+    _CONVERT_TO_PY:  Optional[PyCapsule]
+    _DESTROY_ROS_MESSAGE:  Optional[PyCapsule]
+
+
+class Msg(Protocol, metaclass=MsgMetaClass):
+    """Generic Message Type Alias."""
+
+    pass
+
+
+# Could likely be improved if generic across Request, Response, Event
+class Srv(Protocol, metaclass=CommonMsgSrvMetaClass):
+    """Generic Service Type Alias."""
+
+    pass
+
+
+MsgT = TypeVar('MsgT', bound=Msg)
+SrvT = TypeVar('SrvT', bound=Srv)
+
+SrvRequestT = TypeVar('SrvRequestT', bound=Msg)
+SrvResponseT = TypeVar('SrvResponseT', bound=Msg)
+SrvEventT = TypeVar('SrvEventT', bound=Msg)
+
+
+def check_for_type_support(msg_or_srv_type: Type[Union[Msg, Srv]]) -> None:
     try:
-        ts = msg_or_srv_type.__class__._TYPE_SUPPORT
+        ts = msg_or_srv_type._TYPE_SUPPORT
     except AttributeError as e:
         e.args = (
             e.args[0] +
@@ -26,19 +78,19 @@ def check_for_type_support(msg_or_srv_type):
             *e.args[1:])
         raise
     if ts is None:
-        msg_or_srv_type.__class__.__import_type_support__()
-    if msg_or_srv_type.__class__._TYPE_SUPPORT is None:
+        msg_or_srv_type.__import_type_support__()
+    if msg_or_srv_type._TYPE_SUPPORT is None:
         raise NoTypeSupportImportedException()
 
 
-def check_is_valid_msg_type(msg_type):
+def check_is_valid_msg_type(msg_type: Type[Msg]) -> None:
     check_for_type_support(msg_type)
     try:
         assert None not in (
-            msg_type.__class__._CREATE_ROS_MESSAGE,
-            msg_type.__class__._CONVERT_FROM_PY,
-            msg_type.__class__._CONVERT_TO_PY,
-            msg_type.__class__._DESTROY_ROS_MESSAGE,
+            msg_type._CREATE_ROS_MESSAGE,
+            msg_type._CONVERT_FROM_PY,
+            msg_type._CONVERT_TO_PY,
+            msg_type._DESTROY_ROS_MESSAGE,
         )
     except (AssertionError, AttributeError):
         raise RuntimeError(
@@ -47,7 +99,7 @@ def check_is_valid_msg_type(msg_type):
         ) from None
 
 
-def check_is_valid_srv_type(srv_type):
+def check_is_valid_srv_type(srv_type: Type[Srv]) -> None:
     check_for_type_support(srv_type)
     try:
         assert None not in (