Add runtime and static type checks #639
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Ping :) |
jaagut
approved these changes
Jan 9, 2025
| @@ -221,9 +221,11 @@ | |||
| "ros.distro": "iron", | |||
| "search.useIgnoreFiles": false, | |||
| "python.autoComplete.extraPaths": [ | |||
| "/opt/openrobots/lib/python3.10/site-packages", | |||
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Not really, but VS code always adds it and I dont want to make a special rule.
| @@ -9,6 +10,7 @@ | |||
| class AbstractBlackboardCapsule: | |||
| """Abstract class for blackboard capsules.""" | |||
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| def __init__(self, node: Node, blackboard: Optional["BodyBlackboard"] = None): | |||
| @nobeartype | |||
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This has something to do with circular imports. The blackboard is imported for static type checking, but importing it for dynamic type checking leads to a circular dependency during runtime. Afaik bear type has no mechanism to handle this.
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| <test_depend>ament_mypy</test_depend> | ||
| <test_depend>ament_cmake_mypy</test_depend> |
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why did you depend on both? In other cases, you only use one of them
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Maybe because this is a cmake python package and the other ones are setup.py. I don't remember.
bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py
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Summary
Many of our typehints are wrong. This adds
beartypebased type checks during runtime and staticmypychecks to prevent this.Proposed changes
This adds some risk, as it might lead to a less frequently visited code part with a minor type error crashing our codebase during a game. We could downgrade the errors to warnings, but then they might not be noticed/ignored. We could also deactivate them during real games, but we do not have a mechanic to check for this yet.
We need to test this on the real robot before merging it!
Checklist
colcon build