type checking etc

.vscode/settings.json

@@ -1,7 +1,4 @@
 {
-    "python.formatting.autopep8Args": [
-        "--max-line-length=150"
-    ],
     "python.autoComplete.extraPaths": [
         "/home/gja38/sandbox_otto/install/orchestrator_interfaces/local/lib/python3.10/dist-packages",
         "/opt/carolo/install/spatz_interfaces/local/lib/python3.10/dist-packages",
@@ -18,7 +15,6 @@
         "/home/gja38/sandbox_otto/src/orchestrator",
         "/workspaces/ros2_def/install/orchestrator_interfaces/lib/python3.10/site-packages"
     ],
-    "python.analysis.typeCheckingMode": "basic",
     "python.analysis.inlayHints.functionReturnTypes": true,
     "python.analysis.inlayHints.variableTypes": true,
     "files.exclude": {
@@ -47,5 +43,8 @@
     "editor.stickyScroll.enabled": true,
     "terminal.integrated.scrollback": 10000,
     "python.analysis.stubPath": "ros2/orchestrator/typings",
-    "cmake.configureOnOpen": false
+    "cmake.configureOnOpen": false,
+    "[python]": {
+        "editor.defaultFormatter": "ms-python.autopep8"
+    }
 }

ros2/orchestrator/orchestrator/lib.py

@@ -1 +1,3 @@
 from orchestrator.orchestrator_lib.orchestrator import Orchestrator
+
+__all__ = ["Orchestrator"]

ros2/orchestrator/orchestrator/orchestrator_lib/node_model.py

@@ -57,7 +57,7 @@ def __init__(self, name: str, remappings: SimpleRemapRules) -> None:
         super().__init__()
 
     @abstractmethod
-    def state_sequence_push(self, x: Any):
+    def state_sequence_push(self, message: Any):
         ...
 
     @abstractmethod

ros2/orchestrator/orchestrator/orchestrator_lib/node_model_from_file.py

@@ -1,9 +1,11 @@
+# pyright: strict
+
 from __future__ import annotations
 
 import base64
 import json
 from dataclasses import dataclass
-from typing import cast, final, Dict, Optional, Any
+from typing import Iterable, cast, final, Optional, Any
 
 from orchestrator.orchestrator_lib.name_utils import normalize_topic_name
 from orchestrator.orchestrator_lib.node_model import Cause, Effect, NodeModel, ServiceCall, ServiceName, \
@@ -41,23 +43,23 @@ def dump_state_sequence(self):
         with open('state_sequence_' + self.get_name() + '.json', 'w') as f:
             json.dump(self.state_recording, f)
 
-    def __init__(self, node_config: dict, name, remappings: Dict[str, str],
-                 state_sequence: Optional[list] = None) -> None:
+    def __init__(self, node_config: dict[str, Any], name: str, remappings: dict[str, str],
+                 state_sequence: Optional[list[str]] = None) -> None:
 
-        self.state_sequence = state_sequence
+        self.state_sequence: Optional[list[str]] = state_sequence
         if self.state_sequence is not None:
             self.state_sequence.reverse()
-        self.state_recording = []
+        self.state_recording: list[str] = []
 
         # Mappings from internal to external name
         mappings: dict[str, str] = {}
 
-        inputs = set()
+        inputs: set[str] = set()
 
         # Initialize mappings by identity for all known inputs and outputs from
         # node config.
-        for callback in node_config["callbacks"]:
-            trigger = callback["trigger"]
+        for callback in cast(Iterable[dict[str, Any]], node_config["callbacks"]):
+            trigger: str | dict[str, Any] = cast(str | dict[str, Any], callback["trigger"])
 
             if isinstance(trigger, str):
                 trigger = normalize_topic_name(trigger)
@@ -114,7 +116,7 @@ def __init__(self, node_config: dict, name, remappings: Dict[str, str],
         # Mapping from external topic input to external topic outputs
         self.effects: dict[Cause, Callback] = {}
 
-        def add_effect(trigger: Cause, outputs, service_calls, changes_dp_state: bool, may_reconfigure: bool):
+        def add_effect(trigger: Cause, outputs: Iterable[str], service_calls: Iterable[str], changes_dp_state: bool, may_reconfigure: bool):
             output_effects: list[Effect] = []
             for output in outputs:
                 output = normalize_topic_name(output)
@@ -136,19 +138,19 @@ def add_effect(trigger: Cause, outputs, service_calls, changes_dp_state: bool, m
 
