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Use built-in collections as generic types

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Marko Durkovic 2021-08-06 12:03:29 +02:00 committed by Florian Friesdorf
parent f33e65b14a
commit 5bd1bcbd83
10 changed files with 78 additions and 81 deletions
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6
src/rosbags/convert/converter.py
View File

@ -15,7 +15,7 @@ from rosbags.typesys import get_types_from_msg, register_types
if TYPE_CHECKING:
from pathlib import Path
from typing import Any, Dict, Optional
from typing import Any, Optional
from rosbags.rosbag1.reader import Connection as RConnection
@ -80,8 +80,8 @@ def convert(src: Path, dst: Optional[Path]) -> None:
try:
with Reader(src) as reader, Writer(dst) as writer:
typs: Dict[str, Any] = {}
connmap: Dict[int, WConnection] = {}
typs: dict[str, Any] = {}
connmap: dict[int, WConnection] = {}
for rconn in reader.connections.values():
candidate = convert_connection(rconn)

42
src/rosbags/rosbag1/reader.py
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@ -23,19 +23,7 @@ from rosbags.typesys.msg import normalize_msgtype
if TYPE_CHECKING:
from types import TracebackType
from typing import (
BinaryIO,
Callable,
Dict,
Generator,
Iterable,
List,
Literal,
Optional,
Tuple,
Type,
Union,
)
from typing import BinaryIO, Callable, Generator, Iterable, Literal, Optional, Type, Union
class ReaderError(Exception):
@ -71,7 +59,7 @@ class Connection(NamedTuple):
msgdef: str
callerid: Optional[str]
latching: Optional[int]
indexes: List
indexes: list
class ChunkInfo(NamedTuple):
@ -80,7 +68,7 @@ class ChunkInfo(NamedTuple):
pos: int
start_time: int
end_time: int
connection_counts: Dict[int, int]
connection_counts: dict[int, int]
class Chunk(NamedTuple):
@ -107,11 +95,11 @@ class IndexData(NamedTuple):
chunk_pos: int
offset: int
def __lt__(self, other: Tuple[int, ...]) -> bool:
def __lt__(self, other: tuple[int, ...]) -> bool:
"""Compare by time only."""
return self.time < other[0]
def __le__(self, other: Tuple[int, ...]) -> bool:
def __le__(self, other: tuple[int, ...]) -> bool:
"""Compare by time only."""
return self.time <= other[0]
@ -121,11 +109,11 @@ class IndexData(NamedTuple):
return NotImplemented
return self.time == other[0]
def __ge__(self, other: Tuple[int, ...]) -> bool:
def __ge__(self, other: tuple[int, ...]) -> bool:
"""Compare by time only."""
return self.time >= other[0]
def __gt__(self, other: Tuple[int, ...]) -> bool:
def __gt__(self, other: tuple[int, ...]) -> bool:
"""Compare by time only."""
return self.time > other[0]
@ -371,11 +359,11 @@ class Reader:
raise ReaderError(f'File {str(self.path)!r} does not exist.')
self.bio: Optional[BinaryIO] = None
self.connections: Dict[int, Connection] = {}
self.chunk_infos: List[ChunkInfo] = []
self.chunks: Dict[int, Chunk] = {}
self.connections: dict[int, Connection] = {}
self.chunk_infos: list[ChunkInfo] = []
self.chunks: dict[int, Chunk] = {}
self.current_chunk = (-1, BytesIO())
self.topics: Dict[str, TopicInfo] = {}
self.topics: dict[str, TopicInfo] = {}
def open(self): # pylint: disable=too-many-branches,too-many-locals
"""Open rosbag and read metadata."""
@ -480,7 +468,7 @@ class Reader:
"""Total message count."""
return reduce(lambda x, y: x + y, (x.msgcount for x in self.topics.values()), 0)
def read_connection(self) -> Tuple[int, Connection]:
def read_connection(self) -> tuple[int, Connection]:
"""Read connection record from current position."""
assert self.bio
header = Header.read(self.bio, RecordType.CONNECTION)
@ -552,7 +540,7 @@ class Reader:
decompressor,
)
def read_index_data(self, pos: int) -> Tuple[int, List[IndexData]]:
def read_index_data(self, pos: int) -> tuple[int, list[IndexData]]:
"""Read index data from position.
Args:
@ -576,7 +564,7 @@ class Reader:
self.bio.seek(4, os.SEEK_CUR)
index: List[IndexData] = []
index: list[IndexData] = []
for _ in range(count):
time = deserialize_time(self.bio.read(8))
offset = read_uint32(self.bio)
@ -588,7 +576,7 @@ class Reader:
topics: Optional[Iterable[str]] = None,
start: Optional[int] = None,
stop: Optional[int] = None,
) -> Generator[Tuple[Connection, int, bytes], None, None]:
) -> Generator[tuple[Connection, int, bytes], None, None]:
"""Read messages from bag.
Args:

10
src/rosbags/rosbag2/reader.py
View File

@ -17,7 +17,7 @@ from .connection import Connection
if TYPE_CHECKING:
from types import TracebackType
from typing import Any, Dict, Generator, Iterable, List, Literal, Optional, Tuple, Type, Union
from typing import Any, Generator, Iterable, Literal, Optional, Type, Union
class ReaderError(Exception):
@ -162,7 +162,7 @@ class Reader:
return mode if mode != 'none' else None
@property
def topics(self) -> Dict[str, Connection]:
def topics(self) -> dict[str, Connection]:
"""Topic information.
For the moment this a dictionary mapping topic names to connections.
@ -175,7 +175,7 @@ class Reader:
connections: Iterable[Connection] = (),
start: Optional[int] = None,
stop: Optional[int] = None,
) -> Generator[Tuple[Connection, int, bytes], None, None]:
) -> Generator[tuple[Connection, int, bytes], None, None]:
"""Read messages from bag.
Args:
@ -185,7 +185,7 @@ class Reader:
stop: Yield only messages before this timestamp (ns).
Yields:
Tuples of connection, timestamp (ns), and rawdata.
tuples of connection, timestamp (ns), and rawdata.
Raises:
ReaderError: Bag not open.
@ -198,7 +198,7 @@ class Reader:
'SELECT topics.id,messages.timestamp,messages.data',
'FROM messages JOIN topics ON messages.topic_id=topics.id',
]
args: List[Any] = []
args: list[Any] = []
clause = 'WHERE'
if connections:

4
src/rosbags/rosbag2/writer.py
View File

@ -16,7 +16,7 @@ from .connection import Connection
if TYPE_CHECKING:
from types import TracebackType
from typing import Any, Dict, Literal, Optional, Type, Union
from typing import Any, Literal, Optional, Type, Union
class WriterError(Exception):
@ -79,7 +79,7 @@ class Writer: # pylint: disable=too-many-instance-attributes
self.compression_mode = ''
self.compression_format = ''
self.compressor: Optional[zstandard.ZstdCompressor] = None
self.connections: Dict[int, Connection] = {}
self.connections: dict[int, Connection] = {}
self.conn = None
self.cursor: Optional[sqlite3.Cursor] = None

22
src/rosbags/serde/cdr.py
View File

@ -13,16 +13,16 @@ from __future__ import annotations
import sys
from itertools import tee
from typing import TYPE_CHECKING, Iterator, Optional, Tuple, cast
from typing import TYPE_CHECKING, Iterator, cast
from .typing import Field
from .utils import SIZEMAP, Valtype, align, align_after, compile_lines
if TYPE_CHECKING:
from typing import Callable, List
from typing import Callable
def generate_getsize_cdr(fields: List[Field]) -> Tuple[Callable, int]:
def generate_getsize_cdr(fields: list[Field]) -> tuple[Callable, int]:
"""Generate cdr size calculation function.
Args:
@ -37,7 +37,9 @@ def generate_getsize_cdr(fields: List[Field]) -> Tuple[Callable, int]:
is_stat = True
aligned = 8
icurr, inext = cast(Tuple[Iterator[Field], Iterator[Optional[Field]]], tee([*fields, None]))
iterators = tee([*fields, None])
icurr = cast(Iterator[Field], iterators[0])
inext = iterators[1]
next(inext)
lines = [
'import sys',
@ -155,7 +157,7 @@ def generate_getsize_cdr(fields: List[Field]) -> Tuple[Callable, int]:
return compile_lines(lines).getsize_cdr, is_stat * size # type: ignore
def generate_serialize_cdr(fields: List[Field], endianess: str) -> Callable:
def generate_serialize_cdr(fields: list[Field], endianess: str) -> Callable:
"""Generate cdr serialization function.
Args:
@ -168,7 +170,9 @@ def generate_serialize_cdr(fields: List[Field], endianess: str) -> Callable:
"""
# pylint: disable=too-many-branches,too-many-locals,too-many-statements
aligned = 8
icurr, inext = cast(Tuple[Iterator[Field], Iterator[Optional[Field]]], tee([*fields, None]))
iterators = tee([*fields, None])
icurr = cast(Iterator[Field], iterators[0])
inext = iterators[1]
next(inext)
lines = [
'import sys',
@ -292,7 +296,7 @@ def generate_serialize_cdr(fields: List[Field], endianess: str) -> Callable:
return compile_lines(lines).serialize_cdr # type: ignore
def generate_deserialize_cdr(fields: List[Field], endianess: str) -> Callable:
def generate_deserialize_cdr(fields: list[Field], endianess: str) -> Callable:
"""Generate cdr deserialization function.
Args:
@ -305,7 +309,9 @@ def generate_deserialize_cdr(fields: List[Field], endianess: str) -> Callable:
"""
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
aligned = 8
icurr, inext = cast(Tuple[Iterator[Field], Iterator[Optional[Field]]], tee([*fields, None]))
iterators = tee([*fields, None])
icurr = cast(Iterator[Field], iterators[0])
inext = iterators[1]
next(inext)
lines = [
'import sys',

4
src/rosbags/serde/messages.py
View File

@ -14,9 +14,9 @@ from .typing import Descriptor, Field, Msgdef
from .utils import Valtype
if TYPE_CHECKING:
from typing import Any, Dict
from typing import Any
MSGDEFCACHE: Dict[str, Msgdef] = {}
MSGDEFCACHE: dict[str, Msgdef] = {}
class SerdeError(Exception):

16
src/rosbags/serde/ros1.py
View File

@ -12,16 +12,16 @@ conversion of ROS1 to CDR.
from __future__ import annotations
from itertools import tee
from typing import TYPE_CHECKING, Iterator, Optional, Tuple, cast
from typing import TYPE_CHECKING, Iterator, cast
from .typing import Field
from .utils import SIZEMAP, Valtype, align, align_after, compile_lines
if TYPE_CHECKING:
from typing import Callable, List # pylint: disable=ungrouped-imports
from typing import Callable # pylint: disable=ungrouped-imports
def generate_ros1_to_cdr(fields: List[Field], typename: str, copy: bool) -> Callable:
def generate_ros1_to_cdr(fields: list[Field], typename: str, copy: bool) -> Callable:
"""Generate ROS1 to CDR conversion function.
Args:
@ -35,7 +35,9 @@ def generate_ros1_to_cdr(fields: List[Field], typename: str, copy: bool) -> Call
"""
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
aligned = 8
icurr, inext = cast(Tuple[Iterator[Field], Iterator[Optional[Field]]], tee([*fields, None]))
iterators = tee([*fields, None])
icurr = cast(Iterator[Field], iterators[0])
inext = iterators[1]
next(inext)
funcname = 'ros1_to_cdr' if copy else 'getsize_ros1_to_cdr'
lines = [
@ -170,7 +172,7 @@ def generate_ros1_to_cdr(fields: List[Field], typename: str, copy: bool) -> Call
return getattr(compile_lines(lines), funcname)
def generate_cdr_to_ros1(fields: List[Field], typename: str, copy: bool) -> Callable:
def generate_cdr_to_ros1(fields: list[Field], typename: str, copy: bool) -> Callable:
"""Generate CDR to ROS1 conversion function.
Args:
@ -184,7 +186,9 @@ def generate_cdr_to_ros1(fields: List[Field], typename: str, copy: bool) -> Call
"""
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
aligned = 8
icurr, inext = cast(Tuple[Iterator[Field], Iterator[Optional[Field]]], tee([*fields, None]))
iterators = tee([*fields, None])
icurr = cast(Iterator[Field], iterators[0])
inext = iterators[1]
next(inext)
funcname = 'cdr_to_ros1' if copy else 'getsize_cdr_to_ros1'
lines = [

5
src/rosbags/serde/utils.py
View File

@ -10,7 +10,6 @@ from typing import TYPE_CHECKING
if TYPE_CHECKING:
from types import ModuleType
from typing import Dict, List
from .typing import Descriptor
@ -24,7 +23,7 @@ class Valtype(IntEnum):
SEQUENCE = 4
SIZEMAP: Dict[str, int] = {
SIZEMAP: dict[str, int] = {
'bool': 1,
'int8': 1,
'int16': 2,
@ -83,7 +82,7 @@ def align_after(entry: Descriptor) -> int:
return min([4, align_after(entry.args[0])])
def compile_lines(lines: List[str]) -> ModuleType:
def compile_lines(lines: list[str]) -> ModuleType:
"""Compile lines of code to module.
Args:

6
src/rosbags/typesys/msg.py
View File

@ -21,7 +21,7 @@ from .peg import Rule, Visitor, parse_grammar
from .types import FIELDDEFS
if TYPE_CHECKING:
from typing import Any, List
from typing import Any
from .base import Fielddesc, Typesdict
@ -91,7 +91,7 @@ def normalize_msgtype(name: str) -> str:
return str(path)
def normalize_fieldtype(typename: str, field: Fielddesc, names: List[str]) -> Fielddesc:
def normalize_fieldtype(typename: str, field: Fielddesc, names: list[str]) -> Fielddesc:
"""Normalize field typename.
Args:
@ -235,7 +235,7 @@ def get_types_from_msg(text: str, name: str) -> Typesdict:
name: Message typename.
Returns:
List with single message name and parsetree.
list with single message name and parsetree.
"""
return parse_message_definition(VisitorMSG(), f'MSG: {name}\n{text}')

