Revert "Add types to rosidl_cli (#826)" (#830)

This reverts commit c71febc.

rosidl_cli/package.xml

@@ -22,7 +22,6 @@
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_mypy</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
   <test_depend>python3-pytest</test_depend>

rosidl_cli/rosidl_cli/cli.py

@@ -14,18 +14,13 @@
 
 import argparse
 import signal
-from typing import Any, List, Union
 
 from rosidl_cli.command.generate import GenerateCommand
 from rosidl_cli.command.translate import TranslateCommand
 from rosidl_cli.common import get_first_line_doc
 
 
-def add_subparsers(
-    parser: argparse.ArgumentParser,
-    cli_name: str,
-    commands: List[Union[GenerateCommand, TranslateCommand]]
-) -> argparse._SubParsersAction[argparse.ArgumentParser]:
+def add_subparsers(parser, cli_name, commands):
     """
     Create argparse subparser for each command.
 
@@ -68,7 +63,7 @@ def add_subparsers(
     return subparser
 
 
-def main() -> Union[str, signal.Signals, Any]:
+def main():
     script_name = 'rosidl'
     description = f'{script_name} is an extensible command-line tool ' \
         'for ROS interface generation.'
@@ -79,8 +74,7 @@ def main() -> Union[str, signal.Signals, Any]:
         formatter_class=argparse.RawDescriptionHelpFormatter
     )
 
-    commands: List[Union[GenerateCommand, TranslateCommand]] = \
-        [GenerateCommand(), TranslateCommand()]
+    commands = [GenerateCommand(), TranslateCommand()]
 
     # add arguments for command extension(s)
     add_subparsers(

rosidl_cli/rosidl_cli/command/__init__.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
-
 
 class Command:
     """
@@ -24,8 +22,8 @@ class Command:
     * `add_arguments`
     """
 
-    def add_arguments(self, parser: argparse.ArgumentParser) -> None:
+    def add_arguments(self, parser):
         pass
 
-    def main(self, *, args: argparse.Namespace) -> None:
+    def main(self, *, parser, args):
         raise NotImplementedError()

rosidl_cli/rosidl_cli/command/generate/__init__.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
 import pathlib
 
 from rosidl_cli.command import Command
@@ -25,7 +24,7 @@ class GenerateCommand(Command):
 
     name = 'generate'
 
-    def add_arguments(self, parser: argparse.ArgumentParser) -> None:
+    def add_arguments(self, parser):
         parser.add_argument(
             '-o', '--output-path', metavar='PATH',
             type=pathlib.Path, default=None,
@@ -51,7 +50,7 @@ def add_arguments(self, parser: argparse.ArgumentParser) -> None:
                   "If prefixed by another path followed by a colon ':', "
                   'path resolution is performed against such path.'))
 
-    def main(self, *, args: argparse.Namespace) -> None:
+    def main(self, *, args):
         generate(
             package_name=args.package_name,
             interface_files=args.interface_files,

rosidl_cli/rosidl_cli/command/generate/api.py

@@ -14,22 +14,20 @@
 
 import os
 import pathlib
-from typing import List, Optional
 
-from .extensions import GenerateCommandExtension
 from .extensions import load_type_extensions
 from .extensions import load_typesupport_extensions
 
 
 def generate(
     *,
-    package_name: str,
-    interface_files: List[str],
-    include_paths: Optional[List[str]] = None,
-    output_path: Optional[pathlib.Path] = None,
-    types: Optional[List[str]] = None,
-    typesupports: Optional[List[str]] = None
-) -> List[List[str]]:
+    package_name,
+    interface_files,
+    include_paths=None,
+    output_path=None,
+    types=None,
+    typesupports=None
+):
     """
     Generate source code from interface definition files.
 
@@ -62,7 +60,7 @@ def generate(
     :returns: list of lists of paths to generated source code files,
         one group per type or type support extension invoked
     """
-    extensions: List[GenerateCommandExtension] = []
+    extensions = []
 
     unspecific_generation = not types and not typesupports
 

rosidl_cli/rosidl_cli/command/generate/extensions.py

@@ -12,9 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from pathlib import Path
-from typing import cast, List, Optional
-
 from rosidl_cli.extensions import Extension
 from rosidl_cli.extensions import load_extensions
 
@@ -29,11 +26,11 @@ class GenerateCommandExtension(Extension):
 
     def generate(
         self,
-        package_name: str,
-        interface_files: List[str],
-        include_paths: List[str],
-        output_path: Path
-    ) -> List[str]:
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
         """
         Generate source code.
 
@@ -51,17 +48,11 @@ def generate(
         raise NotImplementedError()
 
 
-def load_type_extensions(*, specs: Optional[List[str]],
-                         strict: bool) -> List[GenerateCommandExtension]:
+def load_type_extensions(**kwargs):
     """Load extensions for type representation source code generation."""
-    extensions = load_extensions('rosidl_cli.command.generate.type_extensions', specs=specs,
-                                 strict=strict)
-    return cast(List[GenerateCommandExtension], extensions)
+    return load_extensions('rosidl_cli.command.generate.type_extensions', **kwargs)
 
 
-def load_typesupport_extensions(*, specs: Optional[List[str]], strict: bool
-                                ) -> List[GenerateCommandExtension]:
+def load_typesupport_extensions(**kwargs):
     """Load extensions for type support source code generation."""
-    extensions = load_extensions('rosidl_cli.command.generate.typesupport_extensions',
-                                 specs=specs, strict=strict)
-    return cast(List[GenerateCommandExtension], extensions)
+    return load_extensions('rosidl_cli.command.generate.typesupport_extensions', **kwargs)

rosidl_cli/rosidl_cli/command/helpers.py

@@ -17,10 +17,9 @@
 import os
 import pathlib
 import tempfile
-from typing import Generator, List, Tuple
 
 
-def package_name_from_interface_file_path(path: pathlib.Path) -> str:
+def package_name_from_interface_file_path(path):
     """
     Derive ROS package name from a ROS interface definition file path.
 
@@ -30,7 +29,7 @@ def package_name_from_interface_file_path(path: pathlib.Path) -> str:
     return pathlib.Path(os.path.abspath(path)).parents[1].name
 
 
-def dependencies_from_include_paths(include_paths: List[str]) -> List[str]:
+def dependencies_from_include_paths(include_paths):
     """
     Collect dependencies' ROS interface definition files from include paths.
 
@@ -46,7 +45,7 @@ def dependencies_from_include_paths(include_paths: List[str]) -> List[str]:
     })
 
 
-def interface_path_as_tuple(path: str) -> Tuple[pathlib.Path, pathlib.Path]:
+def interface_path_as_tuple(path):
     """
     Express interface definition file path as an (absolute prefix, relative path) tuple.
 
@@ -62,43 +61,41 @@ def interface_path_as_tuple(path: str) -> Tuple[pathlib.Path, pathlib.Path]:
     """
     path_as_string = str(path)
     if ':' not in path_as_string:
-        prefix_path = pathlib.Path.cwd()
+        prefix = pathlib.Path.cwd()
     else:
         prefix, _, path = path_as_string.rpartition(':')
-        prefix_path = pathlib.Path(os.path.abspath(prefix))
-    path_as_path = pathlib.Path(path)
-    if path_as_path.is_absolute():
+        prefix = pathlib.Path(os.path.abspath(prefix))
+    path = pathlib.Path(path)
+    if path.is_absolute():
         raise ValueError('Interface definition file path '
-                         f"'{path_as_path}' cannot be absolute")
-    return prefix_path, path_as_path
+                         f"'{path}' cannot be absolute")
+    return prefix, path
 
 
-def idl_tuples_from_interface_files(
-    interface_files: List[str]
-) -> List[str]:
+def idl_tuples_from_interface_files(interface_files):
     """
     Express ROS interface definition file paths as IDL tuples.
 
     An IDL tuple is a relative path prefixed by an absolute path against
     which to resolve it followed by a colon ':'. This function then applies
     the same logic as `interface_path_as_tuple`.
     """
-    idl_tuples: List[str] = []
-    for interface_path in interface_files:
-        prefix, path = interface_path_as_tuple(interface_path)
+    idl_tuples = []
+    for path in interface_files:
+        prefix, path = interface_path_as_tuple(path)
         idl_tuples.append(f'{prefix}:{path.as_posix()}')
     return idl_tuples
 
 
 @contextlib.contextmanager
 def legacy_generator_arguments_file(
     *,
-    package_name: str,
-    interface_files: List[str],
-    include_paths: List[str],
-    templates_path: str,
-    output_path: str
-) -> Generator[str, None, None]:
+    package_name,
+    interface_files,
+    include_paths,
+    templates_path,
+    output_path
+):
     """
     Generate a temporary rosidl generator arguments file.
 
