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Add types to parameter_client.py #1348

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Sep 3, 2024
Merged

Add types to parameter_client.py #1348

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c8e6c65
Add types to parameter_client.py
InvincibleRMC Aug 27, 2024
018f7a4
remove extra Future
InvincibleRMC Aug 27, 2024
9a8dc5c
Merge branch 'rolling' into parameter-client-types
mergify[bot] Aug 30, 2024
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43 changes: 24 additions & 19 deletions rclpy/rclpy/parameter_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
from rclpy.qos import qos_profile_services_default
from rclpy.qos import QoSProfile
from rclpy.qos_overriding_options import QoSOverridingOptions
from rclpy.subscription import MessageInfo
from rclpy.subscription import Subscription
from rclpy.task import Future

Expand Down Expand Up @@ -136,8 +137,8 @@ def list_parameters(
self,
prefixes: Optional[List[str]] = None,
depth: Optional[int] = None,
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[ListParameters.Response], None]] = None
) -> Future[ListParameters.Response]:
"""
List all parameters with given prefixes.

Expand All @@ -156,7 +157,9 @@ def list_parameters(
future.add_done_callback(callback)
return future

def get_parameters(self, names: List[str], callback: Optional[Callable] = None) -> Future:
def get_parameters(self, names: List[str],
callback: Optional[Callable[[GetParameters.Response], None]] = None
) -> Future[GetParameters.Response]:
"""
Get parameters given names.

Expand All @@ -174,8 +177,8 @@ def get_parameters(self, names: List[str], callback: Optional[Callable] = None)
def set_parameters(
self,
parameters: Sequence[Union[Parameter, ParameterMsg]],
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[SetParameters.Response], None]] = None
) -> Future[SetParameters.Response]:
"""
Set parameters given a list of parameters.

Expand All @@ -200,8 +203,8 @@ def set_parameters(
def describe_parameters(
self,
names: List[str],
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[DescribeParameters.Response], None]] = None
) -> Future[DescribeParameters.Response]:
"""
Describe parameters given names.

Expand All @@ -222,8 +225,8 @@ def describe_parameters(
def get_parameter_types(
self,
names: List[str],
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[GetParameterTypes.Response], None]] = None
) -> Future[GetParameterTypes.Response]:
"""
Get parameter types given names.

Expand All @@ -246,8 +249,8 @@ def get_parameter_types(
def set_parameters_atomically(
self,
parameters: Sequence[Union[Parameter, ParameterMsg]],
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[SetParametersAtomically.Response], None]] = None
) -> Future[SetParametersAtomically.Response]:
"""
Set parameters atomically.

Expand All @@ -270,8 +273,9 @@ def set_parameters_atomically(
return future

def delete_parameters(
self, names: List[str], callback: Optional[Callable] = None
) -> Future:
self, names: List[str],
callback: Optional[Callable[[SetParameters.Response], None]] = None
) -> Future[SetParameters.Response]:
"""
Unset parameters with given names.

Expand All @@ -295,8 +299,8 @@ def load_parameter_file(
self,
parameter_file: str,
use_wildcard: bool = False,
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[SetParameters.Response], None]] = None
) -> Future[SetParameters.Response]:
"""
Load parameters from a yaml file.

Expand All @@ -317,8 +321,8 @@ def load_parameter_file_atomically(
self,
parameter_file: str,
use_wildcard: bool = False,
callback: Optional[Callable] = None
) -> Future:
callback: Optional[Callable[[SetParameters.Response], None]] = None
) -> Future[SetParameters.Response]:
"""
Load parameters from a yaml file atomically.

Expand All @@ -336,14 +340,15 @@ def load_parameter_file_atomically(
return future

def on_parameter_event(
self, callback: Callable,
self, callback: Union[Callable[[ParameterEvent], None],
Callable[[ParameterEvent, MessageInfo], None]],
qos_profile: QoSProfile = qos_profile_parameter_events,
*,
callback_group: Optional[CallbackGroup] = None,
event_callbacks: Optional[SubscriptionEventCallbacks] = None,
qos_overriding_options: Optional[QoSOverridingOptions] = None,
raw: bool = False
) -> Subscription:
) -> Subscription[ParameterEvent]:
return self.node.create_subscription(
ParameterEvent,
'/parameter_events',
Expand Down
37 changes: 19 additions & 18 deletions rclpy/test/test_parameter_client.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
import unittest

import rcl_interfaces.msg
from rcl_interfaces.msg import ParameterEvent
from rcl_interfaces.msg import ParameterType
import rcl_interfaces.srv
import rclpy
Expand All @@ -28,7 +29,7 @@

class TestParameterClient(unittest.TestCase):

def setUp(self):
def setUp(self) -> None:
self.context = rclpy.context.Context()
rclpy.init(context=self.context)
self.client_node = rclpy.create_node(
Expand All @@ -48,13 +49,13 @@ def setUp(self):
self.executor.add_node(self.client_node)
self.executor.add_node(self.target_node)

def tearDown(self):
def tearDown(self) -> None:
self.executor.shutdown()
self.client_node.destroy_node()
self.target_node.destroy_node()
rclpy.shutdown(context=self.context)

def test_set_parameter(self):
def test_set_parameter(self) -> None:
future = self.client.set_parameters([
Parameter('int_param', Parameter.Type.INTEGER, 88).to_parameter_msg(),
Parameter('string.param', Parameter.Type.STRING, 'hello world'),
Expand All @@ -66,7 +67,7 @@ def test_set_parameter(self):
res = [i.successful for i in results.results]
assert all(res)