44
src/rosbags/typesys/peg.py
View File

@ -14,7 +14,7 @@ import re
from typing import TYPE_CHECKING
if TYPE_CHECKING:
from typing import Any, Dict, List, Optional, Tuple
from typing import Any, Optional
class Rule:
@ -23,7 +23,7 @@ class Rule:
LIT = 'LITERAL'
WS = re.compile(r'\s+', re.M | re.S)
def __init__(self, value: Any, rules: Dict[str, Rule], name: Optional[str] = None):
def __init__(self, value: Any, rules: dict[str, Rule], name: Optional[str] = None):
"""Initialize.
Args:
@ -58,7 +58,7 @@ class Rule:
class RuleLiteral(Rule):
"""Rule to match string literal."""
def __init__(self, value: Any, rules: Dict[str, Rule], name: Optional[str] = None):
def __init__(self, value: Any, rules: dict[str, Rule], name: Optional[str] = None):
"""Initialize.
Args:
@ -70,7 +70,7 @@ class RuleLiteral(Rule):
super().__init__(value, rules, name)
self.value = value[1:-1].replace('\\\'', '\'')
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
value = self.value
if text[pos:pos + len(value)] == value:
@ -83,7 +83,7 @@ class RuleLiteral(Rule):
class RuleRegex(Rule):
"""Rule to match regular expression."""
def __init__(self, value: Any, rules: Dict[str, Rule], name: Optional[str] = None):
def __init__(self, value: Any, rules: dict[str, Rule], name: Optional[str] = None):
"""Initialize.
Args:
@ -95,7 +95,7 @@ class RuleRegex(Rule):
super().__init__(value, rules, name)
self.value = re.compile(value[2:-1], re.M | re.S)
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
match = self.value.match(text, pos)
if not match:
@ -107,7 +107,7 @@ class RuleRegex(Rule):
class RuleToken(Rule):
"""Rule to match token."""
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
token = self.rules[self.value]
npos, data = token.parse(text, pos)
@ -119,7 +119,7 @@ class RuleToken(Rule):
class RuleOneof(Rule):
"""Rule to match first matching subrule."""
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
for value in self.value:
npos, data = value.parse(text, pos)
@ -131,7 +131,7 @@ class RuleOneof(Rule):
class RuleSequence(Rule):
"""Rule to match a sequence of subrules."""
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
data = []
npos = pos
@ -146,9 +146,9 @@ class RuleSequence(Rule):
class RuleZeroPlus(Rule):
"""Rule to match zero or more occurences of subrule."""
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
data: List[Any] = []
data: list[Any] = []
lpos = pos
while True:
npos, node = self.value.parse(text, lpos)
@ -161,7 +161,7 @@ class RuleZeroPlus(Rule):
class RuleOnePlus(Rule):
"""Rule to match one or more occurences of subrule."""
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
npos, node = self.value.parse(text, pos)
if npos == -1:
@ -179,7 +179,7 @@ class RuleOnePlus(Rule):
class RuleZeroOne(Rule):
"""Rule to match zero or one occurence of subrule."""
def parse(self, text: str, pos: int) -> Tuple[int, Any]:
def parse(self, text: str, pos: int) -> tuple[int, Any]:
"""Apply rule at position."""
npos, node = self.value.parse(text, pos)
if npos == -1:
@ -190,7 +190,7 @@ class RuleZeroOne(Rule):
class Visitor: # pylint: disable=too-few-public-methods
"""Visitor transforming parse trees."""
RULES: Dict[str, Rule] = {}
RULES: dict[str, Rule] = {}
def __init__(self):
"""Initialize."""
@ -208,15 +208,15 @@ class Visitor: # pylint: disable=too-few-public-methods
return func(tree['data'])
def split_token(tok: str) -> List[str]:
def split_token(tok: str) -> list[str]:
"""Split repetition and grouping tokens."""
return list(filter(None, re.split(r'(^\()|(\)(?=[*+?]?$))|([*+?]$)', tok)))
def collapse_tokens(toks: List[Optional[Rule]], rules: Dict[str, Rule]) -> Rule:
def collapse_tokens(toks: list[Optional[Rule]], rules: dict[str, Rule]) -> Rule:
"""Collapse linear list of tokens to oneof of sequences."""
value: List[Rule] = []
seq: List[Rule] = []
value: list[Rule] = []
seq: list[Rule] = []
for tok in toks:
if tok:
seq.append(tok)
@ -227,9 +227,9 @@ def collapse_tokens(toks: List[Optional[Rule]], rules: Dict[str, Rule]) -> Rule:
return RuleOneof(value, rules) if len(value) > 1 else value[0]
def parse_grammar(grammar: str) -> Dict[str, Rule]:
def parse_grammar(grammar: str) -> dict[str, Rule]:
"""Parse grammar into rule dictionary."""
rules: Dict[str, Rule] = {}
rules: dict[str, Rule] = {}
for token in grammar.split('\n\n'):
lines = token.strip().split('\n')
name, *defs = lines
@ -237,8 +237,8 @@ def parse_grammar(grammar: str) -> Dict[str, Rule]:
assert items
assert items[0] == '='
items.pop(0)
stack: List[Optional[Rule]] = []
parens: List[int] = []
stack: list[Optional[Rule]] = []
parens: list[int] = []
while items:
tok = items.pop(0)
if tok in ['*', '+', '?']: