Configure mypy in workspace (#156)

* Add mypy type checker

* Create type checking vscode task and remove mypy extension

* Modify mypy task to lint entire ROS packages rather than a single file

* Specify interpreter path for python extensions (#155)

* Add path to python interpreter for black formatter

* Add python interpreter path to isort and flake8 config

* Format all Python strings to be double quotes (#158)

* Add github copilot extension (#159)

* Delete deprecated python setting

* Enable mypy extension

* Add mypy task TODO

* Install ament_mypy

* Add mypy to CI

* Update TODO

* Fix mypy CI

* Uncomment mypy task

* Update base-dev image tag

* Create mypy vscode tasks for each python pkg

* Add mypy global_launch task

* Fix global_launch mypy error

* Loop over valid sub directories

* Fix ament linter script

* Uses CI script in tasks

* Exit with error if any lint run has errors

---------

Co-authored-by: Patrick Creighton <[email protected]>

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:py-plotly
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:add-ament-mypy-v2
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory
 ARG USERNAME=ros

.devcontainer/base-dev/base-dev.Dockerfile

@@ -101,14 +101,15 @@ RUN apt-get update && apt-get install -y \
     wget \
     # Install ros distro testing packages
     ros-humble-ament-lint \
+    ros-humble-ament-mypy \
     ros-humble-launch-testing \
     ros-humble-launch-testing-ament-cmake \
     ros-humble-launch-testing-ros \
     python3-autopep8 \
     && rm -rf /var/lib/apt/lists/* \
     && rosdep init || echo "rosdep already initialized" \
     # Update pydocstyle
-    && pip3 install --upgrade pydocstyle
+    && pip3 install --upgrade pydocstyle mypy
 
 ARG USERNAME=ros
 ARG USER_UID=1000

.devcontainer/config/sailbot_workspace.code-workspace

@@ -56,12 +56,14 @@
             "DCMAKE",
             "deque",
             "devcontainer",
+            "dtype",
             "gaurav",
             "ints",
             "isort",
             "kmph",
             "mkdocs",
             "mongocxx",
+            "mypy",
             "noqa",
             "OMPL",
             "pallete",
@@ -159,7 +161,6 @@
         ],
         "flake8.interpreter": ["/usr/bin/python3"],
         // formatter: black and isort extensions
-        "python.formatting.provider": "none",
         "black-formatter.interpreter": ["/usr/bin/python3"],
         "black-formatter.args": [
             "--line-length=99",
@@ -172,6 +173,11 @@
             "--ignore=/workspaces/sailbot_workspace/src/raye-local-pathfinding",
         ],
         "python.testing.pytestEnabled": true,
+        // type checker: mypy
+        "mypy-type-checker.args": [
+            "--ignore-missing-imports",
+        ],
+        "mypy-type-checker.interpreter": ["/usr/bin/python3"],
 
         // c/c++
         "[cpp]": {
@@ -352,15 +358,13 @@
             {
                 "label": "lint_cmake",
                 "detail": "Run lint on cmake files.",
-                "type": "ament",
-                "task": "lint_cmake",
-                "path": "src/",
+                "type": "shell",
+                "command": "LINTER=lint_cmake LOCAL_RUN=true .github/actions/ament-lint/run.sh",
                 "problemMatcher": [
                     "$ament_lint_cmake"
                 ],
                 "presentation": {
                     "panel": "dedicated",
-                    "reveal": "silent",
                     "clear": true
                 }
             },
@@ -372,38 +376,45 @@
                 "problemMatcher": [],
                 "presentation": {
                     "panel": "dedicated",
-                    "reveal": "always",
                     "clear": true
                 }
             },
             {
                 "label": "flake8",
                 "detail": "Run flake8 on python files.",
-                "type": "ament",
-                "task": "flake8",
-                "path": "src/",
-                "commandOptions": "--exclude=src/virtual_iridium,src/raye-local-pathfinding",
+                "type": "shell",
+                "command": "LINTER=flake8 LOCAL_RUN=true .github/actions/ament-lint/run.sh",
                 "problemMatcher": [
                     "$ament_flake8"
                 ],
                 "presentation": {
                     "panel": "dedicated",
-                    "reveal": "silent",
+                    "clear": true
+                }
+            },
+            {
+                "label": "mypy",
+                "detail": "Run mypy on python files.",
+                "type": "shell",
+                "command": "LINTER=mypy LOCAL_RUN=true .github/actions/ament-lint/run.sh",
+                "problemMatcher": [
+                    "$ament_mypy",
+                ],
+                "presentation": {
+                    "panel": "dedicated",
                     "clear": true
                 }
             },
             {
                 "label": "xmllint",
                 "detail": "Run xmllint on xml files.",
-                "type": "ament",
-                "task": "xmllint",
-                "path": "src/",
+                "type": "shell",
+                "command": "LINTER=xmllint LOCAL_RUN=true .github/actions/ament-lint/run.sh",
                 "problemMatcher": [
                     "$ament_xmllint",
                 ],
                 "presentation": {
                     "panel": "dedicated",
-                    "reveal": "silent",
                     "clear": true
                 }
             },
@@ -413,6 +424,7 @@
                 "dependsOn": [
                     "lint_cmake",
                     "flake8",
+                    "mypy",
                     "xmllint",
                 ],
                 "problemMatcher": []
@@ -438,10 +450,12 @@
             {
                 "id": "package",
                 "type": "pickString",
-                "description": "Package to build",
+                "description": "Package to select",
                 "options": [
                     "boat_simulator",
+                    "controller",
                     "custom_interfaces",
+                    "global_launch",
                     "local_pathfinding",
                     "network_systems",
                 ]

.devcontainer/devcontainer.json

@@ -82,6 +82,7 @@
 				"ms-python.vscode-pylance",
 				"ms-toolsai.jupyter",
 				"ms-vsliveshare.vsliveshare",
+				"ms-python.mypy-type-checker",
 				"njpwerner.autodocstring",
 				"stevejpurves.cucumber",
 				"streetsidesoftware.code-spell-checker",

.github/actions/ament-lint/run.sh

@@ -20,6 +20,7 @@ function get_search_command {
     case ${LINTER} in
         lint_cmake) CMD='find ${VALID_SRC_DIRS_ARG} -type f \( -name "CMakeLists.txt" -o -name "*.cmake" -o -name "*.cmake.in" \)' ;;
         flake8) CMD='find ${VALID_SRC_DIRS_ARG} -type f -name "*.py"' ;;
+        mypy) CMD='find ${VALID_SRC_DIRS_ARG} -type f -name "*.py"' ;;
         xmllint) CMD='find ${VALID_SRC_DIRS_ARG} -type f -name "*.xml"' ;;
         *) error "ERROR: Invalid linter ${LINTER} specified in ament-lint action"; exit 1 ;;
     esac
@@ -42,10 +43,22 @@ function lint {
     fi
 }
 
-source /opt/ros/${ROS_DISTRO}/setup.bash
-./setup.sh
-cd src
+if [[ $LOCAL_RUN != "true" ]]; then
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    ./setup.sh
+fi
 
 # Exclude repos and files we don't want to lint
-VALID_SRC_DIRS=$(ls | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e polaris.repos)
-lint ${VALID_SRC_DIRS}
+VALID_SRC_DIRS=$(ls src | grep -v -e virtual_iridium -e docs -e raye-local-pathfinding -e website -e notebooks -e polaris.repos)
+lint_errors=0
+
+# Loop over each directory and lint it
+for dir in $VALID_SRC_DIRS; do
+    echo "Run $LINTER on src/$dir"
+    lint src/$dir || { warn "WARNING: $LINTER errors in src/$dir, continuing with others"; lint_errors=1; }
+done
+
+# Exit with an error if any lint command failed
+if [ "$lint_errors" -ne 0 ]; then
+    exit 1
+fi

.github/workflows/test_definitions.yml

@@ -61,8 +61,8 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          # ament_lint_common, except for copyright, cppcheck, cpplint, uncrustify, and pep257
-          linter: [lint_cmake, flake8, xmllint]
+          # mypy and ament_lint_common, except for copyright, cppcheck, cpplint, uncrustify, and pep257
+          linter: [lint_cmake, flake8, mypy, xmllint]
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     if: ${{ inputs.ros-ci }}

src/global_launch/main_launch.py

@@ -3,7 +3,7 @@
 import os
 from typing import List
 
-from launch import LaunchDescription, LaunchDescriptionEntity
+from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -20,7 +20,9 @@
 DEVELOPMENT_ROS_PACKAGES = ["boat_simulator", "local_pathfinding", "network_systems"]
 
 # Global launch arguments and constants.
-ROS_PACKAGES_DIR = os.path.join(os.getenv("ROS_WORKSPACE"), "src")
+ROS_PACKAGES_DIR = os.path.join(
+    os.getenv("ROS_WORKSPACE", default="/workspaces/sailbot_workspace"), "src"
+)
 GLOBAL_LAUNCH_ARGUMENTS = [
     DeclareLaunchArgument(
         name="config",
@@ -65,7 +67,7 @@ def generate_launch_description() -> LaunchDescription:
     return launch_description
 
 
-def setup_launch(context: LaunchContext) -> List[LaunchDescriptionEntity]:
+def setup_launch(context: LaunchContext) -> List[IncludeLaunchDescription]:
     """Collects launch descriptions from all local launch files.
 
     Args: