event_handler.py types (#1340)

* Add types to wait_for_message.py

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

* Add copyright

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

* re-run CI

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

* re-run CI

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

* move Handles into _rclpy_pybind11

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

* Move Handles into type stubs:

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

* Move Handles into type stubs

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

* move [] into string

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

* fix imports

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

* remove extra line

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

* puy _rclpy.Publisher in quotes

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

* fix capitalization

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

* Add EventHandle Constructor

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

* Use RuntimeError for context

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

* Add TYPE_CHECKING import

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

* init

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

* remove .vscode file

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

* move into string

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

* fix flake8

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

---------

Signed-off-by: Michael Carlstrom <[email protected]>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>

Author: InvincibleRMC

rclpy/rclpy/event_handler.py

@@ -12,11 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from enum import IntEnum
+from __future__ import annotations
+
+from types import TracebackType
 from typing import Any
 from typing import Callable
 from typing import List
 from typing import Optional
+from typing import Type
+from typing import Union
 import warnings
 
 import rclpy
@@ -30,50 +34,62 @@
 from typing_extensions import TypeAlias
 
 
-QoSPublisherEventType = _rclpy.rcl_publisher_event_type_t
-QoSSubscriptionEventType = _rclpy.rcl_subscription_event_type_t
+QoSPublisherEventType: TypeAlias = _rclpy.rcl_publisher_event_type_t
+QoSSubscriptionEventType: TypeAlias = _rclpy.rcl_subscription_event_type_t
 
 
 # Payload type for Subscription Deadline callback.
-QoSRequestedDeadlineMissedInfo = _rclpy.rmw_requested_deadline_missed_status_t
+QoSRequestedDeadlineMissedInfo: TypeAlias = _rclpy.rmw_requested_deadline_missed_status_t
 
 # Payload type for Subscription Liveliness callback.
-QoSLivelinessChangedInfo = _rclpy.rmw_liveliness_changed_status_t
+QoSLivelinessChangedInfo: TypeAlias = _rclpy.rmw_liveliness_changed_status_t
 
 # Payload type for Subscription Message Lost callback.
-QoSMessageLostInfo = _rclpy.rmw_message_lost_status_t
+QoSMessageLostInfo: TypeAlias = _rclpy.rmw_message_lost_status_t
 
 # Payload type for Subscription Incompatible QoS callback.
-QoSRequestedIncompatibleQoSInfo = _rclpy.rmw_requested_qos_incompatible_event_status_t
+QoSRequestedIncompatibleQoSInfo: TypeAlias = _rclpy.rmw_requested_qos_incompatible_event_status_t
 
 # Payload type for Subscription matched callback.
-QoSSubscriptionMatchedInfo = _rclpy.rmw_matched_status_t
+QoSSubscriptionMatchedInfo: TypeAlias = _rclpy.rmw_matched_status_t
 
 # Payload type for Publisher Deadline callback.
-QoSOfferedDeadlineMissedInfo = _rclpy.rmw_offered_deadline_missed_status_t
+QoSOfferedDeadlineMissedInfo: TypeAlias = _rclpy.rmw_offered_deadline_missed_status_t
 
 # Payload type for Publisher Liveliness callback.
-QoSLivelinessLostInfo = _rclpy.rmw_liveliness_lost_status_t
+QoSLivelinessLostInfo: TypeAlias = _rclpy.rmw_liveliness_lost_status_t
 
 # Payload type for Publisher matched callback.
-QoSPublisherMatchedInfo = _rclpy.rmw_matched_status_t
+QoSPublisherMatchedInfo: TypeAlias = _rclpy.rmw_matched_status_t
 
 """
 Payload type for Publisher Incompatible QoS callback.
 
