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Use Absolute names for type hints #258

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Use Absolute names for type hints #258

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879d61f
Use absolute names for type hints
InvincibleRMC Apr 8, 2026
830ac0c
Fix extra import
InvincibleRMC Apr 8, 2026
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46 changes: 28 additions & 18 deletions rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -387,6 +387,23 @@ def get_type_annotation_constant_default(constant: Union[Constant, Member],
assert False, f"unknown type '{type_}'"


def get_absolute_namespaced_typehint(type_: NamespacedType, type_imports: set[str]) -> str:
joined_type_namespaces = '.'.join(type_.namespaces)
if (
type_.name.endswith(ACTION_GOAL_SUFFIX)
or type_.name.endswith(ACTION_RESULT_SUFFIX)
or type_.name.endswith(ACTION_FEEDBACK_SUFFIX)
):

type_name_rsplit = type_.name.rsplit('_', 1)
lower_case_name = convert_camel_case_to_lower_case_underscore(type_name_rsplit[0])
type_imports.add(f'import {joined_type_namespaces}._{lower_case_name}')
return f'{joined_type_namespaces}._{lower_case_name}.{type_.name}'
else:
type_imports.add(f'import {joined_type_namespaces}')
return f'{joined_type_namespaces}.{type_.name}'


def get_setter_and_getter_type(member: Member, type_imports: set[str]) -> tuple[str, str]:
"""From a member return the setter and getter type annotations. Add needed type_imports."""
type_ = member.type
Expand All @@ -402,14 +419,17 @@ def get_setter_and_getter_type(member: Member, type_imports: set[str]) -> tuple[
if (
isinstance(member.type, AbstractNestedType)
):
if isinstance(type_, NamespacedType):
python_type = get_absolute_namespaced_typehint(type_, type_imports)

if (
isinstance(type_, BasicType) and
type_.typename in SPECIAL_NESTED_BASIC_TYPES
):
if isinstance(member.type, Array):
type_imports.add('from numpy.typing import NDArray')
type_imports.add('import numpy.typing')
dtype = SPECIAL_NESTED_BASIC_TYPES[type_.typename]['dtype']
type_annotation = f'NDArray[{dtype}]'
type_annotation = f'numpy.typing.NDArray[{dtype}]'
elif isinstance(member.type, AbstractSequence):
type_annotation = f'array.array[{python_type}]'
else:
Expand All @@ -431,28 +451,18 @@ def get_setter_and_getter_type(member: Member, type_imports: set[str]) -> tuple[
type_annotation = sequence_type

elif isinstance(member.type, AbstractGenericString) and member.type.has_maximum_size():
type_imports.add('from collections import UserString')
type_annotation = 'typing.Union[str, UserString]'
type_imports.add('import collections')
type_annotation = 'typing.Union[str, collections.UserString]'
elif isinstance(type_, BasicType) and type_.typename == 'char':
type_imports.add('from collections import UserString')
type_annotation = 'typing.Union[str, UserString]'
type_imports.add('import collections')
type_annotation = 'typing.Union[str, collections.UserString]'
elif isinstance(type_, BasicType) and type_.typename == 'octet':
type_annotation = 'typing.Union[bytes, collections.abc.ByteString]'
elif isinstance(type_, NamespacedType):
type_annotation = get_absolute_namespaced_typehint(type_, type_imports)
else:
type_annotation = python_type

if isinstance(type_, NamespacedType):
joined_type_namespaces = '.'.join(type_.namespaces)
if type_.name.endswith(ACTION_GOAL_SUFFIX) or type_.name.endswith(ACTION_RESULT_SUFFIX) \
or type_.name.endswith(ACTION_FEEDBACK_SUFFIX):

type_name_rsplit = type_.name.rsplit('_', 1)
lower_case_name = convert_camel_case_to_lower_case_underscore(type_name_rsplit[0])
type_imports.add(f'from {joined_type_namespaces}._{lower_case_name} '
f'import {type_.name}')
else:
type_imports.add(f'from {joined_type_namespaces} import {type_.name}')

type_annotations_setter = type_annotation

if type_annotations_getter == '':
Expand Down