├── .github └── workflows │ └── python-test.yml ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── MANIFEST.in ├── README.rst ├── bin └── rosidl_generator_mypy ├── cmake ├── custom_command.cmake ├── register_mypy.cmake └── rosidl_generator_mypy_generate_interfaces.cmake ├── package.xml ├── pyproject.toml ├── requirements.dev.txt ├── resource ├── _action.pyi.em ├── _idl.pyi.em ├── _imports.pyi.em ├── _msg.pyi.em └── _srv.pyi.em ├── rosidl_generator_mypy-extras.cmake.in ├── rosidl_generator_mypy ├── __init__.py ├── cli.py └── py.typed ├── setup.cfg └── setup.py /.github/workflows/python-test.yml: -------------------------------------------------------------------------------- 1 | name: Python tests 2 | on: 3 | push: 4 | branches: 5 | - master 6 | pull_request: {} 7 | jobs: 8 | lint: 9 | name: Run lint 10 | runs-on: ubuntu-20.04 11 | timeout-minutes: 15 12 | steps: 13 | - uses: actions/checkout@v2 14 | with: 15 | lfs: false 16 | - uses: actions/setup-python@v4 17 | with: 18 | python-version: '3.10' 19 | - name: Create venv 20 | run: | 21 | python -m venv venv 22 | source venv/bin/activate 23 | pip install -r requirements.dev.txt 24 | - name: Run pysen 25 | run: | 26 | source venv/bin/activate 27 | pysen run lint 28 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *.swp 2 | 3 | *.egg-info/ 4 | *.py[cod] 5 | .cache 6 | .mypy_cache/ 7 | .tox/ 8 | __pycache__/ 9 | build/ 10 | dist/ 11 | pip-wheel-metadata/ 12 | venv/ 13 | -------------------------------------------------------------------------------- /CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package rosidl_generator_mypy 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.1.0 (2021-05-10) 6 | ------------------ 7 | * Initial release 8 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | 3 | project(rosidl_generator_mypy) 4 | 5 | find_package(ament_cmake REQUIRED) 6 | find_package(ament_cmake_python REQUIRED) 7 | find_package(rosidl_cmake REQUIRED) 8 | find_package(rosidl_generator_py REQUIRED) 9 | 10 | ament_export_dependencies(ament_cmake) 11 | ament_export_dependencies(rmw) 12 | ament_export_dependencies(rosidl_cmake) 13 | ament_export_dependencies(rosidl_generator_py) 14 | 15 | ament_index_register_resource("rosidl_generator_packages") 16 | 17 | ament_python_install_package(${PROJECT_NAME}) 18 | 19 | ament_package( 20 | CONFIG_EXTRAS "cmake/register_mypy.cmake" 21 | "rosidl_generator_mypy-extras.cmake.in" 22 | ) 23 | 24 | install( 25 | PROGRAMS bin/rosidl_generator_mypy 26 | DESTINATION lib/rosidl_generator_mypy 27 | ) 28 | install( 29 | DIRECTORY cmake resource 30 | DESTINATION share/${PROJECT_NAME} 31 | ) 32 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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In no event and under no legal theory, 154 | whether in tort (including negligence), contract, or otherwise, 155 | unless required by applicable law (such as deliberate and grossly 156 | negligent acts) or agreed to in writing, shall any Contributor be 157 | liable to You for damages, including any direct, indirect, special, 158 | incidental, or consequential damages of any character arising as a 159 | result of this License or out of the use or inability to use the 160 | Work (including but not limited to damages for loss of goodwill, 161 | work stoppage, computer failure or malfunction, or any and all 162 | other commercial damages or losses), even if such Contributor 163 | has been advised of the possibility of such damages. 164 | 165 | 9. Accepting Warranty or Additional Liability. While redistributing 166 | the Work or Derivative Works thereof, You may choose to offer, 167 | and charge a fee for, acceptance of support, warranty, indemnity, 168 | or other liability obligations and/or rights consistent with this 169 | License. However, in accepting such obligations, You may act only 170 | on Your own behalf and on Your sole responsibility, not on behalf 171 | of any other Contributor, and only if You agree to indemnify, 172 | defend, and hold each Contributor harmless for any liability 173 | incurred by, or claims asserted against, such Contributor by reason 174 | of your accepting any such warranty or additional liability. 175 | 176 | END OF TERMS AND CONDITIONS 177 | 178 | Copyright 2021 Yuki Igarashi, Tamaki Nishino 179 | 180 | Licensed under the Apache License, Version 2.0 (the "License"); 181 | you may not use this file except in compliance with the License. 182 | You may obtain a copy of the License at 183 | 184 | http://www.apache.org/licenses/LICENSE-2.0 185 | 186 | Unless required by applicable law or agreed to in writing, software 187 | distributed under the License is distributed on an "AS IS" BASIS, 188 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 189 | See the License for the specific language governing permissions and 190 | limitations under the License. 191 | -------------------------------------------------------------------------------- /MANIFEST.in: -------------------------------------------------------------------------------- 1 | include CMakeLists.txt 2 | include LICENSE 3 | include README.rst 4 | include bin/rosidl_generator_mypy 5 | include package.xml 6 | include rosidl_generator_mypy-extras.cmake.in 7 | 8 | recursive-include cmake *.cmake 9 | recursive-include resource *.cmake *.em 10 | recursive-include rosidl_generator_mypy *.py py.typed 11 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | ===================== 2 | rosidl_generator_mypy 3 | ===================== 4 | 5 | Stub files generator for the ROS2 interfaces in Python 6 | 7 | Installation 8 | ============ 9 | 10 | .. code:: sh 11 | 12 | cd your_workspace/src 13 | git clone https://github.com/rospypi/rosidl_generator_mypy.git 14 | 15 | 16 | Usage 17 | ===== 18 | 19 | Add ``rosidl_generator_mypy`` to your ``CMakeLists.txt``. 20 | This package will be registered as a ``rosidl_generate_idl_interfaces`` extension 21 | so that ``rosidl`` automatically find and call this library when ``rosidl_generate_interfaces`` is called. 22 | 23 | Also, keep in mind that your package should have the build dependency 24 | for ``rosidl_generator_mypy`` in ``package.xml`` to make sure that the build tool finishes the 25 | build of ``rosidl_generator_mypy`` before building your package. 26 | 27 | Examples: 28 | 29 | - CMakeLists.txt 30 | .. code:: cmake 31 | 32 | find_package(rosidl_generator_mypy REQUIRED) 33 | - package.xml 34 | .. code:: xml 35 | 36 | rosidl_generator_mypy 37 | -------------------------------------------------------------------------------- /bin/rosidl_generator_mypy: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import argparse 4 | import os 5 | import pathlib 6 | import sys 7 | 8 | try: 9 | from rosidl_generator_mypy import generate 10 | except ImportError: 11 | # NOTE: Modifying sys.path and importing the Python package with the same 12 | # name as this script does not work on Windows 13 | # Use the same way as: 14 | # https://github.com/ros2/rosidl_python/blob/5b9fe9cad6876e877cbbcf17950c47a9e753c6e6/rosidl_generator_py/bin/rosidl_generator_py#L10-L21 # NOQA 15 | module_name = "rosidl_generator_mypy" 16 | root_path = pathlib.Path(__file__).resolve().parents[1] 17 | init_path = os.path.join(root_path, "rosidl_generator_mypy", "__init__.py") 18 | if not os.path.exists(init_path): 19 | raise FileNotFoundError("{} doesn't exist".format(init_path)) 20 | 21 | from importlib.machinery import SourceFileLoader 22 | 23 | loader = SourceFileLoader(module_name, init_path) 24 | rosidl_generator_mypy = loader.load_module() 25 | generate = rosidl_generator_mypy.generate 26 | 27 | 28 | def main(argv=sys.argv[1:]): 29 | parser = argparse.ArgumentParser( 30 | description="Generate stub files for the Python ROS interfaces." 31 | ) 32 | parser.add_argument( 33 | "--generator-arguments-file", 34 | required=True, 35 | help="The location of the file containing the generator arguments", 36 | ) 37 | args = parser.parse_args(argv) 38 | 39 | generate(args.generator_arguments_file) 40 | return 0 41 | 42 | 43 | if __name__ == "__main__": 44 | sys.exit(main()) 45 | -------------------------------------------------------------------------------- /cmake/custom_command.cmake: -------------------------------------------------------------------------------- 1 | add_custom_command( 2 | OUTPUT ${_generated_pyi_files} 3 | COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_mypy_BIN} 4 | --generator-arguments-file "${generator_arguments_file}" 5 | DEPENDS ${target_dependencies} ${rosidl_generate_interfaces_TARGET} 6 | COMMENT "Generating Python stub for ROS interfaces" 7 | VERBATIM 8 | ) 9 | 10 | if(TARGET ${rosidl_generate_interfaces_TARGET}${_target_suffix}) 11 | message(WARNING "Custom target ${rosidl_generate_interfaces_TARGET}${_target_suffix} already exists") 12 | else() 13 | add_custom_target( 14 | ${rosidl_generate_interfaces_TARGET}${_target_suffix} ALL 15 | DEPENDS 16 | ${_generated_pyi_files} 17 | ) 18 | endif() 19 | -------------------------------------------------------------------------------- /cmake/register_mypy.cmake: -------------------------------------------------------------------------------- 1 | macro(rosidl_generator_mypy_extras BIN GENERATOR_FILES TEMPLATE_DIR) 2 | find_package(ament_cmake_core QUIET REQUIRED) 3 | # This idl generator must run after rosidl_generator_py runs 4 | find_package(rosidl_generator_py QUIET REQUIRED) 5 | 6 | ament_register_extension( 7 | "rosidl_generate_idl_interfaces" 8 | "rosidl_generator_mypy" 9 | "rosidl_generator_mypy_generate_interfaces.cmake") 10 | 11 | normalize_path(BIN "${BIN}") 12 | set(rosidl_generator_mypy_BIN "${BIN}") 13 | 14 | set(rosidl_generator_mypy_GENERATOR_FILES "") 15 | foreach(_generator_file ${GENERATOR_FILES}) 16 | normalize_path(_generator_file "${_generator_file}") 17 | list(APPEND rosidl_generator_mypy_GENERATOR_FILES "${_generator_file}") 18 | endforeach() 19 | 20 | normalize_path(TEMPLATE_DIR "${TEMPLATE_DIR}") 21 | set(rosidl_generator_mypy_TEMPLATE_DIR "${TEMPLATE_DIR}") 22 | endmacro() 23 | -------------------------------------------------------------------------------- /cmake/rosidl_generator_mypy_generate_interfaces.cmake: -------------------------------------------------------------------------------- 1 | find_package(rmw REQUIRED) 2 | 3 | find_package(Python3 REQUIRED COMPONENTS Interpreter) 4 | 5 | set(_output_path 6 | "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_mypy/${PROJECT_NAME}") 7 | set(_generated_pyi_files "") 8 | 9 | # list the file names of generated pyi 10 | foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES}) 11 | get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY) 12 | get_filename_component(_parent_folder "${_parent_folder}" NAME) 13 | get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE) 14 | string_camel_case_to_lower_case_underscore("${_idl_name}" _module_name) 15 | list(APPEND _generated_pyi_files 16 | "${_output_path}/${_parent_folder}/_${_module_name}.pyi") 17 | endforeach() 18 | 19 | # create pyi and py.typed to mark package PEP561 compatible 20 | file(MAKE_DIRECTORY "${_output_path}") 21 | file(WRITE "${_output_path}/__init__.pyi" "") 22 | file(WRITE "${_output_path}/py.typed" "") 23 | 24 | # NOTE: create a list of directories that have one or more pyi files 25 | # Also add `__init__.pyi` of each package directory to `_generated_pyi_files` 26 | # See: https://github.com/ros2/rosidl_python/blob/5b9fe9cad6876e877cbbcf17950c47a9e753c6e6/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake#L57-L72 27 | set(_generated_pyi_dirs "") 28 | foreach(_generated_pyi_file ${_generated_pyi_files}) 29 | get_filename_component(_parent_folder "${_generated_pyi_file}" DIRECTORY) 30 | set(_init_module "${_parent_folder}/__init__.pyi") 31 | list(FIND _generated_pyi_files "${_init_module}" _index) 32 | if(_index EQUAL -1) 33 | list(APPEND _generated_pyi_files "${_init_module}") 34 | 35 | string(LENGTH "${_output_path}" _length) 36 | math(EXPR _index "${_length} + 1") 37 | string(SUBSTRING "${_parent_folder}" ${_index} -1 _relative_directory) 38 | list(APPEND _generated_pyi_dirs "${_relative_directory}") 39 | endif() 40 | endforeach() 41 | 42 | # get a list of dependency files of idl files to set target_dependencies properly 43 | set(_dependency_files "") 44 | set(_dependencies "") 45 | foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) 46 | foreach(_idl_file ${${_pkg_name}_IDL_FILES}) 47 | set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}") 48 | normalize_path(_abs_idl_file "${_abs_idl_file}") 49 | list(APPEND _dependency_files "${_abs_idl_file}") 50 | list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}") 51 | endforeach() 52 | endforeach() 53 | 54 | set(target_dependencies 55 | "${rosidl_generator_mypy_BIN}" 56 | ${rosidl_generator_mypy_GENERATOR_FILES} 57 | "${rosidl_generator_mypy_TEMPLATE_DIR}/_action.pyi.em" 58 | "${rosidl_generator_mypy_TEMPLATE_DIR}/_idl.pyi.em" 59 | "${rosidl_generator_mypy_TEMPLATE_DIR}/_imports.pyi.em" 60 | "${rosidl_generator_mypy_TEMPLATE_DIR}/_msg.pyi.em" 61 | "${rosidl_generator_mypy_TEMPLATE_DIR}/_srv.pyi.em" 62 | ${rosidl_generate_interfaces_ABS_IDL_FILES} 63 | ${_dependency_files}) 64 | foreach(dep ${target_dependencies}) 65 | if(NOT EXISTS "${dep}") 66 | message(FATAL_ERROR "Target dependency '${dep}' does not exist") 67 | endif() 68 | endforeach() 69 | 70 | # write build arguments into a json, then pass the file to our script 71 | set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_mypy__arguments.json") 72 | rosidl_write_generator_arguments( 73 | "${generator_arguments_file}" 74 | PACKAGE_NAME "${PROJECT_NAME}" 75 | IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}" 76 | ROS_INTERFACE_DEPENDENCIES "${_dependencies}" 77 | OUTPUT_DIR "${_output_path}" 78 | TEMPLATE_DIR "${rosidl_generator_mypy_TEMPLATE_DIR}" 79 | TARGET_DEPENDENCIES ${target_dependencies} 80 | ) 81 | 82 | if(NOT rosidl_generate_interfaces_SKIP_INSTALL) 83 | # NOTE: This generator depends on rosidl_generator_py for creating module directory. 84 | # As `ament_python_install_module` is not supposed to be called multiple times, 85 | # we have encountered the same problem as: 86 | # https://github.com/ros2/rosidl/issues/88 and https://github.com/ros2/rosidl/pull/89 87 | install(FILES "${_output_path}/__init__.pyi" "${_output_path}/py.typed" 88 | DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}/${_generated_py_dir}" 89 | ) 90 | 91 | foreach(_generated_py_dir ${_generated_pyi_dirs}) 92 | install(DIRECTORY "${_output_path}/${_generated_py_dir}/" 93 | DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}/${_generated_py_dir}" 94 | PATTERN "*.pyi" 95 | ) 96 | endforeach() 97 | endif() 98 | 99 | set(_target_suffix "__mypy") 100 | 101 | # NOTE: See https://github.com/ros2/rosidl/issues/124 and https://github.com/ros2/rosidl/pull/135 for the 102 | # rationale behind the following logic. Use the same logic as the one in rosidl_python: 103 | # https://github.com/ros2/rosidl_python/blob/5b9fe9cad6876e877cbbcf17950c47a9e753c6e6/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake#L146-L155 104 | set(_subdir "${CMAKE_CURRENT_BINARY_DIR}/${rosidl_generate_interfaces_TARGET}${_target_suffix}") 105 | file(MAKE_DIRECTORY "${_subdir}") 106 | file(READ "${rosidl_generator_mypy_DIR}/custom_command.cmake" _custom_command) 107 | file(WRITE "${_subdir}/CMakeLists.txt" "${_custom_command}") 108 | add_subdirectory("${_subdir}" ${rosidl_generate_interfaces_TARGET}${_target_suffix}) 109 | set_property( 110 | SOURCE 111 | ${_generated_pyi_files} 112 | PROPERTY GENERATED 1) 113 | 114 | # list(APPEND ALL_OUTPUT_FILES_mypy ${GEN_OUTPUT_FILE}) 115 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | rosidl_generator_mypy 5 | 0.1.0 6 | Generate stub files for the ROS2 interfaces in Python 7 | Yuki Igarashi 8 | Tamaki Nishino 9 | Apache License 2.0 10 | Yuki Igarashi 11 | Tamaki Nishino 12 | 13 | ament_cmake 14 | rosidl_cmake 15 | rosidl_generator_py 16 | 17 | ament_cmake 18 | 19 | rmw 20 | 21 | rosidl_cmake 22 | rosidl_generator_py 23 | rosidl_parser 24 | 25 | rmw 26 | rosidl_cmake 27 | rosidl_parser 28 | 29 | rosidl_generator_packages 30 | 31 | 32 | ament_cmake 33 | 34 | 35 | -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- 1 | [tool.pysen] 2 | version = "0.10" 3 | 4 | [tool.pysen.lint] 5 | enable_black = true 6 | enable_flake8 = true 7 | enable_isort = true 8 | enable_mypy = true 9 | mypy_preset = "strict" 10 | py_version = "py36" 11 | isort_known_first_party = ["rosidl_generator_mypy"] 12 | [tool.pysen.lint.source] 13 | includes = [".", "bin/rosidl_generator_mypy"] 14 | excludes = [".tox", "venv"] 15 | [[tool.pysen.lint.mypy_targets]] 16 | paths = ["."] 17 | -------------------------------------------------------------------------------- /requirements.dev.txt: -------------------------------------------------------------------------------- 1 | black==22.12.0 2 | flake8==6.0.0 3 | isort==5.11.3 4 | mypy==0.991 5 | pysen==0.10.2 6 | -------------------------------------------------------------------------------- /resource/_action.pyi.em: -------------------------------------------------------------------------------- 1 | @# Included from rosidl_generator_mypy/resource/_idl.py.em 2 | @{ 3 | if generate_imports: 4 | from rosidl_generator_mypy import append_import_statements_action 5 | 6 | TEMPLATE( 7 | '_imports.pyi.em', 8 | component=action, defined_classes=defined_classes, generator=append_import_statements_action) 9 | }@ 10 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 11 | @{ 12 | from rosidl_cmake import convert_camel_case_to_lower_case_underscore 13 | 14 | action_name = '_' + convert_camel_case_to_lower_case_underscore(action.namespaced_type.name) 15 | module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem) 16 | 17 | TEMPLATE( 18 | '_msg.pyi.em', 19 | package_name=package_name, interface_path=interface_path, 20 | message=action.goal, generate_imports=False, defined_classes=defined_classes) 21 | TEMPLATE( 22 | '_msg.pyi.em', 23 | package_name=package_name, interface_path=interface_path, 24 | message=action.result, generate_imports=False, defined_classes=defined_classes) 25 | TEMPLATE( 26 | '_msg.pyi.em', 27 | package_name=package_name, interface_path=interface_path, 28 | message=action.feedback, generate_imports=False, defined_classes=defined_classes) 29 | TEMPLATE( 30 | '_srv.pyi.em', 31 | package_name=package_name, interface_path=interface_path, 32 | service=action.send_goal_service, generate_imports=False, defined_classes=defined_classes) 33 | TEMPLATE( 34 | '_srv.pyi.em', 35 | package_name=package_name, interface_path=interface_path, 36 | service=action.get_result_service, generate_imports=False, defined_classes=defined_classes) 37 | TEMPLATE( 38 | '_msg.pyi.em', 39 | package_name=package_name, interface_path=interface_path, 40 | message=action.feedback_message, generate_imports=False, defined_classes=defined_classes) 41 | }@ 42 | 43 | class Metaclass_@(action.namespaced_type.name)(type): 44 | _TYPE_SUPPORT: typing.Any = ... 45 | @@classmethod 46 | def __import_type_support__(cls) -> None: ... 47 | 48 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 49 | @{ 50 | 51 | def assert_namespace_equals(action, structure): 52 | assert structure.namespaced_type.namespaces == action.namespaced_type.namespaces 53 | 54 | # Make sure that all requires messages in a single file 55 | assert_namespace_equals(action, action.goal.structure) 56 | assert_namespace_equals(action, action.result.structure) 57 | assert_namespace_equals(action, action.feedback.structure) 58 | 59 | # The namespace of the following messages must be same as the action as they are defined in rosidl_parser.definition 60 | # But we call assertions just to make sure the specification has not been changed 61 | assert_namespace_equals(action, action.send_goal_service) 62 | assert_namespace_equals(action, action.get_result_service) 63 | assert_namespace_equals(action, action.feedback_message.structure) 64 | # Then, emit member names without namespaces as follows 65 | 66 | }@ 67 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 68 | class @(action.namespaced_type.name)(metaclass=Metaclass_@(action.namespaced_type.name)): 69 | Goal: TypeAlias = @(action.goal.structure.namespaced_type.name) 70 | Result: TypeAlias = @(action.result.structure.namespaced_type.name) 71 | Feedback: TypeAlias = @(action.feedback.structure.namespaced_type.name) 72 | 73 | class Impl: 74 | SendGoalService: TypeAlias = @(action.send_goal_service.namespaced_type.name) 75 | GetResultService: TypeAlias = @(action.get_result_service.namespaced_type.name) 76 | FeedbackMessage: TypeAlias = @(action.feedback_message.structure.namespaced_type.name) 77 | 78 | from action_msgs.srv._cancel_goal import CancelGoal as CancelGoalService 79 | from action_msgs.msg._goal_status_array import GoalStatusArray as GoalStatusMessage 80 | 81 | def __init__(self) -> None: ... 82 | -------------------------------------------------------------------------------- /resource/_idl.pyi.em: -------------------------------------------------------------------------------- 1 | # generated from rosidl_generator_mypy/resource/_idl.pyi.em 2 | # with input from @(package_name):@(interface_path) 3 | # generated code does not contain a copyright notice 4 | 5 | @ 6 | @####################################################################### 7 | @# EmPy template for generating _.pyi files 8 | @# 9 | @# Context: 10 | @# - package_name (string) 11 | @# - interface_path (Path relative to the directory named after the package) 12 | @# - content (IdlContent, list of elements, e.g. Messages or Services) 13 | @####################################################################### 14 | @{ 15 | from rosidl_generator_mypy import get_defined_classes 16 | 17 | defined_classes = get_defined_classes(content) 18 | }@ 19 | @####################################################################### 20 | @# Handle messages 21 | @####################################################################### 22 | @{ 23 | from rosidl_parser.definition import Message 24 | }@ 25 | @[for message in content.get_elements_of_type(Message)]@ 26 | @{ 27 | TEMPLATE( 28 | '_msg.pyi.em', 29 | package_name=package_name, interface_path=interface_path, message=message, 30 | generate_imports=True, defined_classes=defined_classes) 31 | }@ 32 | @[end for]@ 33 | @ 34 | @####################################################################### 35 | @# Handle services 36 | @####################################################################### 37 | @{ 38 | from rosidl_parser.definition import Service 39 | }@ 40 | @[for service in content.get_elements_of_type(Service)]@ 41 | @{ 42 | TEMPLATE( 43 | '_srv.pyi.em', 44 | package_name=package_name, interface_path=interface_path, service=service, 45 | generate_imports=True, defined_classes=defined_classes) 46 | }@ 47 | @[end for]@ 48 | @ 49 | @####################################################################### 50 | @# Handle actions 51 | @####################################################################### 52 | @{ 53 | from rosidl_parser.definition import Action 54 | }@ 55 | @[for action in content.get_elements_of_type(Action)]@ 56 | @{ 57 | TEMPLATE( 58 | '_action.pyi.em', 59 | package_name=package_name, interface_path=interface_path, action=action, 60 | generate_imports=True, defined_classes=defined_classes) 61 | }@ 62 | @[end for]@ 63 | -------------------------------------------------------------------------------- /resource/_imports.pyi.em: -------------------------------------------------------------------------------- 1 | @# Included from rosidl_generator_mypy/resource/*.pyi.em 2 | @{ 3 | third_party_imports = set() 4 | first_party_imports = set() 5 | generator(component, defined_classes, third_party_imports, first_party_imports) 6 | 7 | }@ 8 | 9 | import sys 10 | import typing 11 | if sys.version_info < (3, 10): 12 | from typing_extensions import TypeAlias 13 | else: 14 | from typing import TypeAlias 15 | 16 | import array 17 | import numpy as np 18 | 19 | @[if len(third_party_imports) > 0]@ 20 | 21 | @[for statement in sorted(third_party_imports)]@ 22 | @(statement) 23 | @[end for]@ 24 | @[ end if]@ 25 | @[if len(first_party_imports) > 0]@ 26 | 27 | @[for statement in sorted(first_party_imports)]@ 28 | @(statement) 29 | @[end for]@ 30 | @[ end if]@ 31 | -------------------------------------------------------------------------------- /resource/_msg.pyi.em: -------------------------------------------------------------------------------- 1 | @# Included from rosidl_generator_mypy/resource/_idl.pyi.em 2 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 3 | @{ 4 | import builtins 5 | import inspect 6 | 7 | from rosidl_parser.definition import EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME 8 | 9 | from rosidl_generator_mypy import to_type_annotation 10 | 11 | builtin_items = set(dict(inspect.getmembers(builtins)).keys()) 12 | current_namespace = message.structure.namespaced_type 13 | members = [] 14 | for member in message.structure.members: 15 | if len(message.structure.members) == 1 and member.name == EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME: 16 | continue 17 | 18 | noqa_string = '' 19 | if member.name in builtin_items: 20 | noqa_string = ' # noqa: A003' 21 | 22 | members.append( 23 | (member.name, to_type_annotation(current_namespace, defined_classes, member.type), noqa_string) 24 | ) 25 | }@ 26 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 27 | @{ 28 | if generate_imports: 29 | from rosidl_generator_mypy import append_import_statements_msg 30 | 31 | # NOTE: No import statement is required for constants as we cannot use any NamespacedType 32 | TEMPLATE( 33 | '_imports.pyi.em', 34 | component=message, defined_classes=defined_classes, generator=append_import_statements_msg) 35 | }@ 36 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 37 | 38 | class Metaclass_@(message.structure.namespaced_type.name)(type): 39 | _CREATE_ROS_MESSAGE: typing.Any = ... 40 | _CONVERT_FROM_PY: typing.Any = ... 41 | _CONVERT_TO_PY: typing.Any = ... 42 | _DESTROY_ROS_MESSAGE: typing.Any = ... 43 | _TYPE_SUPPORT: typing.Any = ... 44 | __constants: typing.Dict[str, typing.Any] = ... 45 | 46 | @@classmethod 47 | def __import_type_support__(cls) -> None: ... 48 | @@classmethod 49 | def __prepare__( 50 | cls, __name: str, __bases: typing.Tuple[type, ...], **kwargs: typing.Any 51 | ) -> typing.MutableMapping[str, typing.Any]: ... 52 | @[for constant in message.constants]@ 53 | @@property 54 | def @(constant.name)(self) -> @(to_type_annotation(current_namespace, defined_classes, constant.type).getter): ... 55 | @[end for]@ 56 | @[for member in message.structure.members]@ 57 | @[ if member.has_annotation('default')]@ 58 | @@property 59 | def @(member.name.upper())__DEFAULT(cls) -> @(to_type_annotation(current_namespace, defined_classes, member.type).getter): ... 60 | @[ end if]@ 61 | @[end for]@ 62 | 63 | class @(message.structure.namespaced_type.name)(metaclass=Metaclass_@(message.structure.namespaced_type.name)): 64 | __slots__: typing.List[str] = ... 65 | _fields_and_field_types: typing.Dict[str, str] = ... 66 | SLOT_TYPES: typing.Tuple[rosidl_parser.definition.AbstractType, ...] = ... 67 | 68 | def __init__( 69 | self, 70 | @[if len(members)]@ 71 | *, 72 | @[end if]@ 73 | @[for name, annotation, noqa_string in members]@ 74 | @(name): @(annotation.setter) = ...,@(noqa_string) 75 | @[end for]@ 76 | **kwargs: typing.Any, 77 | ) -> None: ... 78 | def __repr__(self) -> str: ... 79 | def __eq__(self, other: typing.Any) -> bool: ... 80 | @@classmethod 81 | def get_fields_and_field_types(cls) -> typing.Dict[str, str]: ... 82 | # Members 83 | @[for name, annotation, noqa_string in members]@ 84 | @@property@(noqa_string) 85 | def @(name)(self) -> @(annotation.getter): ...@(noqa_string) 86 | @@@(name).setter@(noqa_string) 87 | def @(name)(self, value: @(annotation.setter)) -> None: ...@(noqa_string) 88 | @[end for]@ 89 | -------------------------------------------------------------------------------- /resource/_srv.pyi.em: -------------------------------------------------------------------------------- 1 | @# Included from rosidl_generator_mypy/resource/_idl.py.em 2 | @{ 3 | if generate_imports: 4 | from rosidl_generator_mypy import append_import_statements_srv 5 | 6 | TEMPLATE( 7 | '_imports.pyi.em', 8 | component=service, defined_classes=defined_classes, generator=append_import_statements_srv) 9 | }@ 10 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 11 | @{ 12 | from rosidl_cmake import convert_camel_case_to_lower_case_underscore 13 | 14 | service_name = '_' + convert_camel_case_to_lower_case_underscore(service.namespaced_type.name) 15 | module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.stem) 16 | 17 | TEMPLATE( 18 | '_msg.pyi.em', 19 | package_name=package_name, interface_path=interface_path, 20 | message=service.request_message, generate_imports=False, 21 | defined_classes=defined_classes) 22 | TEMPLATE( 23 | '_msg.pyi.em', 24 | package_name=package_name, interface_path=interface_path, 25 | message=service.response_message, generate_imports=False, 26 | defined_classes=defined_classes) 27 | }@ 28 | 29 | class Metaclass_@(service.namespaced_type.name)(type): 30 | _TYPE_SUPPORT: typing.Any = ... 31 | 32 | @@classmethod 33 | def __import_type_support__(cls) -> None: ... 34 | 35 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 36 | @{ 37 | # Make sure that all requires messages in a single file 38 | assert service.request_message.structure.namespaced_type.namespaces == service.namespaced_type.namespaces 39 | assert service.response_message.structure.namespaced_type.namespaces == service.namespaced_type.namespaces 40 | # Then, emit member names without namespace for Request and Response as follows 41 | }@ 42 | @#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> 43 | class @(service.namespaced_type.name)(metaclass=Metaclass_@(service.namespaced_type.name)): 44 | Request: TypeAlias[@(service.request_message.structure.namespaced_type.name)] = @(service.request_message.structure.namespaced_type.name) 45 | Response: TypeAlias[@(service.response_message.structure.namespaced_type.name)] = @(service.response_message.structure.namespaced_type.name) 46 | 47 | def __init__(self) -> None: ... 48 | -------------------------------------------------------------------------------- /rosidl_generator_mypy-extras.cmake.in: -------------------------------------------------------------------------------- 1 | include("${CMAKE_CURRENT_LIST_DIR}/register_mypy.cmake") 2 | rosidl_generator_mypy_extras( 3 | "${rosidl_generator_mypy_DIR}/../../../lib/rosidl_generator_mypy/rosidl_generator_mypy" 4 | "${rosidl_generator_mypy_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_generator_mypy/__init__.py" 5 | "${rosidl_generator_mypy_DIR}/../resource" 6 | ) 7 | -------------------------------------------------------------------------------- /rosidl_generator_mypy/__init__.py: -------------------------------------------------------------------------------- 1 | import os 2 | import pathlib 3 | from typing import Dict, List, NamedTuple, Optional, Set, Tuple 4 | 5 | from rosidl_cmake import ( 6 | convert_camel_case_to_lower_case_underscore, 7 | generate_files, 8 | read_generator_arguments, 9 | ) 10 | from rosidl_generator_py import generate_py_impl 11 | from rosidl_parser.definition import ( 12 | AbstractNestedType, 13 | AbstractSequence, 14 | AbstractType, 15 | Action, 16 | Array, 17 | IdlContent, 18 | IdlLocator, 19 | Message, 20 | NamespacedType, 21 | Service, 22 | ) 23 | from rosidl_parser.parser import parse_idl_file 24 | 25 | SPECIAL_NESTED_BASIC_TYPES = ["int", "float"] 26 | 27 | 28 | class Annotation(NamedTuple): 29 | getter: str 30 | setter: str 31 | 32 | 33 | def generate(generator_arguments_file: str) -> List[str]: 34 | mapping = { 35 | "_idl.pyi.em": "_%s.pyi", 36 | } 37 | generated_files: List[str] = generate_files(generator_arguments_file, mapping) 38 | 39 | args = read_generator_arguments(generator_arguments_file) 40 | package_name = args["package_name"] 41 | 42 | # For __init__.pyi, it is required to output the exact same contents as 43 | # rosidl_python does. 44 | modules: Dict[str, Set[str]] = {} 45 | idl_content = IdlContent() 46 | for idl_tuple in args.get("idl_tuples", []): 47 | idl_parts = idl_tuple.rsplit(":", 1) 48 | assert len(idl_parts) == 2 49 | 50 | idl_rel_path = pathlib.Path(idl_parts[1]) 51 | idl_stems = modules.setdefault(str(idl_rel_path.parent), set()) 52 | idl_stems.add(idl_rel_path.stem) 53 | 54 | locator = IdlLocator(*idl_parts) 55 | idl_file = parse_idl_file(locator) 56 | idl_content.elements += idl_file.content.elements 57 | 58 | for subfolder in modules.keys(): 59 | with open( 60 | os.path.join(args["output_dir"], subfolder, "__init__.pyi"), "w" 61 | ) as f: 62 | for idl_stem in sorted(modules[subfolder]): 63 | module_name = "_{}".format( 64 | convert_camel_case_to_lower_case_underscore(idl_stem) 65 | ) 66 | f.write( 67 | f"from {package_name}.{subfolder}.{module_name} import " 68 | f"{idl_stem} as {idl_stem} # noqa: F401\n" 69 | ) 70 | 71 | return generated_files 72 | 73 | 74 | def get_defined_classes_msg(msg: Message) -> Set[str]: 75 | return {msg.structure.namespaced_type.name} 76 | 77 | 78 | def get_defined_classes_srv(srv: Service) -> Set[str]: 79 | ret: Set[str] = {srv.namespaced_type.name} 80 | ret.update(get_defined_classes_msg(srv.request_message)) 81 | ret.update(get_defined_classes_msg(srv.response_message)) 82 | return ret 83 | 84 | 85 | def get_defined_classes_action(action: Action) -> Set[str]: 86 | ret: Set[str] = {action.namespaced_type.name} 87 | ret.update(get_defined_classes_msg(action.goal)) 88 | ret.update(get_defined_classes_msg(action.result)) 89 | ret.update(get_defined_classes_msg(action.feedback)) 90 | ret.update(get_defined_classes_srv(action.send_goal_service)) 91 | ret.update(get_defined_classes_srv(action.get_result_service)) 92 | ret.update(get_defined_classes_msg(action.feedback_message)) 93 | 94 | return ret 95 | 96 | 97 | def get_defined_classes(content: IdlContent) -> Set[str]: 98 | ret: Set[str] = set() 99 | for item in content.elements: 100 | if isinstance(item, Message): 101 | ret.update(get_defined_classes_msg(item)) 102 | elif isinstance(item, Service): 103 | ret.update(get_defined_classes_srv(item)) 104 | elif isinstance(item, Action): 105 | ret.update(get_defined_classes_action(item)) 106 | 107 | return ret 108 | 109 | 110 | def to_type_annotation( 111 | current_namespace: NamespacedType, defined_classes: Set[str], type_: AbstractType 112 | ) -> Annotation: 113 | if isinstance(type_, NamespacedType): 114 | if type_.namespaces == current_namespace.namespaces: 115 | if type_.name in defined_classes: 116 | # member is defined in the same module, so no need to add namespaces 117 | annotation = '"{}"'.format(type_.name) 118 | return Annotation(annotation, annotation) 119 | 120 | # NOTE: We export .pyi files, which don't affect the Python code execution at all. 121 | # As mypy solves the import cycles properly, 122 | # we import classes from not a module but a package. 123 | # (i.e. in the same way as imports for other packages) 124 | 125 | annotation = "{}.{}".format(".".join(type_.namespaces), type_.name) 126 | return Annotation(annotation, annotation) 127 | 128 | try: 129 | ret = generate_py_impl.get_python_type(type_) 130 | if ret is not None: 131 | return Annotation(str(ret), str(ret)) 132 | except Exception: 133 | pass 134 | 135 | if isinstance(type_, Array): 136 | # The type_ will be Array for bounded lists 137 | type_annotation = to_type_annotation( 138 | current_namespace, defined_classes, type_.value_type 139 | ) 140 | if type_annotation.getter in SPECIAL_NESTED_BASIC_TYPES: 141 | # eg: int64[4] 142 | return Annotation( 143 | "np.ndarray", 144 | "typing.Union[typing.Sequence[{}], np.ndarray]".format( 145 | type_annotation.setter 146 | ), 147 | ) 148 | 149 | # eg: std_msgs/Header[4] 150 | return Annotation( 151 | "typing.Sequence[{}]".format(type_annotation.getter), 152 | "typing.Sequence[{}]".format(type_annotation.setter), 153 | ) 154 | if isinstance(type_, AbstractSequence): 155 | # The type_ will be AbstractSequence for unbounded lists 156 | type_annotation = to_type_annotation( 157 | current_namespace, defined_classes, type_.value_type 158 | ) 159 | if type_annotation.getter in SPECIAL_NESTED_BASIC_TYPES: 160 | # eg: int64[] 161 | return Annotation( 162 | "array.array[{}]".format(type_annotation.getter), 163 | "typing.Sequence[{}]".format(type_annotation.setter), 164 | ) 165 | 166 | # eg: std_msgs/Header[] 167 | return Annotation( 168 | "typing.MutableSequence[{}]".format(type_annotation.getter), 169 | "typing.Sequence[{}]".format(type_annotation.setter), 170 | ) 171 | 172 | return Annotation(str(type_), str(type_)) 173 | 174 | 175 | def _get_import_statement( 176 | current_namespace: NamespacedType, defined_classes: Set[str], type_: AbstractType 177 | ) -> Tuple[Optional[str], bool]: 178 | if isinstance(type_, NamespacedType): 179 | is_firstparty = False 180 | if type_.namespaces == current_namespace.namespaces: 181 | is_firstparty = True 182 | 183 | if type_.name in defined_classes: 184 | # member is defined in the same module, so no need to add imports 185 | return None, is_firstparty 186 | 187 | return "import {}".format(".".join(type_.namespaces)), is_firstparty 188 | 189 | if isinstance(type_, AbstractNestedType): 190 | return _get_import_statement( 191 | current_namespace, defined_classes, type_.value_type 192 | ) 193 | 194 | return None, False 195 | 196 | 197 | def append_import_statements_msg( 198 | msg: Message, 199 | defined_classes: Set[str], 200 | third_parties: Set[str], 201 | first_parties: Set[str], 202 | ) -> None: 203 | third_parties.add("import rosidl_parser.definition") 204 | if msg.structure is None or msg.structure.members is None: 205 | return None 206 | 207 | for member in msg.structure.members: 208 | ret, is_first_party = _get_import_statement( 209 | msg.structure.namespaced_type, defined_classes, member.type 210 | ) 211 | if ret is not None: 212 | if is_first_party: 213 | first_parties.add(ret) 214 | else: 215 | third_parties.add(ret) 216 | 217 | 218 | def append_import_statements_srv( 219 | srv: Service, 220 | defined_classes: Set[str], 221 | third_parties: Set[str], 222 | first_parties: Set[str], 223 | ) -> None: 224 | append_import_statements_msg( 225 | srv.request_message, defined_classes, third_parties, first_parties 226 | ) 227 | append_import_statements_msg( 228 | srv.response_message, defined_classes, third_parties, first_parties 229 | ) 230 | 231 | 232 | def append_import_statements_action( 233 | action: Action, 234 | defined_classes: Set[str], 235 | third_parties: Set[str], 236 | first_parties: Set[str], 237 | ) -> None: 238 | append_import_statements_msg( 239 | action.goal, defined_classes, third_parties, first_parties 240 | ) 241 | append_import_statements_msg( 242 | action.result, defined_classes, third_parties, first_parties 243 | ) 244 | append_import_statements_msg( 245 | action.feedback, defined_classes, third_parties, first_parties 246 | ) 247 | append_import_statements_srv( 248 | action.send_goal_service, defined_classes, third_parties, first_parties 249 | ) 250 | append_import_statements_srv( 251 | action.get_result_service, defined_classes, third_parties, first_parties 252 | ) 253 | append_import_statements_msg( 254 | action.feedback_message, defined_classes, third_parties, first_parties 255 | ) 256 | -------------------------------------------------------------------------------- /rosidl_generator_mypy/cli.py: -------------------------------------------------------------------------------- 1 | import pathlib 2 | from typing import List 3 | 4 | from ament_index_python import get_package_share_directory 5 | from rosidl_cli.command.generate.extensions import GenerateCommandExtension 6 | from rosidl_cli.command.helpers import legacy_generator_arguments_file 7 | from rosidl_cli.command.translate.api import translate 8 | 9 | from rosidl_generator_mypy import generate 10 | 11 | 12 | class GenerateMypy(GenerateCommandExtension): # type: ignore 13 | def generate( 14 | self, 15 | package_name: str, 16 | interface_files: List[str], 17 | include_paths: List[pathlib.Path], 18 | output_path: pathlib.Path, 19 | ) -> List[str]: 20 | generated_files: List[str] = [] 21 | 22 | package_share_path = pathlib.Path( 23 | get_package_share_directory("rosidl_generator_mypy") 24 | ) 25 | templates_path = package_share_path / "resource" 26 | 27 | # Normalize interface definition format to .idl 28 | idl_interface_files: List[str] = [] 29 | non_idl_interface_files: List[str] = [] 30 | for path in interface_files: 31 | if not path.endswith(".idl"): 32 | non_idl_interface_files.append(path) 33 | else: 34 | idl_interface_files.append(path) 35 | if non_idl_interface_files: 36 | idl_interface_files.extend( 37 | translate( 38 | package_name=package_name, 39 | interface_files=non_idl_interface_files, 40 | include_paths=include_paths, 41 | output_format="idl", 42 | output_path=output_path / "tmp", 43 | ) 44 | ) 45 | 46 | # Generate code 47 | with legacy_generator_arguments_file( 48 | package_name=package_name, 49 | interface_files=idl_interface_files, 50 | include_paths=include_paths, 51 | templates_path=templates_path, 52 | output_path=output_path, 53 | ) as path_to_arguments_file: 54 | generated_files.extend(generate(path_to_arguments_file)) 55 | 56 | return generated_files 57 | -------------------------------------------------------------------------------- /rosidl_generator_mypy/py.typed: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rospypi/rosidl_generator_mypy/faa14634fb500b4661cb406869ced04e104c2e45/rosidl_generator_mypy/py.typed -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | [options.entry_points] 2 | rosidl_cli.command.generate.type_extensions = 3 | mypy = rosidl_generator_mypy.cli:GenerateMypy 4 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages, setup 2 | 3 | setup( 4 | name="rosidl_generator_mypy", 5 | version="0.1.0", 6 | packages=find_packages(exclude=["tests"]), 7 | description="Generate stub files for the ROS2 interfaces in Python", 8 | long_description=open("README.rst").read(), 9 | author="Yuki Igarashi, Tamamki Nishino", 10 | author_email="me@bonprosoft.com, otamachan@gmail.com", 11 | classifiers=[ 12 | "License :: OSI Approved :: Apache Software License", 13 | "Operating System :: MacOS", 14 | "Operating System :: Microsoft :: Windows", 15 | "Operating System :: POSIX", 16 | "Operating System :: Unix", 17 | "Programming Language :: Python :: 3.6", 18 | "Programming Language :: Python :: 3.7", 19 | "Programming Language :: Python :: 3.8", 20 | "Programming Language :: Python :: 3.9", 21 | "Programming Language :: Python :: 3.10", 22 | "Programming Language :: Python", 23 | ], 24 | license="Apache License 2.0", 25 | url="https://github.com/rospypi/rosidl_generator_mypy", 26 | include_package_data=True, 27 | zip_safe=False, 28 | ) 29 | --------------------------------------------------------------------------------