 Mirrors rmw_offered_incompatible_qos_status_t from rmw/types.h
 """
-QoSOfferedIncompatibleQoSInfo = QoSRequestedIncompatibleQoSInfo
+QoSOfferedIncompatibleQoSInfo: TypeAlias = QoSRequestedIncompatibleQoSInfo
 
 # Payload type for Incompatible Type callback.
-IncompatibleTypeInfo = _rclpy.rmw_incompatible_type_status_t
+IncompatibleTypeInfo: TypeAlias = _rclpy.rmw_incompatible_type_status_t
 
 
 """Raised when registering a callback for an event type that is not supported."""
-UnsupportedEventTypeError = _rclpy.UnsupportedEventTypeError
+UnsupportedEventTypeError: TypeAlias = _rclpy.UnsupportedEventTypeError
 
 
-EventHandlerData: TypeAlias = Optional[Any]
+EventHandlerData: TypeAlias = Optional[Union[
+                QoSRequestedDeadlineMissedInfo,
+                QoSLivelinessChangedInfo,
+                QoSMessageLostInfo,
+                QoSRequestedIncompatibleQoSInfo,
+                IncompatibleTypeInfo,
+                QoSSubscriptionMatchedInfo,
+                QoSOfferedDeadlineMissedInfo,
+                QoSLivelinessLostInfo,
+                '_rclpy.rmw_offered_qos_incompatible_event_status_t',
+                IncompatibleTypeInfo,
+                QoSPublisherMatchedInfo
+            ]]
 
 
 class EventHandler(Waitable[EventHandlerData]):
@@ -83,23 +99,23 @@ def __init__(
         self,
         *,
         callback_group: CallbackGroup,
-        callback: Callable,
-        event_type: IntEnum,
-        parent_impl,
-    ):
+        callback: Callable[..., None],
+        event_type: Union[QoSSubscriptionEventType, QoSPublisherEventType],
+        parent_impl: 'Union[ _rclpy.Subscription[Any], _rclpy.Publisher[Any]]',
+    ) -> None:
         # Waitable init adds self to callback_group
         super().__init__(callback_group)
         self.event_type = event_type
         self.callback = callback
 
         with parent_impl:
-            self.__event = _rclpy.EventHandle(parent_impl, event_type)
+            self.__event: '_rclpy.EventHandle[Any]' = _rclpy.EventHandle(parent_impl, event_type)
 
         self._ready_to_take_data = False
-        self._event_index = None
+        self._event_index: Optional[int] = None
 
     # Start Waitable API
-    def is_ready(self, wait_set):
+    def is_ready(self, wait_set: _rclpy.WaitSet) -> bool:
         """Return True if entities are ready in the wait set."""
         if self._event_index is None:
             return False
@@ -121,20 +137,25 @@ async def execute(self, taken_data: EventHandlerData) -> None:
             return
         await rclpy.executors.await_or_execute(self.callback, taken_data)
 
-    def get_num_entities(self):
+    def get_num_entities(self) -> NumberOfEntities:
         """Return number of each type of entity used."""
         return NumberOfEntities(num_events=1)
 
-    def add_to_wait_set(self, wait_set):
+    def add_to_wait_set(self, wait_set: _rclpy.WaitSet) -> None:
         """Add entites to wait set."""
         with self.__event:
             self._event_index = wait_set.add_event(self.__event)
 
-    def __enter__(self):
+    def __enter__(self) -> None:
         """Mark event as in-use to prevent destruction while waiting on it."""
         self.__event.__enter__()
 
-    def __exit__(self, t, v, tb):
+    def __exit__(
+        self,
+        t: Optional[Type[BaseException]],
+        v: Optional[BaseException],
+        tb: Optional[TracebackType],
+    ) -> None:
         """Mark event as not-in-use to allow destruction after waiting on it."""
         self.__event.__exit__(t, v, tb)
 
@@ -146,12 +167,7 @@ def destroy(self) -> None:
             category=DeprecationWarning, stacklevel=2)
 class QoSEventHandler(EventHandler):
 
-    def __init_subclass__(cls, **kwargs):
-        warnings.warn('QoSEventHandler foo is deprecated, use EventHandler instead.',
-                      DeprecationWarning, stacklevel=2)
-        super().__init_subclass__(**kwargs)
-
-    def __init__(self, *args, **kwargs):
+    def __init__(self, *args: Any, **kwargs: Any) -> None:
         warnings.warn('QoSEventHandler is deprecated, use EventHandler instead.',
                       DeprecationWarning, stacklevel=2)
         super().__init__(*args, **kwargs)
@@ -197,7 +213,7 @@ def __init__(
         self.use_default_callbacks = use_default_callbacks
 
     def create_event_handlers(
-        self, callback_group: CallbackGroup, subscription: '_rclpy.Subscription',
+        self, callback_group: CallbackGroup, subscription: '_rclpy.Subscription[Any]',
             topic_name: str) -> List[EventHandler]:
         with subscription:
             logger = get_logger(subscription.get_logger_name())
@@ -215,7 +231,7 @@ def create_event_handlers(
             incompatible_qos_callback = self.incompatible_qos
         elif self.use_default_callbacks:
             # Register default callback when not specified
-            def _default_incompatible_qos_callback(event):
+            def _default_incompatible_qos_callback(event: QoSRequestedIncompatibleQoSInfo) -> None:
                 policy_name = qos_policy_name_from_kind(event.last_policy_kind)
                 logger.warn(
                     "New publisher discovered on topic '{}', offering incompatible QoS. "
@@ -252,7 +268,7 @@ def _default_incompatible_qos_callback(event):
             incompatible_type_callback = self.incompatible_type
         elif self.use_default_callbacks:
             # Register default callback when not specified
-            def _default_incompatible_type_callback(event):
+            def _default_incompatible_type_callback(event: Any) -> None:
                 logger.warn(
                     "Incompatible type on topic '{}', no messages will be sent to it."
                     .format(topic_name))
@@ -269,7 +285,7 @@ def _default_incompatible_type_callback(event):
             pass
 
         if self.matched:
-            event_handlers.append(QoSEventHandler(
+            event_handlers.append(EventHandler(
                 callback_group=callback_group,
                 callback=self.matched,
                 event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_MATCHED,
@@ -315,7 +331,7 @@ def __init__(
         self.use_default_callbacks = use_default_callbacks
 
     def create_event_handlers(
-        self, callback_group: CallbackGroup, publisher: _rclpy.Publisher, topic_name: str,
+        self, callback_group: CallbackGroup, publisher: '_rclpy.Publisher[Any]', topic_name: str,
     ) -> List[EventHandler]:
         with publisher:
             logger = get_logger(publisher.get_logger_name())
@@ -340,7 +356,7 @@ def create_event_handlers(
             incompatible_qos_callback = self.incompatible_qos
         elif self.use_default_callbacks:
             # Register default callback when not specified
-            def _default_incompatible_qos_callback(event):
+            def _default_incompatible_qos_callback(event: QoSRequestedIncompatibleQoSInfo) -> None:
                 policy_name = qos_policy_name_from_kind(event.last_policy_kind)
                 logger.warn(
                     "New subscription discovered on topic '{}', requesting incompatible QoS. "
@@ -363,7 +379,7 @@ def _default_incompatible_qos_callback(event):
             incompatible_type_callback = self.incompatible_type
         elif self.use_default_callbacks:
             # Register default callback when not specified
-            def _default_incompatible_type_callback(event):
+            def _default_incompatible_type_callback(event: Any) -> None:
                 logger.warn(
                     "Incompatible type on topic '{}', no messages will be sent to it."
                     .format(topic_name))
@@ -380,7 +396,7 @@ def _default_incompatible_type_callback(event):
             pass
 
         if self.matched:
-            event_handlers.append(QoSEventHandler(
+            event_handlers.append(EventHandler(
                 callback_group=callback_group,
                 callback=self.matched,
                 event_type=QoSPublisherEventType.RCL_PUBLISHER_MATCHED,

rclpy/rclpy/impl/_rclpy_pybind11.pyi

@@ -16,7 +16,7 @@ from __future__ import annotations
 
 from enum import Enum
 from types import TracebackType
-from typing import Any, Generic, Literal, overload, Sequence, TypeAlias, TypedDict
+from typing import Any, Generic, Literal, overload, Sequence, TypeAlias, TypedDict, TypeVar
 
 from rclpy.clock import JumpHandle
 from rclpy.clock_type import ClockType
@@ -27,6 +27,9 @@ from rclpy.subscription import MessageInfo
 from rclpy.type_support import MsgT, Srv, SrvEventT, SrvRequestT, SrvResponseT
 
 
+T = TypeVar('T')
+
+
 def rclpy_remove_ros_args(pycli_args: Sequence[str]) -> list[str]:
     """Remove ROS-specific arguments from argument vector."""
 
@@ -202,20 +205,119 @@ class rcl_publisher_event_type_t(Enum):
     RCL_PUBLISHER_MATCHED = ...
 
 
-class EventHandle(Destroyable):
+class rmw_requested_deadline_missed_status_t:
+    total_count: int
+    total_count_change: int
+
+
+class rmw_liveliness_changed_status_t:
+    alive_count: int
+    not_alive_count: int
+    alive_count_change: int
+    not_alive_count_change: int
+
+
+class rmw_message_lost_status_t:
+    total_count: int
+    total_count_change: int
+
+
+class rmw_qos_policy_kind_e(Enum):
+    _value_: int
+    RMW_QOS_POLICY_INVALID = ...
+    RMW_QOS_POLICY_DURABILITY = ...
+    RMW_QOS_POLICY_DEADLINE = ...
+    RMW_QOS_POLICY_LIVELINESS = ...
+    RMW_QOS_POLICY_RELIABILITY = ...
+    RMW_QOS_POLICY_HISTORY = ...
+    RMW_QOS_POLICY_LIFESPAN = ...
+    RMW_QOS_POLICY_DEPTH = ...
+    RMW_QOS_POLICY_LIVELINESS_LEASE_DURATION = ...
+    RMW_QOS_POLICY_AVOID_ROS_NAMESPACE_CONVENTIONS = ...
+
+
+rmw_qos_policy_kind_t = rmw_qos_policy_kind_e
+
+
+class rmw_requested_qos_incompatible_event_status_t:
+    total_count: int
+    total_count_change: int
+    last_policy_kind: rmw_qos_policy_kind_t
+
+
+class rmw_matched_status_s:
+    total_count: int
+    total_count_change: int
+    current_count: int
+    current_count_change: int
+
+
+rmw_matched_status_t = rmw_matched_status_s
+
+
+class rmw_offered_deadline_missed_status_s:
+    total_count: int
+    total_count_change: int
+
+
+rmw_offered_deadline_missed_status_t = rmw_offered_deadline_missed_status_s
+
+
+class rmw_liveliness_lost_status_s:
+    total_count: int
+    total_count_change: int
+
+
+rmw_liveliness_lost_status_t = rmw_liveliness_lost_status_s
+
+
+class rmw_incompatible_type_status_s:
+    total_count: int
+    total_count_change: int
+
+
+rmw_incompatible_type_status_t = rmw_incompatible_type_status_s
+
+
+class rmw_qos_incompatible_event_status_s:
+    total_count: int
+    total_count_change: int
+    last_policy_kind: rmw_qos_policy_kind_t
+
+
+rmw_qos_incompatible_event_status_t = rmw_qos_incompatible_event_status_s
+rmw_offered_qos_incompatible_event_status_t = rmw_qos_incompatible_event_status_t
+
+
+class RCLError(BaseException):
+    def __init__(self, error_text: str) -> None: ...
+
+
+class UnsupportedEventTypeError(RCLError):
+    pass
+
+
+class EventHandle(Destroyable, Generic[T]):
 
     @overload
-    def __init__(self, subcription: Subscription,
-                 event_type: rcl_subscription_event_type_t) -> None: ...
+    def __init__(
+        self,
+        subcription: Subscription[Any],
+        event_type: rcl_subscription_event_type_t
+    ) -> None: ...
 
     @overload
-    def __init__(self, publisher: Publisher, event_type: rcl_publisher_event_type_t) -> None: ...
+    def __init__(
+        self,
+        subcription: Publisher[Any],
+        event_type: rcl_publisher_event_type_t
+    ) -> None: ...
 
     @property
     def pointer(self) -> int:
         """Get the address of the entity as an integer."""
 
-    def take_event(self) -> Any | None:
+    def take_event(self) -> T | None:
         """Get pending data from a ready event."""
 
 
@@ -577,7 +679,7 @@ class WaitSet(Destroyable):
     def add_timer(self, timer: Timer) -> int:
         """Add a timer to the wait set structure."""
 
-    def add_event(self, event: EventHandle) -> int:
+    def add_event(self, event: EventHandle[Any]) -> int:
         """Add an event to the wait set structure."""
 
     def is_ready(self, entity_type: IsReadyValues, index: int) -> bool: