Static typing for Message, Services, and Actions

rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake

@@ -289,5 +289,10 @@ if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
       # a value of zero tells uncrustify to ignore line length
       MAX_LINE_LENGTH 0
       "${_output_path}")
+
+    find_package(ament_cmake_mypy REQUIRED)
+    ament_mypy(
+      TESTNAME "mypy_rosidl_generate_py"
+      "${_output_path}")
   endif()
 endif()

rosidl_generator_py/package.xml

@@ -36,6 +36,7 @@
   <exec_depend>ament_cmake_cppcheck</exec_depend>
   <exec_depend>ament_cmake_cpplint</exec_depend>
   <exec_depend>ament_cmake_flake8</exec_depend>
+  <exec_depend>ament_cmake_mypy</exec_depend>
   <exec_depend>ament_cmake_pep257</exec_depend>
   <exec_depend>ament_cmake_uncrustify</exec_depend>
 

rosidl_generator_py/resource/_action.py.em

@@ -38,7 +38,7 @@ class Metaclass_@(action.namespaced_type.name)(type):
     _TYPE_SUPPORT = None
 
     @@classmethod
-    def __import_type_support__(cls):
+    def __import_type_support__(cls) -> None:
         try:
             from rosidl_generator_py import import_type_support
             module = import_type_support('@(package_name)')
@@ -92,5 +92,5 @@ class @(action.namespaced_type.name)(metaclass=Metaclass_@(action.namespaced_typ
         # The generic message for get the status of a goal.
         from action_msgs.msg._goal_status_array import GoalStatusArray as GoalStatusMessage
 
-    def __init__(self):
+    def __init__(self) -> None:
         raise NotImplementedError('Action classes can not be instantiated')

rosidl_generator_py/resource/_idl.py.em

@@ -5,7 +5,9 @@
 # This is being done at the module level and not on the instance level to avoid looking
 # for the same variable multiple times on each instance. This variable is not supposed to
 # change during runtime so it makes sense to only look for it once.
+from collections.abc import MutableMapping
 from os import getenv
+from typing import Any, ClassVar, Dict, Optional, Tuple, Type, TYPE_CHECKING, TypedDict
 
 ros_python_check_fields = getenv('ROS_PYTHON_CHECK_FIELDS', default='')
 @