def test_get_parameter(self):
def test_get_parameter(self) -> None:
future = self.client.get_parameters(['int_arr_param', 'float.param..'])
self.executor.spin_until_future_complete(future)
results = future.result()
Expand All @@ -75,7 +76,7 @@ def test_get_parameter(self):
assert list(results.values[0].integer_array_value) == [1, 2, 3]
assert results.values[1].double_value == 3.14

def test_list_parameters(self):
def test_list_parameters(self) -> None:
future = self.client.list_parameters()
self.executor.spin_until_future_complete(future)
results = future.result()
Expand All @@ -91,7 +92,7 @@ def test_list_parameters(self):
assert 'float.param..' in results.result.names
assert 'float.param.' in results.result.prefixes

def test_describe_parameters(self):
def test_describe_parameters(self) -> None:
future = self.client.describe_parameters(['int_arr_param'])
self.executor.spin_until_future_complete(future)
results = future.result()
Expand All @@ -100,15 +101,15 @@ def test_describe_parameters(self):
assert results.descriptors[0].type == ParameterType.PARAMETER_INTEGER_ARRAY
assert results.descriptors[0].name == 'int_arr_param'

def test_get_paramter_types(self):
def test_get_paramter_types(self) -> None:
future = self.client.get_parameter_types(['int_arr_param'])
self.executor.spin_until_future_complete(future)
results = future.result()
assert results is not None
assert len(results.types) == 1
assert results.types[0] == ParameterType.PARAMETER_INTEGER_ARRAY

def test_set_parameters_atomically(self):
def test_set_parameters_atomically(self) -> None:
future = self.client.set_parameters_atomically([
Parameter('int_param', Parameter.Type.INTEGER, 888),
Parameter('string.param', Parameter.Type.STRING, 'Hello World').to_parameter_msg(),
Expand All @@ -118,7 +119,7 @@ def test_set_parameters_atomically(self):
assert results is not None
assert results.result.successful

def test_delete_parameters(self):
def test_delete_parameters(self) -> None:
self.target_node.declare_parameter('delete_param', 10)
descriptor = rcl_interfaces.msg.ParameterDescriptor(dynamic_typing=True)
self.target_node.declare_parameter('delete_param_dynamic', 10, descriptor=descriptor)
Expand All @@ -138,7 +139,7 @@ def test_delete_parameters(self):
assert len(result.results) == 1
assert result.results[0].successful

def test_load_parameter_file(self):
def test_load_parameter_file(self) -> None:
yaml_string = """/param_test_target:
ros__parameters:
param_1: 1
Expand All @@ -159,7 +160,7 @@ def test_load_parameter_file(self):
if os.path.exists(f.name):
os.unlink(f.name)

def test_load_parameter_file_atomically(self):
def test_load_parameter_file_atomically(self) -> None:
yaml_string = """/param_test_target:
ros__parameters:
param_1: 1
Expand All @@ -179,7 +180,7 @@ def test_load_parameter_file_atomically(self):
if os.path.exists(f.name):
os.unlink(f.name)

def test_get_uninitialized_parameter(self):
def test_get_uninitialized_parameter(self) -> None:
self.target_node.declare_parameter('uninitialized_parameter', Parameter.Type.STRING)

# The type in description should be STRING
Expand All @@ -200,8 +201,8 @@ def test_get_uninitialized_parameter(self):

self.target_node.undeclare_parameter('uninitialized_parameter')

def test_on_parameter_event_new(self):
def on_new_parameter_event(msg):
def test_on_parameter_event_new(self) -> None:
def on_new_parameter_event(msg: ParameterEvent) -> None:
assert msg.node == '/rclpy/test_parameter_client_target'
assert len(msg.new_parameters) == 1
assert msg.new_parameters[0].name == 'int_param'
Expand All @@ -223,7 +224,7 @@ def on_new_parameter_event(msg):

param_event_sub.destroy()

def test_on_parameter_event_changed(self):
def test_on_parameter_event_changed(self) -> None:
future = self.client.set_parameters([
Parameter('int_param', Parameter.Type.INTEGER, 88).to_parameter_msg(),
])
Expand All @@ -234,7 +235,7 @@ def test_on_parameter_event_changed(self):
res = [i.successful for i in results.results]
assert all(res)

def on_changed_parameter_event(msg):
def on_changed_parameter_event(msg: ParameterEvent) -> None:
assert msg.node == '/rclpy/test_parameter_client_target'
assert len(msg.new_parameters) == 0
assert len(msg.changed_parameters) == 1
Expand All @@ -256,7 +257,7 @@ def on_changed_parameter_event(msg):

param_event_sub.destroy()

def test_on_parameter_event_deleted(self):
def test_on_parameter_event_deleted(self) -> None:
future = self.client.set_parameters([
Parameter('int_param', Parameter.Type.INTEGER, 88).to_parameter_msg(),
])
Expand All @@ -267,7 +268,7 @@ def test_on_parameter_event_deleted(self):
res = [i.successful for i in results.results]
assert all(res)

def on_deleted_parameter_event(msg):
def on_deleted_parameter_event(msg: ParameterEvent) -> None:
assert msg.node == '/rclpy/test_parameter_client_target'
assert len(msg.new_parameters) == 0
assert len(msg.changed_parameters) == 0
Expand Down