Merge branch 'ros2:rolling' into defintion-types

rosidl_adapter/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package rosidl_adapter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.9.0 (2024-10-03)
+------------------
+* Support empy3 and empy4 (`#821 <https://github.com/ros2/rosidl/issues/821>`_)
+* Contributors: Alejandro Hernández Cordero
+
 4.8.1 (2024-06-25)
 ------------------
 

rosidl_adapter/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rosidl_adapter</name>
-  <version>4.8.1</version>
+  <version>4.9.0</version>
   <description>
     API and scripts to parse .msg/.srv/.action files and convert them to .idl.
   </description>

rosidl_cli/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rosidl_cli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.9.0 (2024-10-03)
+------------------
+
 4.8.1 (2024-06-25)
 ------------------
 

rosidl_cli/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rosidl_cli</name>
-  <version>4.8.1</version>
+  <version>4.9.0</version>
   <description>
     Command line tools for ROS interface generation.
   </description>
@@ -22,6 +22,7 @@
 
   <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

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

rosidl_cli/rosidl_cli/command/__init__.py

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

rosidl_cli/rosidl_cli/command/generate/__init__.py

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

rosidl_cli/rosidl_cli/command/generate/api.py

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

rosidl_cli/rosidl_cli/command/generate/extensions.py

@@ -12,6 +12,9 @@
 # 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
 
@@ -26,11 +29,11 @@ class GenerateCommandExtension(Extension):
 
     def generate(
         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]:
         """
         Generate source code.
 
@@ -48,11 +51,17 @@ def generate(
         raise NotImplementedError()
 
 
-def load_type_extensions(**kwargs):
+def load_type_extensions(*, specs: Optional[List[str]],
+                         strict: bool) -> List[GenerateCommandExtension]:
     """Load extensions for type representation source code generation."""
-    return load_extensions('rosidl_cli.command.generate.type_extensions', **kwargs)
+    extensions = load_extensions('rosidl_cli.command.generate.type_extensions', specs=specs,
+                                 strict=strict)
+    return cast(List[GenerateCommandExtension], extensions)
 
 
-def load_typesupport_extensions(**kwargs):
+def load_typesupport_extensions(*, specs: Optional[List[str]], strict: bool
+                                ) -> List[GenerateCommandExtension]:
     """Load extensions for type support source code generation."""
-    return load_extensions('rosidl_cli.command.generate.typesupport_extensions', **kwargs)
+    extensions = load_extensions('rosidl_cli.command.generate.typesupport_extensions',
+                                 specs=specs, strict=strict)
+    return cast(List[GenerateCommandExtension], extensions)

rosidl_cli/rosidl_cli/command/helpers.py

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

rosidl_cli/rosidl_cli/command/translate/__init__.py

@@ -12,8 +12,10 @@
 # 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
@@ -24,7 +26,7 @@ class TranslateCommand(Command):
 
     name = 'translate'
 
-    def add_arguments(self, parser):
+    def add_arguments(self, parser: argparse.ArgumentParser) -> None:
         parser.add_argument(
             '-o', '--output-path', metavar='PATH',
             type=pathlib.Path, default=None,
@@ -64,7 +66,7 @@ def add_arguments(self, parser):
                   'path resolution is performed against such path.')
         )
 
-    def main(self, *, args):
+    def main(self, *, args: argparse.Namespace) -> None:
         translate(
             package_name=args.package_name,
             interface_files=args.interface_files,

rosidl_cli/rosidl_cli/command/translate/api.py

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