Generics Services and Clients (#1275)

* First draft of generics Signed-off-by: Michael Carlstrom <[email protected]> * Fix Generic Signed-off-by: Michael Carlstrom <[email protected]> * Add legacy Signed-off-by: Michael Carlstrom <[email protected]> * Fix import order Signed-off-by: Michael Carlstrom <[email protected]> * fix import order Signed-off-by: Michael Carlstrom <[email protected]> * Add Docstrings Signed-off-by: Michael Carlstrom <[email protected]> * Add Docstrings Signed-off-by: Michael Carlstrom <[email protected]> * Add generics support to Node Signed-off-by: Michael Carlstrom <[email protected]> * Update type_support.py Signed-off-by: Michael Carlstrom <[email protected]> Signed-off-by: Michael Carlstrom <[email protected]> * Add types to expand_topic_name (#1238) Signed-off-by: Michael Carlstrom <[email protected]> * 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 <[email protected]> * Add types (#1231) Signed-off-by: Michael Carlstrom <[email protected]> * Add types to exceptions.py (#1241) * Add types to exception * Add type checking guard * Fix NotInitializedException * Add missing defualt Signed-off-by: Michael Carlstrom <[email protected]> * added python3-yaml (#1242) Signed-off-by: SnIcK <[email protected]> Signed-off-by: Michael Carlstrom <[email protected]> * 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 <[email protected]> * Add Static Typing to Validate files (#1230) * Add types to validate files Signed-off-by: Michael Carlstrom <[email protected]> * remove type annotations from docstrings Signed-off-by: Michael Carlstrom <[email protected]> * removed other type annotated docstrings Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]> * 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 <[email protected]> * remove docstring types Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]> * Time.py Types (#1237) * Start typing time.py Signed-off-by: Michael Carlstrom <[email protected]> * Testing out Enum wrapper for ClockType Signed-off-by: Michael Carlstrom <[email protected]> * convert to rcl_clock_type_t Signed-off-by: Michael Carlstrom <[email protected]> * Undo Change to time_point.cpp Signed-off-by: Michael Carlstrom <[email protected]> * Update create_time_point Signed-off-by: Michael Carlstrom <[email protected]> * Lint fixes Signed-off-by: Michael Carlstrom <[email protected]> * Add debug message Signed-off-by: Michael Carlstrom <[email protected]> * Remove test file Signed-off-by: Michael Carlstrom <[email protected]> * Try extending the type assert Signed-off-by: Michael Carlstrom <[email protected]> * Add types to logging_service.py (#1227) * add types to logging_service Signed-off-by: Michael Carlstrom <[email protected]> * Add types to duration.py Signed-off-by: Michael Carlstrom <[email protected]> * Add newlines for class definintions Signed-off-by: Michael Carlstrom <[email protected]> * update type alias name Signed-off-by: Michael Carlstrom <[email protected]> * Remove newline Signed-off-by: Michael Carlstrom <[email protected]> * Merge? Signed-off-by: Michael Carlstrom <[email protected]> * Fix failed merge Signed-off-by: Michael Carlstrom <[email protected]> * Update to use Protocols Signed-off-by: Michael Carlstrom <[email protected]> * Fix import error Signed-off-by: Michael Carlstrom <[email protected]> * Add types to time.py Signed-off-by: Michael Carlstrom <[email protected]> * Linty Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]> * Revert "Add types to TypeHash and moved away from __slots__ usage (#1232)" (#1243) This reverts commit b06baef. Signed-off-by: Michael Carlstrom <[email protected]> * Add back Type hash __slots__ and add test cases. (#1245) * Add types to TypeHash and add test cases Signed-off-by: Michael Carlstrom <[email protected]> * Add types to context.py (#1240) Signed-off-by: Michael Carlstrom <[email protected]> * fix pub and sub Signed-off-by: Michael Carlstrom <[email protected]> * Update LifecyclePublisher Signed-off-by: Michael Carlstrom <[email protected]> * Fix docstring Signed-off-by: Michael Carlstrom <[email protected]> * Start implementation Signed-off-by: Michael Carlstrom <[email protected]> * Ungeneric? Signed-off-by: Michael Carlstrom <[email protected]> * Stuff Signed-off-by: Michael Carlstrom <[email protected]> * serialization generic Signed-off-by: Michael Carlstrom <[email protected]> * serialization generic Signed-off-by: Michael Carlstrom <[email protected]> * Update type_support.py Signed-off-by: Michael Carlstrom <[email protected]> * Client Service Generic Implementation Signed-off-by: Michael Carlstrom <[email protected]> * Fix debug relative import Signed-off-by: Michael Carlstrom <[email protected]> * Update imports Signed-off-by: Michael Carlstrom <[email protected]> * Add generics to node.py Signed-off-by: Michael Carlstrom <[email protected]> * Update import order Signed-off-by: Michael Carlstrom <[email protected]> * Remove double bracket Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]> Signed-off-by: Michael Carlstrom <[email protected]> Signed-off-by: SnIcK <[email protected]> Co-authored-by: SnIcK <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> Co-authored-by: Shane Loretz <[email protected]>
ros2 · Aug 5, 2024 · 464a357 · 464a357
1 parent fcce519
commit 464a357
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Showing 4 changed files with 40 additions and 25 deletions.
diff --git a/rclpy/rclpy/client.py b/rclpy/rclpy/client.py
@@ -16,6 +16,7 @@
 import time
 from types import TracebackType
 from typing import Dict
+from typing import Generic
 from typing import Optional
 from typing import Type
 from typing import TypeVar
@@ -27,19 +28,20 @@
 from rclpy.qos import QoSProfile
 from rclpy.service_introspection import ServiceIntrospectionState
 from rclpy.task import Future
+from rclpy.type_support import Srv, SrvEventT, SrvRequestT, SrvResponseT
 
-# Used for documentation purposes only
+# Left To Support Legacy TypeVars
 SrvType = TypeVar('SrvType')
 SrvTypeRequest = TypeVar('SrvTypeRequest')
 SrvTypeResponse = TypeVar('SrvTypeResponse')
 
 
-class Client:
+class Client(Generic[SrvRequestT, SrvResponseT, SrvEventT]):
     def __init__(
         self,
         context: Context,
         client_impl: _rclpy.Client,
-        srv_type: SrvType,
+        srv_type: Srv[SrvRequestT, SrvResponseT, SrvEventT],
         srv_name: str,
         qos_profile: QoSProfile,
         callback_group: CallbackGroup
@@ -73,9 +75,9 @@ def __init__(
 
     def call(
         self,
-        request: SrvTypeRequest,
+        request: SrvRequestT,
         timeout_sec: Optional[float] = None
-    ) -> Optional[SrvTypeResponse]:
+    ) -> Optional[SrvResponseT]:
         """
         Make a service request and wait for the result.
 
@@ -111,7 +113,7 @@ def unblock(future):
             raise future.exception()
         return future.result()
 
-    def call_async(self, request: SrvTypeRequest) -> Future:
+    def call_async(self, request: SrvRequestT) -> Future:
         """
         Make a service request and asynchronously get the result.
 

diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
@@ -85,6 +85,10 @@
 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.type_support import Srv
+from rclpy.type_support import SrvEventT
+from rclpy.type_support import SrvRequestT
+from rclpy.type_support import SrvResponseT
 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
@@ -1673,12 +1677,12 @@ def create_subscription(
 
     def create_client(
         self,
-        srv_type,
+        srv_type: Srv[SrvRequestT, SrvResponseT, SrvEventT],
         srv_name: str,
         *,
         qos_profile: QoSProfile = qos_profile_services_default,
         callback_group: Optional[CallbackGroup] = None
-    ) -> Client:
+    ) -> Client[SrvRequestT, SrvResponseT, SrvEventT]:
         """
         Create a new service client.
 
@@ -1715,13 +1719,13 @@ def create_client(
 
     def create_service(
         self,
-        srv_type,
+        srv_type: Srv[SrvRequestT, SrvResponseT, SrvEventT],
         srv_name: str,
-        callback: Callable[[SrvTypeRequest, SrvTypeResponse], SrvTypeResponse],
+        callback: Callable[[SrvRequestT, SrvResponseT], SrvResponseT],
         *,
         qos_profile: QoSProfile = qos_profile_services_default,
         callback_group: Optional[CallbackGroup] = None
-    ) -> Service:
+    ) -> Service[SrvRequestT, SrvResponseT, SrvEventT]:
         """
         Create a new service server.
 

diff --git a/rclpy/rclpy/service.py b/rclpy/rclpy/service.py
@@ -14,6 +14,7 @@
 
 from types import TracebackType
 from typing import Callable
+from typing import Generic
 from typing import Optional
 from typing import Type
 from typing import TypeVar
@@ -23,20 +24,21 @@
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
 from rclpy.service_introspection import ServiceIntrospectionState
+from rclpy.type_support import Srv, SrvEventT, SrvRequestT, SrvResponseT
 
 # Used for documentation purposes only
 SrvType = TypeVar('SrvType')
 SrvTypeRequest = TypeVar('SrvTypeRequest')
 SrvTypeResponse = TypeVar('SrvTypeResponse')
 
 
-class Service:
+class Service(Generic[SrvRequestT, SrvResponseT, SrvEventT]):
     def __init__(
         self,
         service_impl: _rclpy.Service,
-        srv_type: SrvType,
+        srv_type: Srv[SrvRequestT, SrvResponseT, SrvEventT],
         srv_name: str,
-        callback: Callable[[SrvTypeRequest, SrvTypeResponse], SrvTypeResponse],
+        callback: Callable[[SrvRequestT, SrvResponseT], SrvResponseT],
         callback_group: CallbackGroup,
         qos_profile: QoSProfile
     ) -> None:
@@ -64,7 +66,7 @@ def __init__(
         self._executor_event = False
         self.qos_profile = qos_profile
 
-    def send_response(self, response: SrvTypeResponse, header) -> None:
+    def send_response(self, response: SrvResponseT, header) -> None:
         """
         Send a service response.
 

diff --git a/rclpy/rclpy/type_support.py b/rclpy/rclpy/type_support.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Optional, Protocol, Type, TypeVar, Union
+from typing import NoReturn, Optional, Protocol, Type, TypeVar, Union
 
 from rclpy.exceptions import NoTypeSupportImportedException
 
@@ -47,26 +47,33 @@ class MsgMetaClass(CommonMsgSrvMetaClass):
 
 
 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."""
+    """Generic Message 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)
 
 
+class Srv(Protocol[SrvRequestT, SrvResponseT, SrvEventT], metaclass=CommonMsgSrvMetaClass):
+    """Generic Service Type Alias."""
+
+    Request: Type[SrvRequestT]
+    Response: Type[SrvResponseT]
+    Event: Type[SrvEventT]
+
+    def __init__(self) -> NoReturn:
+        ...
+
+
+# Can be used if https://github.com/python/typing/issues/548 ever gets approved.
+SrvT = TypeVar('SrvT', bound=Type[Srv])
+
+
 def check_for_type_support(msg_or_srv_type: Type[Union[Msg, Srv]]) -> None:
     try:
         ts = msg_or_srv_type._TYPE_SUPPORT