@@ -141,10 +138,10 @@ def legacy_generator_arguments_file(
 
 def generate_visibility_control_file(
     *,
-    package_name: str,
-    template_path: str,
-    output_path: str
-) -> None:
+    package_name,
+    template_path,
+    output_path
+):
     """
     Generate a visibility control file from a template.
 

rosidl_cli/rosidl_cli/command/translate/__init__.py

@@ -12,10 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
 import pathlib
 
-
 from rosidl_cli.command import Command
 
 from .api import translate
@@ -26,7 +24,7 @@ class TranslateCommand(Command):
 
     name = 'translate'
 
-    def add_arguments(self, parser: argparse.ArgumentParser) -> None:
+    def add_arguments(self, parser):
         parser.add_argument(
             '-o', '--output-path', metavar='PATH',
             type=pathlib.Path, default=None,
@@ -66,7 +64,7 @@ def add_arguments(self, parser: argparse.ArgumentParser) -> None:
                   'path resolution is performed against such path.')
         )
 
-    def main(self, *, args: argparse.Namespace) -> None:
+    def main(self, *, args):
         translate(
             package_name=args.package_name,
             interface_files=args.interface_files,

rosidl_cli/rosidl_cli/command/translate/api.py

@@ -15,21 +15,20 @@
 import collections
 import os
 import pathlib
-from typing import DefaultDict, Dict, List, Optional, Union
 
 from .extensions import load_translate_extensions
 
 
 def translate(
     *,
-    package_name: str,
-    interface_files: List[str],
-    output_format: str,
-    input_format: Optional[str] = None,
-    include_paths: Optional[List[str]] = None,
-    output_path: Optional[pathlib.Path] = None,
-    translators: Optional[List[str]] = None
-) -> List[str]:
+    package_name,
+    interface_files,
+    output_format,
+    input_format=None,
+    include_paths=None,
+    output_path=None,
+    translators=None
+):
     """
     Translate interface definition files from one format to another.
 
@@ -65,8 +64,7 @@ def translate(
         raise RuntimeError('No translate extensions found')
 
     if not input_format:
-        interface_files_per_format: Union[DefaultDict[str, List[str]],
-                                          Dict[str, List[str]]] = collections.defaultdict(list)
+        interface_files_per_format = collections.defaultdict(list)
         for interface_file in interface_files:
             input_format = os.path.splitext(interface_file)[-1][1:]
             interface_files_per_format[input_format].append(interface_file)

rosidl_cli/rosidl_cli/command/translate/extensions.py

@@ -11,8 +11,6 @@
 # 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 pathlib import Path
-from typing import cast, ClassVar, List, Optional
 
 from rosidl_cli.extensions import Extension
 from rosidl_cli.extensions import load_extensions
@@ -30,16 +28,13 @@ class TranslateCommandExtension(Extension):
     * `translate`
     """
 
-    input_format: ClassVar[str]
-    output_format: ClassVar[str]
-
     def translate(
         self,
-        package_name: str,
-        interface_files: List[str],
-        include_paths: List[str],
-        output_path: Path
-    ) -> List[str]:
+        package_name,
+        interface_files,
+        include_paths,
+        output_path
+    ):
         """
         Translate interface definition files.
 
@@ -62,10 +57,8 @@ def translate(
         raise NotImplementedError()
 
 
-def load_translate_extensions(*, specs: Optional[List[str]], strict: bool
-                              ) -> List[TranslateCommandExtension]:
+def load_translate_extensions(**kwargs):
     """Load extensions for interface definition translation."""
-    extensions = load_extensions(
-        'rosidl_cli.command.translate.extensions', specs=specs, strict=strict
+    return load_extensions(
+        'rosidl_cli.command.translate.extensions', **kwargs
     )
-    return cast(List[TranslateCommandExtension], extensions)