Add types and ament_mypy to rpyutils. (#12)

* types

* system check

* add dep

* add None check

Signed-off-by: Michael Carlstrom <[email protected]>

package.xml

@@ -13,6 +13,7 @@
 
   <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>

rpyutils/add_dll_directories.py

@@ -15,10 +15,18 @@
 from contextlib import contextmanager
 import os
 import sys
+from typing import Any, Generator, List, TYPE_CHECKING
+
+if TYPE_CHECKING:
+    if sys.platform == 'win32':
+        from os import _AddedDllDirectory
+    else:
+        _AddedDllDirectory = Any
 
 
 @contextmanager
-def add_dll_directories_from_env(env_name: str):
+def add_dll_directories_from_env(env_name: str
+                                 ) -> 'Generator[List[_AddedDllDirectory], None, None]':
     """
     Add a list of directories from an environment variable to the DLL search path on Windows.
 
@@ -38,7 +46,7 @@ def add_dll_directories_from_env(env_name: str):
     :param env_name: The name of the environment variable with DLL search paths.
     :return: A list of handles to directories.
     """
-    dll_dir_handles = []
+    dll_dir_handles: 'List[_AddedDllDirectory]' = []
     # This function only makes sense on Windows and if the function 'add_dll_directory' exists
     if sys.platform == 'win32' and hasattr(os, 'add_dll_directory'):
         env_value = os.environ.get(env_name)

rpyutils/import_c_library.py

@@ -15,12 +15,13 @@
 import importlib
 import os
 from pathlib import Path
+from types import ModuleType
 from typing import Optional
 
 from rpyutils import add_dll_directories_from_env
 
 
-def import_c_library(name: str, package: Optional[str] = None):
+def import_c_library(name: str, package: Optional[str] = None) -> ModuleType:
     """
     Import and return a C extension library using importlib, with consistent error messaging.
 
@@ -41,8 +42,10 @@ def import_c_library(name: str, package: Optional[str] = None):
         distro = os.environ.get('ROS_DISTRO', 'rolling')
         if e.path is None:
             import sysconfig
-            expected_path = Path(__file__).parents[1] / (
-                name[1:] + sysconfig.get_config_var('EXT_SUFFIX'))
+            config_vars = sysconfig.get_config_var('EXT_SUFFIX')
+            if config_vars:
+                expected_path = Path(__file__).parents[1] / (
+                    name[1:] + config_vars)
             assert not expected_path.is_file()
             link = f'https://docs.ros.org/en/{distro}/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system'  # noqa: E501
             e.msg += \

test/rpyutils/test_add_dll_directories.py

@@ -12,12 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from pathlib import Path
 import sys
 
+from pytest import MonkeyPatch
 from rpyutils import add_dll_directories_from_env
 
 
-def test_add_dll_directories_from_env(monkeypatch, tmp_path):
+def test_add_dll_directories_from_env(monkeypatch: MonkeyPatch, tmp_path: Path) -> None:
     # Test with empty value
     monkeypatch.delenv('TEST_ENV', raising=False)
     with add_dll_directories_from_env('TEST_ENV') as dlls:

test/test_copyright.py

@@ -18,6 +18,6 @@
 
 @pytest.mark.copyright
 @pytest.mark.linter
-def test_copyright():
+def test_copyright() -> None:
     rc = main(argv=['.', 'test'])
     assert rc == 0, 'Found errors'

test/test_flake8.py

@@ -18,7 +18,7 @@
 
 @pytest.mark.flake8
 @pytest.mark.linter
-def test_flake8():
+def test_flake8() -> None:
     rc, errors = main_with_errors(argv=[])
     assert rc == 0, \
         'Found %d code style errors / warnings:\n' % len(errors) + \

test/test_mypy.py

@@ -0,0 +1,23 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_mypy.main import main
+import pytest
+
+
+@pytest.mark.mypy
+@pytest.mark.linter
+def test_mypy() -> None:
+    rc = main(argv=[])
+    assert rc == 0, 'Found type errors!'

test/test_pep257.py

@@ -18,6 +18,6 @@
 
 @pytest.mark.linter
 @pytest.mark.pep257
-def test_pep257():
+def test_pep257() -> None:
     rc = main(argv=[])
     assert rc == 0, 'Found code style errors / warnings'

test/test_xmllint.py

@@ -18,6 +18,6 @@
 
 @pytest.mark.linter
 @pytest.mark.xmllint
-def test_xmllint():
+def test_xmllint() -> None:
     rc = main(argv=[])
     assert rc == 0, 'Found errors'