diff --git a/package.xml b/package.xml
index ab66fd2..499dc32 100644
--- a/package.xml
+++ b/package.xml
@@ -13,6 +13,7 @@
ament_copyright
ament_flake8
+ ament_mypy
ament_pep257
ament_xmllint
python3-pytest
diff --git a/rpyutils/add_dll_directories.py b/rpyutils/add_dll_directories.py
index 3a5de20..cac2861 100644
--- a/rpyutils/add_dll_directories.py
+++ b/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)
diff --git a/rpyutils/import_c_library.py b/rpyutils/import_c_library.py
index a91e43c..00358f6 100644
--- a/rpyutils/import_c_library.py
+++ b/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 += \
diff --git a/test/rpyutils/test_add_dll_directories.py b/test/rpyutils/test_add_dll_directories.py
index a33b72b..60e787a 100644
--- a/test/rpyutils/test_add_dll_directories.py
+++ b/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:
diff --git a/test/test_copyright.py b/test/test_copyright.py
index cf0fae3..66a7d63 100644
--- a/test/test_copyright.py
+++ b/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'
diff --git a/test/test_flake8.py b/test/test_flake8.py
index 27ee107..eac16ee 100644
--- a/test/test_flake8.py
+++ b/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) + \
diff --git a/test/test_mypy.py b/test/test_mypy.py
new file mode 100644
index 0000000..97e4f50
--- /dev/null
+++ b/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!'
diff --git a/test/test_pep257.py b/test/test_pep257.py
index 0e38a6c..4ae521a 100644
--- a/test/test_pep257.py
+++ b/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'
diff --git a/test/test_xmllint.py b/test/test_xmllint.py
index f46285e..08bf7fd 100644
--- a/test/test_xmllint.py
+++ b/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'