(fix) Fixes type hints for python3.8 compatibility

ros_sugar/config/base_attrs.py

@@ -1,5 +1,5 @@
 import json
-from types import NoneType, GenericAlias
+# from types import NoneType, GenericAlias
 from typing import (
     Any,
     Callable,
@@ -82,7 +82,7 @@ def __is_valid_arg_of_union_type(cls, obj, union_types) -> bool:
         :rtype: _type_
         """
         _types = [
-            get_origin(t) if isinstance(t, (GenericAlias, _GenericAlias)) else t
+            get_origin(t) if isinstance(t, _GenericAlias) else t
             for t in get_args(union_types)
         ]
         return any(isinstance(obj, t) for t in _types)
@@ -127,7 +127,7 @@ def __check_value_against_attr_type(
             # Handles only the origin of GenericAlias (dict, list)
             _attribute_type = (
                 get_origin(attribute_type)
-                if isinstance(attribute_type, (GenericAlias, _GenericAlias))
+                if isinstance(attribute_type, _GenericAlias)
                 else attribute_type
             )
             if not isinstance(value, _attribute_type):
@@ -200,7 +200,7 @@ def from_dict(self, dict_obj: Dict) -> None:
     def from_yaml(
         self,
         file_path: str,
-        nested_root_name: str | None = None,
+        nested_root_name: Union[str, None] = None,
         get_common: bool = False,
     ) -> None:
         """
@@ -312,7 +312,7 @@ def __dict_to_serialized_dict(self, dictionary):
                 dictionary[name] = tuple(self.__list_to_serialized_list(list(value)))
             elif isinstance(value, Dict):
                 dictionary[name] = self.__dict_to_serialized_dict(value)
-            elif type(value) not in [float, int, str, bool, NoneType]:
+            elif type(value) not in [float, int, str, bool]:
                 dictionary[name] = str(value)
         return dictionary
 

ros_sugar/core/component.py

@@ -742,7 +742,7 @@ def got_all_inputs(
                 return False
         return True
 
-    def get_missing_inputs(self) -> list[str]:
+    def get_missing_inputs(self) -> List[str]:
         """
         Get a list of input topic names not being published
 

ros_sugar/io/topic.py

@@ -2,16 +2,15 @@
 
 import inspect
 from types import ModuleType
-from typing import Any, List, Optional, Union, Dict
+from typing import Any, List, Optional, Union, Dict, Type
 from attrs import Factory, define, field
 from ..config import BaseAttrs, QoSConfig, base_validators
-
 from . import supported_types
 
 
 def get_all_msg_types(
     msg_types_module: ModuleType = supported_types,
-) -> List[type[supported_types.SupportedType]]:
+) -> List[Type[supported_types.SupportedType]]:
     """
     Gets all message types from supported data_types
     :return: Supported data types
@@ -49,9 +48,9 @@ def __parse_name_without_class(type_name: str) -> str:
 
 
 def get_msg_type(
-    type_name: Union[type[supported_types.SupportedType], str],
+    type_name: Union[Type[supported_types.SupportedType], str],
     msg_types_module: Optional[ModuleType] = supported_types,
-) -> Union[type[supported_types.SupportedType], str]:
+) -> Union[Type[supported_types.SupportedType], str]:
     """
     Gets a message type from supported data_types given a string name
     :param type_name: Message name
@@ -85,8 +84,8 @@ def get_msg_type(
 
 
 def _get_msg_types(
-    type_names: List[Union[type[supported_types.SupportedType], str]],
-) -> List[Union[type[supported_types.SupportedType], str]]:
+    type_names: List[Union[Type[supported_types.SupportedType], str]],
+) -> List[Union[Type[supported_types.SupportedType], str]]:
     """
     Gets a list of message types from supported data_types given a list of string names
     :param type_name: List of message names
@@ -138,7 +137,7 @@ class Topic(BaseAttrs):
     """
 
     name: str = field(converter=_normalize_topic_name)
-    msg_type: Union[type[supported_types.SupportedType], str] = field(
+    msg_type: Union[Type[supported_types.SupportedType], str] = field(
         converter=get_msg_type
     )
     qos_profile: Union[Dict, QoSConfig] = field(
@@ -161,7 +160,7 @@ def _msg_type_validator(self, _, val):
 class AllowedTopics(BaseAttrs):
     """Configure allowed types to restrict a component Topic"""
 
-    types: List[Union[type[supported_types.SupportedType], str]] = field(
+    types: List[Union[Type[supported_types.SupportedType], str]] = field(
         converter=_get_msg_types
     )
     number_required: int = field(

ros_sugar/io/utils.py

@@ -206,16 +206,15 @@ def _parse_array_type(arr: np.ndarray, ros_msg_cls: type) -> np.ndarray:
     :return: Parsed data
     :rtype: np.ndarray
     """
-    match ros_msg_cls:
-        case std_msg.Float32MultiArray:
-            arr = arr.astype(np.float32)
-        case std_msg.Float64MultiArray:
-            arr = arr.astype(np.float64)
-        case std_msg.Int16MultiArray:
+    if ros_msg_cls==std_msg.Float32MultiArray:
+        arr = arr.astype(np.float32)
+    elif ros_msg_cls==std_msg.Float64MultiArray:
+        arr = arr.astype(np.float64)
+    elif ros_msg_cls==std_msg.Int16MultiArray:
             arr = arr.astype(np.int16)
-        case std_msg.Int32MultiArray:
+    elif ros_msg_cls==std_msg.Int32MultiArray:
             arr = arr.astype(np.int32)
-        case std_msg.Int64MultiArray:
+    elif ros_msg_cls==std_msg.Int64MultiArray:
             arr = arr.astype(np.int64)
     return arr
 

ros_sugar/launch/executable.py

@@ -1,14 +1,14 @@
 import argparse
 import logging
-from typing import Optional, List, Type
+from typing import Optional, List, Type, Tuple
 
 import rclpy
 import setproctitle
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.utilities import try_shutdown
 
 
-def _parse_args() -> tuple[argparse.Namespace, List[str]]:
+def _parse_args() -> Tuple[argparse.Namespace, List[str]]:
     """Parse arguments."""
     parser = argparse.ArgumentParser(description="Component Executable Config")
     parser.add_argument(
@@ -89,7 +89,7 @@ def _parse_component_config(
     return config
 
 
-def _parse_ros_args(args_names: list[str]) -> list[str]:
+def _parse_ros_args(args_names: List[str]) -> List[str]:
     """Parse ROS arguments from command line arguments
 
     :param args_names: List of all parsed arguments

ros_sugar/launch/launcher.py

@@ -1,5 +1,5 @@
 """Launcher"""
-
+from __future__ import annotations
 import os
 import inspect
 import sys
@@ -82,7 +82,7 @@ class Launcher:
     def __init__(
         self,
         namespace: str = "",
-        config_file: str | None = None,
+        config_file: Optional[str] = None,
         enable_monitoring: bool = True,
         activation_timeout: Optional[float] = None,
     ) -> None:

ros_sugar/utils.py

@@ -1,7 +1,7 @@
 import inspect
 from enum import IntEnum as BaseIntEnum
 from functools import wraps
-from typing import Callable, List
+from typing import Callable, List, Union
 
 from rclpy.utilities import ok as rclpy_is_ok
 from rclpy.lifecycle import Node as LifecycleNode
@@ -37,7 +37,7 @@ class IntEnum(BaseIntEnum):
     """
 
     @classmethod
-    def get_enum(cls, __value: int) -> int | None:
+    def get_enum(cls, __value: int) -> Union[int, None]:
         """
         Get Enum members equal to given values
 
@@ -75,7 +75,7 @@ def _wrapper(*args, **kwargs):
         :param kw:
         """
         return_type = inspect.signature(function).return_annotation
-        if return_type is not SomeEntitiesType:
+        if return_type is not SomeEntitiesType and return_type != 'SomeEntitiesType':
             raise TypeError(
                 f"Action handlers must return launch event handlers 'launch.some_entities_type.SomeEntitiesType'. Method '{function.__name__}' cannot have '@action_handler' decorator"
             )