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]>
ros2 · Mar 8, 2024 · 6f2507f · 6f2507f
1 parent b06baef
commit 6f2507f
Showing 1 changed file with 23 additions and 16 deletions.
diff --git a/rclpy/rclpy/time.py b/rclpy/rclpy/time.py
@@ -12,15 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Tuple
+from typing import Protocol, Tuple, Union
 
 import builtin_interfaces.msg
+
+from rclpy.constants import S_TO_NS
 from rclpy.duration import Duration
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
 from .clock_type import ClockType
 
-CONVERSION_CONSTANT = 10 ** 9
+
+class TimeType(Protocol):
+    """Type alias of _rclpy.rcl_time_point_t."""
+
+    nanoseconds: int
+    clock_type: ClockType
 
 
 class Time:
@@ -35,21 +42,21 @@ class Time:
 
     def __init__(
             self, *,
-            seconds=0, nanoseconds=0,
+            seconds: Union[int, float] = 0, nanoseconds: int = 0,
             clock_type: ClockType = ClockType.SYSTEM_TIME):
         if not isinstance(clock_type, (ClockType, _rclpy.ClockType)):
             raise TypeError('Clock type must be a ClockType enum')
         if seconds < 0:
             raise ValueError('Seconds value must not be negative')
         if nanoseconds < 0:
             raise ValueError('Nanoseconds value must not be negative')
-        total_nanoseconds = int(seconds * CONVERSION_CONSTANT)
+        total_nanoseconds = int(seconds * S_TO_NS)
         total_nanoseconds += int(nanoseconds)
         if total_nanoseconds >= 2**63:
             # pybind11 would raise TypeError, but we want OverflowError
             raise OverflowError(
                 'Total nanoseconds value is too large to store in C time point.')
-        self._time_handle = _rclpy.rcl_time_point_t(total_nanoseconds, clock_type)
+        self._time_handle: TimeType = _rclpy.rcl_time_point_t(total_nanoseconds, clock_type)
 
     @property
     def nanoseconds(self) -> int:
@@ -63,18 +70,18 @@ def seconds_nanoseconds(self) -> Tuple[int, int]:
         :return: 2-tuple seconds and nanoseconds
         """
         nanoseconds = self.nanoseconds
-        return (nanoseconds // CONVERSION_CONSTANT, nanoseconds % CONVERSION_CONSTANT)
+        return (nanoseconds // S_TO_NS, nanoseconds % S_TO_NS)
 
     @property
     def clock_type(self) -> ClockType:
         """:return: the type of clock that produced this instance."""
         return self._time_handle.clock_type
 
-    def __repr__(self):
+    def __repr__(self) -> str:
         return 'Time(nanoseconds={0}, clock_type={1})'.format(
             self.nanoseconds, self.clock_type.name)
 
-    def __add__(self, other):
+    def __add__(self, other: Duration) -> 'Time':
         if isinstance(other, Duration):
             try:
                 return Time(
@@ -85,10 +92,10 @@ def __add__(self, other):
         else:
             return NotImplemented
 
-    def __radd__(self, other):
+    def __radd__(self, other: Duration) -> 'Time':
         return self.__add__(other)
 
-    def __sub__(self, other):
+    def __sub__(self, other: Union['Time', Duration]) -> Union['Time', Duration]:
         if isinstance(other, Time):
             if self.clock_type != other.clock_type:
                 raise TypeError("Can't subtract times with different clock types")
@@ -106,40 +113,40 @@ def __sub__(self, other):
         else:
             return NotImplemented
 
-    def __eq__(self, other):
+    def __eq__(self, other: object) -> bool:
         if isinstance(other, Time):
             if self.clock_type != other.clock_type:
                 raise TypeError("Can't compare times with different clock types")
             return self.nanoseconds == other.nanoseconds
         return NotImplemented
 
-    def __ne__(self, other):
+    def __ne__(self, other: object) -> bool:
         if isinstance(other, Time):
             return not self.__eq__(other)
         return NotImplemented
 
-    def __lt__(self, other):
+    def __lt__(self, other: object) -> bool:
         if isinstance(other, Time):
             if self.clock_type != other.clock_type:
                 raise TypeError("Can't compare times with different clock types")
             return self.nanoseconds < other.nanoseconds
         return NotImplemented
 
-    def __le__(self, other):
+    def __le__(self, other: object) -> bool:
         if isinstance(other, Time):
             if self.clock_type != other.clock_type:
                 raise TypeError("Can't compare times with different clock types")
             return self.nanoseconds <= other.nanoseconds
         return NotImplemented
 
-    def __gt__(self, other):
+    def __gt__(self, other: object) -> bool:
         if isinstance(other, Time):
             if self.clock_type != other.clock_type:
                 raise TypeError("Can't compare times with different clock types")
             return self.nanoseconds > other.nanoseconds
         return NotImplemented
 
-    def __ge__(self, other):
+    def __ge__(self, other: object) -> bool:
         if isinstance(other, Time):
             if self.clock_type != other.clock_type:
                 raise TypeError("Can't compare times with different clock types")