Using Generics for messages #1239

InvincibleRMC · 2024-03-04T23:57:17Z

First Draft.

InvincibleRMC · 2024-03-22T00:16:08Z

Noticed bug in protocol definitions working on a fix.

InvincibleRMC · 2024-03-23T01:20:44Z

Until this gets merged ros2/rosidl_python#205 the type of all messages/services/actions have to be inferred as Any due to PEP 561. Because messages are all inferred to be Any It won't currently alert user about putting in the wrong message type. But I tested it by adding a py.typed file into std_msgs it correctly warns the user about different messages.

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Signed-off-by: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Testing out Enum wrapper for ClockType * convert to rcl_clock_type_t * Update create_time_point Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add types to exception * Add type checking guard * Fix NotInitializedException * Add missing defualt Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Signed-off-by: SnIcK <ido.samuelson@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add types to logging_service.py (ros2#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 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 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>

* 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 (ros2#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>

…s2#1232)" (ros2#1243) This reverts commit b06baef. Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add types to TypeHash and add test cases Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

InvincibleRMC · 2024-03-24T16:55:02Z

Limited scope to Generics for publishers and subscribers only because couldn't get generics of services and clients working the way I wanted.

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

rclpy/rclpy/type_support.py

sloretz · 2024-04-12T18:31:25Z

Mini CI just to see what happens (repos file build: --packages-up-to rclpy test: --packages-select rclpy)

Linux:

Signed-off-by: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com>

sloretz

LGTM with green CI!

…RMC/rclpy into InvincibleRMC-generic-messages-and-services Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>

sloretz · 2024-05-03T18:18:11Z

CI (repos file build: --packages-up-to rclpy test: --packages-select rclpy)

Linux
Linux-aarch64
Windows

sloretz · 2024-05-03T20:01:27Z

Thank you for the PR!

InvincibleRMC · 2024-05-03T20:29:54Z

Thank you for the PR!
@sloretz Would it be possible to backport this and future typing changes into Jazzy as well?

sloretz · 2024-05-03T23:22:38Z

Seems safe to back port to me

@Mergifyio backport jazzy

clalancette · 2024-05-06T20:20:23Z

Seems safe to back port to me

While I'm OK with backporting this, I'm going to suggest we hold off on doing it until after Jazzy is released. That way we can be certain that only critical bugfixes are going in at this time.

InvincibleRMC · 2024-05-08T17:49:40Z

Seems safe to back port to me

While I'm OK with backporting this, I'm going to suggest we hold off on doing it until after Jazzy is released. That way we can be certain that only critical bugfixes are going in at this time.

Seems very reasonable.

InvincibleRMC marked this pull request as ready for review March 5, 2024 03:11

InvincibleRMC requested review from sloretz and adityapande-1995 as code owners March 5, 2024 03:11

InvincibleRMC mentioned this pull request Mar 11, 2024

Add types to Waitable super class. #1247

Closed

fujitatomoya self-assigned this Mar 14, 2024

InvincibleRMC marked this pull request as draft March 22, 2024 00:15

InvincibleRMC and others added 22 commits March 24, 2024 12:45

First draft of generics

162bcf0

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Fix Generic

bb03b14

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add legacy

3ebffcf

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Fix import order

380092c

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

fix import order

f80d8da

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add Docstrings

99ea130

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add Docstrings

2eb360b

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add generics support to Node

0bdc984

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Update type_support.py

8cdd6a6

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 (ros2#1238)

59cc5a0

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Creates Enum wrapper for ClockType and ClockChange (ros2#1235)

eae3da2

* 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 (ros2#1231)

2af516d

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add types to exceptions.py (ros2#1241)

9189941

* Add types to exception * Add type checking guard * Fix NotInitializedException * Add missing defualt Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

added python3-yaml (ros2#1242)

500893d

Signed-off-by: SnIcK <ido.samuelson@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add types to duration.py (ros2#1233)

e2ab502

* Add types to logging_service.py (ros2#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>

Revert "Add types to TypeHash and moved away from __slots__ usage (ro…

49f0103

…s2#1232)" (ros2#1243) This reverts commit b06baef. Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add back Type hash __slots__ and add test cases. (ros2#1245)

0f2fdf3

* Add types to TypeHash and add test cases Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Add types to context.py (ros2#1240)

7f88219

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

fix pub and sub

c83a215

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

InvincibleRMC force-pushed the generic-messages-and-services branch from f9f162d to c83a215 Compare March 24, 2024 16:45

InvincibleRMC marked this pull request as ready for review March 24, 2024 16:46

InvincibleRMC changed the title ~~Using Generics for messages and services~~ Using Generics for messages Mar 24, 2024

InvincibleRMC added 2 commits March 24, 2024 12:47

Merge branch 'rolling' into generic-messages-and-services

8e3bfc7

Update LifecyclePublisher

f9b8d40

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

InvincibleRMC added 4 commits March 24, 2024 12:56

Fix docstring

9b34075

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

serialization generic

98ab2b7

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

Merge branch 'rolling' into generic-messages-and-services

a94c7fe

serialization generic

b28de73

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

sloretz reviewed Apr 12, 2024

View reviewed changes

rclpy/rclpy/type_support.py Outdated Show resolved Hide resolved

Update type_support.py

b5487dd

Signed-off-by: Michael Carlstrom <36806982+InvincibleRMC@users.noreply.github.com>

InvincibleRMC mentioned this pull request Apr 28, 2024

Generics Services and Clients #1275

Open

sloretz approved these changes May 3, 2024

View reviewed changes

Merge branch 'generic-messages-and-services' of github.com:Invincible…

468137a

…RMC/rclpy into InvincibleRMC-generic-messages-and-services Signed-off-by: Shane Loretz <sloretz@intrinsic.ai>

sloretz force-pushed the generic-messages-and-services branch from 010cf33 to 468137a Compare May 3, 2024 18:13

sloretz merged commit 99f1ce9 into ros2:rolling May 3, 2024
3 checks passed

InvincibleRMC mentioned this pull request May 8, 2024

Subscription types #1281

Open

InvincibleRMC deleted the generic-messages-and-services branch May 18, 2024 19:55

InvincibleRMC restored the generic-messages-and-services branch May 18, 2024 19:55

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Using Generics for messages #1239

Using Generics for messages #1239

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Using Generics for messages #1239

Using Generics for messages #1239

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