         for callback in node_config["callbacks"]:
             trigger = callback["trigger"]
-
+            cause: Cause
             if isinstance(trigger, str):
                 trigger = normalize_topic_name(trigger)
-                trigger = self.internal_topic_input(trigger)
-                add_effect(trigger,
+                cause = self.internal_topic_input(trigger)
+                add_effect(cause,
                            callback.get("outputs", []),
                            callback.get("service_calls", []),
                            callback.get("changes_dataprovider_state", False),
                            callback.get("may_cause_reconfiguration", False))
             elif trigger.get("type", None) == "topic" and "name" in trigger:
                 topic_name = normalize_topic_name(trigger["name"])
-                trigger = self.internal_topic_input(topic_name)
-                add_effect(trigger,
+                cause = self.internal_topic_input(topic_name)
+                add_effect(cause,
                            callback.get("outputs", []),
                            callback.get("service_calls", []),
                            callback.get("changes_dataprovider_state", False),
@@ -164,8 +166,7 @@ def add_effect(trigger: Cause, outputs, service_calls, changes_dp_state: bool, m
                            callback.get("service_calls", []),
                            callback.get("changes_dataprovider_state", False),
                            callback.get("may_cause_reconfiguration", False))
-            elif trigger.get("type",
-                             None) == "approximate_time_sync" and "input_topics" in trigger and "slop" in trigger and "queue_size" in trigger:
+            elif trigger.get("type", None) == "approximate_time_sync" and "input_topics" in trigger and "slop" in trigger and "queue_size" in trigger:
                 input_topics = trigger["input_topics"]
                 slop = trigger["slop"]
                 queue = trigger["queue_size"]

ros2/orchestrator/orchestrator/orchestrator_lib/orchestrator.py

@@ -1,4 +1,4 @@
-# at some point, enable: pyright: strict, reportMissingTypeStubs=true
+# pyright: basic
 
 import datetime
 from dataclasses import dataclass
@@ -235,7 +235,7 @@ def intercept_topic(canonical_name: TopicName, node: NodeModel):
                                 TopicType,
                                 effect.output_topic,
                                 lambda msg,
-                                       topic_name=effect.output_topic: self.__interception_subscription_callback(
+                                topic_name=effect.output_topic: self.__interception_subscription_callback(
                                     topic_name, msg),
                                 10, raw=(TopicType != rosgraph_msgs.msg.Clock))
                             self.interception_subs[effect.output_topic] = sub
@@ -648,7 +648,7 @@ def __buffer_nodes_with_data(self) -> Generator[Tuple[GraphNodeId, OrchestratorB
                 yield (id, action)
 
     def __buffer_childs_of_parent(self, parent: GraphNodeId) -> Generator[
-        Tuple[GraphNodeId, OrchestratorBufferAction], None, None]:
+            Tuple[GraphNodeId, OrchestratorBufferAction], None, None]:
         for id, data in self.__buffer_nodes_with_data():
             if self.graph.has_edge(id, parent):
                 yield id, data

ros2/orchestrator/orchestrator/orchestrator_lib/remapping_generation.py

@@ -1,3 +1,5 @@
+# pyright: strict
+
 import sys
 
 from typing import List, Dict
@@ -6,8 +8,8 @@
 from orchestrator.orchestrator_lib.name_utils import intercepted_name, normalize_topic_name
 from .model_loader import *
 
-from launch_ros.actions import SetRemap
-from launch.substitutions import TextSubstitution
+from launch_ros.actions import SetRemap  # pyright: ignore [reportMissingTypeStubs]
+from launch.substitutions import TextSubstitution  # pyright: ignore [reportMissingTypeStubs]
 
 
 def _find_node_model(name: str, models: List[NodeModel]) -> NodeModel:
@@ -38,7 +40,7 @@ def generate_remappings_from_config_file(package_name: str, launch_config_file:
     return generate_remappings_from_config(launch_config)
 
 
-def generate_remappings_from_config(launch_config: dict) -> List[SetRemap]:
+def generate_remappings_from_config(launch_config: dict[str, Any]) -> List[SetRemap]:
     """
     Generate remappings for topic interception by orchestrator.
 
@@ -49,7 +51,7 @@ def generate_remappings_from_config(launch_config: dict) -> List[SetRemap]:
     """
     node_models = load_models(launch_config, load_node_config_schema())
 
-    remap_actions = []
+    remap_actions: list[SetRemap] = []
 
     for node_name, node in launch_config["nodes"].items():
         if "/" in node_name:

ros2/orchestrator/orchestrator/orchestrator_lib/ros_utils/logger.py

@@ -1,2 +1,6 @@
-def lc(logger, msg):
+# pyright: strict
+from rclpy.impl.rcutils_logger import RcutilsLogger
+
+
+def lc(logger: RcutilsLogger, msg: str) -> bool:
     return logger.info('\033[96m' + msg + '\033[0m')

ros2/orchestrator/orchestrator/orchestrator_lib/ros_utils/message_filter.py

@@ -1,3 +1,5 @@
+# pyright: strict
+
 from typing import Any, List, Mapping
 from threading import Lock
 from message_filters import SimpleFilter, ApproximateTimeSynchronizer
@@ -19,7 +21,7 @@ def __init__(self, topic_names: List[str], queue_size: int, slop: float) -> None
         self._lock = Lock()
         self._time_synchronizer.registerCallback(self.__callback)
 
-    def __callback(self, *_msgs):
+    def __callback(self, *_msgs: Any):
         self._was_called = True
 
     def test_input(self, topic_name: str, msg: Any) -> bool:

ros2/orchestrator/orchestrator/orchestrator_lib/ros_utils/pubsub.py

@@ -1,4 +1,6 @@
-from typing import Type, Optional
+# pyright: strict
+
+from typing import Any, Type, Optional
 
 from rclpy.task import Future
 from rclpy.executors import Executor
@@ -8,7 +10,7 @@
 from orchestrator.orchestrator_lib.name_utils import TopicName, type_from_string
 
 
-def wait_for_topic(name: TopicName, logger: RcutilsLogger, node: Node, executor: Executor) -> Type:
+def wait_for_topic(name: TopicName, logger: RcutilsLogger, node: Node, executor: Executor) -> Type[Any]:
     name = node.resolve_topic_name(name)
 
     def find_type():
@@ -29,10 +31,10 @@ def find_type():
     return msgtype
 
 
-def wait_for_node_sub(topic_name: str, node_name: str, logger: RcutilsLogger, node: Node, executor: Executor) -> Type:
+def wait_for_node_sub(topic_name: str, node_name: str, logger: RcutilsLogger, node: Node, executor: Executor) -> Type[Any]:
     topic_name = node.resolve_topic_name(topic_name)
 
-    def try_get_type() -> Optional[Type]:
+    def try_get_type() -> Optional[Type[Any]]:
         for info in node.get_subscriptions_info_by_topic(topic_name):
             if info.node_name == node_name:
                 return type_from_string(info.topic_type)
@@ -59,7 +61,7 @@ def wait_for_node_pub(topic_name: str, node_name: str, logger: RcutilsLogger, no
 
     def node_has_pub():
         by_node = node.get_publisher_names_and_types_by_node(node_name, node.get_namespace())
-        for topic, types in by_node:
+        for topic, _types in by_node:
             if topic == topic_name:
                 return True
         return False

ros2/orchestrator/orchestrator/orchestrator_lib/ros_utils/spin.py

@@ -1,3 +1,5 @@
+# pyright: strict
+
 import datetime
 from rclpy.executors import Executor
 

ros2/orchestrator/pyrightconfig.json

@@ -1,5 +1,7 @@
 {
   "include": [
     "orchestrator"
-  ]
+  ],
+  "typeCheckingMode": "strict",
+  "reportUnnecessaryTypeIgnoreComment": "error"
 }

ros2/orchestrator/typings/deepdiff/__init__.pyi

@@ -0,0 +1,8 @@
+"""
+This type stub file was generated by pyright.
+"""
+
+import logging
+from .diff import DeepDiff
+
+__all__ = ["DeepDiff"]

ros2/orchestrator/typings/deepdiff/diff.pyi

@@ -0,0 +1,8 @@
+"""
+This type stub file was generated by pyright.
+"""
+
+
+class DeepDiff:
+    def __init__(self, t1, t2) -> None:
+        ...

ros2/orchestrator/typings/message_filters/__init__.pyi

@@ -0,0 +1,37 @@
+"""
+This type stub file was generated by pyright.
+"""
+
+
+from typing import Any, Callable, Iterable
+
+
+class SimpleFilter:
+    def __init__(self) -> None:
+        ...
+
+    def registerCallback(self, cb: Callable[..., None], *args: Any) -> int:
+        ...
+
+    def signalMessage(self, *msg: Any) -> None:
+        ...
+
+
+class TimeSynchronizer(SimpleFilter):
+    def __init__(self, fs, queue_size) -> None:
+        ...
+
+    def connectInput(self, fs):  # -> None:
+        ...
+
+    def add(self, msg, my_queue, my_queue_index=...):  # -> None:
+        ...
+
+
+class ApproximateTimeSynchronizer(TimeSynchronizer):
+
+    def __init__(self, fs: Iterable[SimpleFilter], queue_size, slop, allow_headerless=...) -> None:
+        ...
+
+    def add(self, msg, my_queue, my_queue_index=...):  # -> None:
+        ...

ros2/orchestrator/typings/rclpy/serialization.pyi

@@ -0,0 +1,13 @@
+"""
+This type stub file was generated by pyright.
+"""
+
+from typing import Any, Type
+
+
+def serialize_message(message: Any) -> bytes:
+    ...
+
+
+def deserialize_message(serialized_message: bytes, message_type: Type[Any]) -> Any:
+    ...